Doc. no.

LEC-OM02801

PRODUCT NAME

AC Servo Motor Controller

(CC-Link Type）
MODEL/ Series

LECSC Series
 LECSC□-□ Series / Driver
1. Safety Instructions
These safety instructions are intended to prevent hazardous situations and/or equipment damage.
These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.”
They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC),
Japan Industrial Standards (JIS)*1) and other safety regulations*2).
*1) ISO 4414: Pneumatic fluid power -- General rules relating to systems
ISO 4413: Hydraulic fluid power -- General rules relating to systems
IEC 60204-1: Safety of machinery -- Electrical equipment of machines (Part 1: General requirements)
ISO 10218-1992: Manipulating industrial robots -- Safety
JIS B 8370: General rules for pneumatic equipment.
JIS B 8361: General rules for hydraulic equipment.
JIS B 9960-1: Safety of machinery – Electrical equipment for machines. (Part 1: General requirements)
JIS B 8433-1993: Manipulating industrial robots - Safety. etc.
*2) Labor Safety and Sanitation Law, etc.
Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or
Caution moderate injury.
Warning indicates a hazard with a medium level of risk which, if not avoided, could result in
Warning death or serious injury.
Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or
Danger serious injury.

Warning
1. The compatibility of the product is the responsibility of the person who designs the equipment or
decides its specifications.
Since the product specified here is used under various operating conditions, its compatibility with specific
equipment must be decided by the person who designs the equipment or decides its specifications based on
necessary analysis and test results.
The expected performance and safety assurance of the equipment will be the responsibility of the person who
has determined its compatibility with the product.
This person should also continuously review all specifications of the product referring to its latest catalog
information, with a view to giving due consideration to any possibility of equipment failure when configuring
the equipment.
2. Only personnel with appropriate training should operate machinery and equipment.
The product specified here may become unsafe if handled incorrectly.
The assembly, operation and maintenance of machines or equipment including our products must be
performed by an operator who is appropriately trained and experienced.
3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.
The inspection and maintenance of machinery/equipment should only be performed after measures to
prevent falling or runaway of the driven objects have been confirmed.
When the product is to be removed, confirm that the safety measures as mentioned above are implemented
and the power from any appropriate source is cut, and read and understand the specific product precautions
of all relevant products carefully.
Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.
4. Contact SMC beforehand and take special consideration of safety measures if the product is to be
used in any of the following conditions.
1) Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to
direct sunlight.
2) Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping,
vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and
beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other
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 applications unsuitable for the standard specifications described in the product catalog.
3) An application which could have negative effects on people, property, or animals requiring special safety
analysis.
4) Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a
mechanical protective function, and periodical checks to confirm proper operation.

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates what must not be done. For example, "No Fire" is indicated by
Prohibition
Indicates what must be done. For example, grounding is indicated by
Compulsion

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.

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 LECSC□-□ Series / Driver
1. Safety Instructions
Caution
The product is provided for use in manufacturing industries.
The product herein described is basically provided for peaceful use in manufacturing industries.
If considering using the product in other industries, consult SMC beforehand and exchange specifications or a
contract if necessary.
If anything is unclear, contact your nearest sales branch.

Limited warranty and Disclaimer/Compliance Requirements

The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance
Requirements”.
Read and accept them before using the product.

Limited warranty and Disclaimer

The warranty period of the product is 1 year in service or 1.5 years after the product is delivered.*3)
Also, the product may have specified durability, running distance or replacement parts. Please consult
your nearest sales branch.

For any failure or damage reported within the warranty period which is clearly our responsibility, a
replacement product or necessary parts will be provided.
This limited warranty applies only to our product independently, and not to any other damage incurred
due to the failure of the product.

Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in
the specified catalog for the particular products.

*3) Vacuum pads are excluded from this 1 year warranty.

A vacuum pad is a consumable part, so it is warranted for a year after it is delivered.
Also, even within the warranty period, the wear of a product due to the use of the vacuum pad or
failure due to the deterioration of rubber material are not covered by the limited warranty.

Compliance Requirements
When the product is exported, strictly follow the laws required by the Ministry of Economy, Trade and Industry
(Foreign Exchange and Foreign Trade Control Law).

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1. To prevent electric shock, note the following

WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, always confirm from the front of the driver, whether
the charge lamp is off or not.
Connect the driver and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the driver and servo motor until they have been installed. Otherwise, you may get
an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric
shock.
During power-on or operation, do not open the front cover of the driver. You may get an electric shock.
Do not operate the driver with the front cover removed. High-voltage terminals and charging area are
exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even of the driver if the power is off.
The driver is charged and you may get an electric shock.

2. To prevent fire, note the following

CAUTION
Install the driver, servo motor and regenerative resistor on incombustible material. Installing them directly
or close to combustibles will lead to a fire.
Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of
the driver, and configure the wiring to be able to shut down the power supply on the side of the driver’s
power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may
cause a fire when the driver malfunctions.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

3. To prevent injury, note the follow

CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a
burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the driver heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on
or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may
damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

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4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock,
etc.

(1) Transportation and installation

CAUTION
Transport the products correctly according to their weights.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the driver. The driver may drop.
Install the driver in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The driver and servo motor must be installed in the specified direction.
Leave specified clearances between the driver and control enclosure walls or other equipment.
Do not install or operate the driver and servo motor which has been damaged or has any parts missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the driver and servo motor.
Do not drop or strike driver or servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.
Conditions
Environment
Driver Servo motor
In [ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing)
Ambient operation [ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
temperature [ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
In storage
[ ] 4 to 149 (non-freezing) 5 to 158 (non-freezing)
Ambient In operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)
humidity In storage 90%RH or less (non-condensing)
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
LECS□□-S5
(Note) 2 LECS□□-S7
[m/s ] 5.9 or less X Y: 49
Vibration
LECS□□-S8
series

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with a reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, contact your local sales office.

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(2) Wiring

CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF-(H) option) between the
servo motor and driver.
Connect the wires to the correct phase terminals (U, V, W) of the driver and servo motor.
Not doing so may cause unexpected operation.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.

Servo amplifier
Driver Servo motor Servo amplifier
Driver Servo motor
U U
U U
V V
V M V M
W W
W W

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay of the driver must be wired in the
specified direction. Otherwise, the forced stop (EMG) and other protective circuits may not operate.
Servo amplifier
Driver Driver
Servo amplifier
24VDC 24VDC
DOCOM DOCOM
DICOM DICOM

Control Control
output output
RA RA
signal signal

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.

(3) Test run adjustment

CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.

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(4) Usage

CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal of the driver is off to prevent an accident. A
sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the driver.
Burning or breaking a driver may cause a toxic gas. Do not burn or break a driver.
Use the driver with the specified servo motor.
The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used
for ordinary braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the motor shaft. To ensure safety,
install a stopper on the machine side.

(5) Corrective actions

CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with an electromagnetic brake or an external brake mechanism for the
purpose of prevention.
Configure the electromagnetic brake circuit so that it is activated not only by the driver signals but also by
an external forced stop (EMG).
Contacts must be open when Circuit must be
servo-off, when an trouble (ALM) opened during
and when an electromagnetic brake forced stop (EMG).
interlock (MBR).

SON RA EMG

24VDC

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

(6) Maintenance, inspection and parts replacement

CAUTION
With age, the electrolytic capacitor of the driver will deteriorate. To prevent a secondary accident due to a
fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment. Please consult our sales representative.

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(7) General instruction
To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have
been drawn without covers and safety guards. When the equipment is operated, the covers and safety
guards must be installed as specified. Operation must be performed in accordance with this
Specifications and Instruction Manual.

About processing of waste

When you discard driver, a battery (primary battery), and other option articles, please follow the law of each
country (area).

FOR MAXIMUM SAFETY

These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or under water relays, contact your local sales office..
These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.

EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the driver and/or converter unit may fail when
the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device changes
Write to the EEP-ROM due to point table changes

Precautions for Choosing the Products

SMC will not be held liable for damage caused by factors found not to be the cause of SMC; machine
damage or lost profits caused by faults in the SMC products; damage, secondary damage, accident
compensation caused by special factors unpredictable by SMC; damages to products other than SMC
products; and to other duties.

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COMPLIANCE WITH EC DIRECTIVES
1. WHAT ARE EC DIRECTIVES?
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January,
1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the
EC directives require that products to be sold should meet their fundamental safety requirements and carry the
CE marks (CE marking). CE marking applies to machines and equipment into which drivers have been
installed.

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment.
This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply
with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation
Guidelines (IB(NA)67310).

(2) Low voltage directive

The low voltage directive applies also to servo units alone. Hence, they are designed to comply with the low
voltage directive.
This servo is certified by TUV, third-party assessment organization, to comply with the low voltage directive.

(3) Machine directive

Not being machines, the drivers need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE

(1) Drivers and servo motors used
Use the drivers and servo motors which comply with the standard model.

Driver : LECSC□-□
Servo motor : LE-S5-□、LE-S6-□、LE-S7-□、LE-S8-□(Note)

Note. For the latest information of compliance, contact your local sales office..

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(2) Configuration
The control circuit provide safe separation to the main circuit in the driver.
Control box

Reinforced
insulating type
24VDC
power
No-fuse Magnetic supply
breaker contactor Servo
motor
Servo
MC Driver
amplifier M
NFB

(3) Environment
Operate the driver at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install
the driver in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).

(4) Power supply

(a) This driver can be supplied from star-connected supply with earthed neutral point of overvoltage
category III set forth in IEC60664-1. However, when using the neutral point of 400V class for single-
phase supply, a reinforced insulating transformer is required in the power input section.

(b) When supplying interface power from external, use a 24VDC power supply which has been insulation-
reinforced in I/O.

(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the
driver to the protective earth (PE) of the control box.

(b) Do not connect two ground cables to the same protective earth (PE) terminal (marked ). Always
connect the cables to the terminals one-to-one.

PE terminals PE terminals

(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
(marked ) of the driver must be connected to the corresponding earth terminals.

A - 10
(6) Wiring
(a) The cables to be connected to the terminal block of the driver must have crimping terminals provided
with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard
compliant power connector sets are available from us as options. (Refer to section 14.1)

(7) Auxiliary equipment and options

(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in section 14.10.
Use a type B (Note) breaker. When it is not used, provide insulation between the driver and other device
by double insulation or reinforced insulation, or install a transformer between the main power supply and
driver.
Note. Type A: AC and pulse detectable
Type B: Both AC and DC detectable

(b) The sizes of the cables described in section 14.9 meet the following requirements. To meet the other
requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [°C (°F)]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray

(c) Use the EMC filter for noise reduction.

(8) Performing EMC tests

When EMC tests are run on a machine/device into which the driver has been installed, it must conform to
the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating
environment/electrical equipment specifications.
For the other EMC directive guidelines on the driver, refer to the EMC Installation Guidelines (IB(NA)67310).

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CONFORMANCE WITH UL/C-UL STANDARD
(1) Drivers and servo motors used
Use the drivers and servo motors which comply with the standard model.

Driver :LECSC□-□
Servo motor : LE-□-□(Note)

Note. For the latest information of compliance, contact your local sales office..

(2) Installation
Install a fan of 100CFM (2.8m3/min) air flow 4[in] (10.16[cm]) above the driver or provide cooling of at
least equivalent capability to ensure that the ambient temperature conforms to the environment
conditions (55 or less).

(3) Short circuit rating (SCCR: Short Circuit Current Rating)

Suitable For Use In A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amperes, 500
Volts Maximum.

(4) Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for 15
minutes after power-off.

Discharge time
Driver
[min]
LECSB2-S5 LECSB2-S7 1
LECSB2-S8 LECSB1-S5 LECSB1-S7 2

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(5) Options and auxiliary equipment
Use UL/C-UL standard-compliant products.

(6) Attachment of a servo motor

For the flange size of the machine side where the servo motor is installed, refer to “CONFORMANCE WITH
UL/C-UL STANDARD” in the Servo Motor Instruction Manual (Vol.2).

(7) About wiring protection

For installation in United States, branch circuit protection must be provided, in accordance with the National
Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.

<<About the manuals>>

This Instruction Manual are required if you use the General-Purpose AC servo LECSC□-□ for the first time.
Always purchase them and use the LECSC□-□ safely.

<<About the wires used for wiring>>

Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40°C
(104 ).

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MEMO

A - 14
 CONTENTS

1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -20

1.1 Introduction............................................................................................................................................... 1 - 2
1.1.1 Features of CC-Link communication functions ................................................................................ 1 - 2
1.1.2 Function block diagram..................................................................................................................... 1 - 3
1.1.3 System configuration......................................................................................................................... 1 - 4
1.2 Driver standard specifications ................................................................................................................. 1 - 6
1.3 Function list ............................................................................................................................................. 1 -10
1.4 Model code definition .............................................................................................................................. 1 -12
1.5 Combination with servo motor ................................................................................................................ 1 -14
1.6 Structure .................................................................................................................................................. 1 -15
1.6.1 Parts identification ............................................................................................................................ 1 -15
1.7 Configuration including auxiliary equipment .......................................................................................... 1 -16
1.8 Selection of operation method................................................................................................................ 1 -18

2. INSTALLATION 2 - 1 to 2 - 5

2.1 Installation direction and clearances ....................................................................................................... 2 - 2

2.2 Keep out foreign materials....................................................................................................................... 2 - 4
2.3 Cable stress ............................................................................................................................................. 2 - 4
2.4 Inspection items ....................................................................................................................................... 2 - 5
2.5 Parts having service lives ........................................................................................................................ 2 - 5

3. CC-LINK COMMUNICATION FUNCTIONS 3 - 1 to 3 -61

3.1 Communication specifications ................................................................................................................. 3 - 2

3.2 System configuration ............................................................................................................................... 3 - 3
3.2.1 Configuration example ...................................................................................................................... 3 - 3
3.2.2 Wiring method ................................................................................................................................... 3 - 4
3.2.3 Station number setting ...................................................................................................................... 3 - 6
3.2.4 Communication baud rate setting..................................................................................................... 3 - 7
3.2.5 Occupied station count setting.......................................................................................................... 3 - 7
3.3 Functions .................................................................................................................................................. 3 - 8
3.3.1 Function block diagram..................................................................................................................... 3 - 8
3.3.2 Functions ........................................................................................................................................... 3 - 8
3.4 Driver setting ............................................................................................................................................ 3 - 9
3.5 I/O signals (I/O devices) transferred to/from the programmable controller CPU.................................. 3 -10
3.5.1 I/O signals (I/O devices)................................................................................................................... 3 -10
3.5.2 Detailed explanation of I/O signals .................................................................................................. 3 -13
3.5.3 Monitor codes................................................................................................................................... 3 -23
3.5.4 Instruction codes (RWwn+2 RWwn+3) ......................................................................................... 3 -24
3.5.5 Respond codes (RWrn+2) ............................................................................................................... 3 -32
3.5.6 Setting the CN6 external input signals ............................................................................................ 3 -33
3.6 Data communication timing charts ......................................................................................................... 3 -35
3.6.1 Monitor codes................................................................................................................................... 3 -35
3.6.2 Instruction codes .............................................................................................................................. 3 -37
3.6.3 Remote register-based position/speed setting................................................................................ 3 -39
1
 3.7 Function-by-function programming examples........................................................................................ 3 -42
3.7.1 System configuration example......................................................................................................... 3 -42
3.7.2 Reading the driver status ................................................................................................................. 3 -45
3.7.3 Writing the operation commands..................................................................................................... 3 -46
3.7.4 Reading the data .............................................................................................................................. 3 -47
3.7.5 Writing the data ................................................................................................................................ 3 -50
3.7.6 Operation.......................................................................................................................................... 3 -53
3.8 Continuous operation program example................................................................................................ 3 -56
3.8.1 System configuration example when 1 station is occupied ............................................................ 3 -56
3.8.2 Program example when 1 station is occupied ................................................................................ 3 -57
3.8.3 System configuration example when 2 stations are occupied........................................................ 3 -59
3.8.4 Program example when 2 stations are occupied............................................................................ 3 -60

4. SIGNALS AND WIRING 4 - 1 to 4 -40

4.1 Input power supply circuit ........................................................................................................................ 4 - 3

4.2 I/O signal connection diagram ................................................................................................................. 4 - 6
4.3 Explanation of power supply system ....................................................................................................... 4 - 7
4.3.1 Signal explanations ........................................................................................................................... 4 - 7
4.3.2 Power-on sequence .......................................................................................................................... 4 - 8
4.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 4 -10
4.4 Connectors and signal arrangements .................................................................................................... 4 -17
4.5 Signal (device) explanation..................................................................................................................... 4 -18
4.5.1 I/O devices........................................................................................................................................ 4 -18
4.5.2 Output signals................................................................................................................................... 4 -21
4.5.3 Power supply.................................................................................................................................... 4 -22
4.6 Detailed description of signals (devices)................................................................................................ 4 -22
4.6.1 Forward rotation start reverse rotation start temporary stop/restart........................................... 4 -22
4.6.2 Movement completion rough match in position .......................................................................... 4 -23
4.6.3 Torque limit....................................................................................................................................... 4 -25
4.7 Alarm occurrence timing chart................................................................................................................ 4 -26
4.8 Interface................................................................................................................................................... 4 -27
4.8.1 Internal connection diagram ............................................................................................................ 4 -27
4.8.2 Detailed description of interfaces..................................................................................................... 4 -28
4.8.3 Source I/O interfaces ....................................................................................................................... 4 -30
4.9 Treatment of cable shield external conductor ........................................................................................ 4 -31
4.10 Connection of driver and servo motor .................................................................................................. 4 -32
4.10.1 Connection instructions.................................................................................................................. 4 -32
4.10.2 Power supply cable wiring diagrams ............................................................................................. 4 -33
4.11 Servo motor with an electromagnetic brake......................................................................................... 4 -34
4.11.1 Safety precautions ......................................................................................................................... 4 -34
4.11.2 Timing charts.................................................................................................................................. 4 -35
4.11.3 Wiring diagrams (LE-□-□ series servo motor)............................................................................ 4 -38
4.12 Grounding.............................................................................................................................................. 4 -38

2
5. OPERATION 5 - 1 to 5 -63

5.1 Switching power on for the first time ....................................................................................................... 5 - 2

5.1.1 Startup procedure.............................................................................................................................. 5 - 2
5.1.2 Wiring check ...................................................................................................................................... 5 - 3
5.1.3 Surrounding environment.................................................................................................................. 5 - 4
5.2 Startup ...................................................................................................................................................... 5 - 5
5.2.1 Power on and off procedures............................................................................................................ 5 - 5
5.2.2 Stop.................................................................................................................................................... 5 - 5
5.2.3 Test operation.................................................................................................................................... 5 - 6
5.2.4 Parameter setting .............................................................................................................................. 5 - 7
5.2.5 Point table setting.............................................................................................................................. 5 - 8
5.2.6 Actual operation ................................................................................................................................ 5 - 8
5.3 Driver display............................................................................................................................................ 5 - 9
5.4 Automatic operation mode...................................................................................................................... 5 -11
5.4.1 What is automatic operation mode?................................................................................................ 5 -11
5.4.2 Automatic operation using point table ............................................................................................. 5 -13
5.4.3 Remote register-based position/speed setting................................................................................ 5 -25
5.5 Manual operation mode .......................................................................................................................... 5 -31
5.5.1 JOG operation .................................................................................................................................. 5 -31
5.6 Manual home position return mode........................................................................................................ 5 -33
5.6.1 Outline of home position return........................................................................................................ 5 -33
5.6.2 Dog type home position return......................................................................................................... 5 -36
5.6.3 Count type home position return ..................................................................................................... 5 -38
5.6.4 Data setting type home position return............................................................................................ 5 -40
5.6.5 Stopper type home position return .................................................................................................. 5 -41
5.6.6 Home position ignorance (servo-on position defined as home position) ....................................... 5 -43
5.6.7 Dog type rear end reference home position return ......................................................................... 5 -44
5.6.8 Count type front end reference home position return ..................................................................... 5 -46
5.6.9 Dog cradle type home position return ............................................................................................. 5 -48
5.6.10 Dog type first Z-phase reference home position return ................................................................ 5 -50
5.6.11 Dog type front end reference home position return method......................................................... 5 -52
5.6.12 Dogless Z-phase reference home position return method ........................................................... 5 -54
5.6.13 Home position return automatic return function ............................................................................ 5 -56
5.6.14 Automatic positioning function to the home position..................................................................... 5 -57
5.7 Roll feed display function in roll feed mode............................................................................................ 5 -58
5.8 Absolute position detection system ........................................................................................................ 5 -59

6. PARAMETERS 6 - 1 to 6 -43

6.1 Basic setting parameters (No.PA )................................................................................................... 6 - 2

6.1.1 Parameter list .................................................................................................................................... 6 - 2
6.1.2 Parameter write inhibit ...................................................................................................................... 6 - 3
6.1.3 Selection of command system.......................................................................................................... 6 - 4
6.1.4 Selection of regenerative option ....................................................................................................... 6 - 4
6.1.5 Using absolute position detection system ........................................................................................ 6 - 5
6.1.6 Follow-up for absolute value command system in incremental system.......................................... 6 - 5
6.1.7 Feeding function selection ................................................................................................................ 6 - 6
6.1.8 Electronic gear................................................................................................................................... 6 - 7

3
 6.1.9 Auto tuning ........................................................................................................................................ 6 - 8
6.1.10 In-position range.............................................................................................................................. 6 - 9
6.1.11 Torque limit..................................................................................................................................... 6 -10
6.1.12 Selection of servo motor rotation direction.................................................................................... 6 -11
6.1.13 Encoder output pulse ..................................................................................................................... 6 -11
6.2 Gain/filter parameters (No. PB )...................................................................................................... 6 -13
6.2.1 Parameter list ................................................................................................................................... 6 -13
6.2.2 Detail list ........................................................................................................................................... 6 -14
6.3 Extension setting parameters (No. PC ) ......................................................................................... 6 -21
6.3.1 Parameter list ................................................................................................................................... 6 -21
6.3.2 Detail list ........................................................................................................................................... 6 -22
6.3.3 S-pattern acceleration/deceleration................................................................................................. 6 -28
6.3.4 Alarm history clear............................................................................................................................ 6 -28
6.3.5 Rough match output......................................................................................................................... 6 -28
6.3.6 Software limit .................................................................................................................................... 6 -29
6.4 I/O setting parameters (No. PD ) .................................................................................................... 6 -30
6.4.1 Parameter list ................................................................................................................................... 6 -30
6.4.2 Detail list ........................................................................................................................................... 6 -31
6.4.3 Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid......... 6 -40
6.4.4 Stopping method when a software limit is detected........................................................................ 6 -41

7. Set up software(MR Configurator) 7 - 1 to 7 -27

7.1 Specifications ........................................................................................................................................... 7 - 2

7.2 System configuration ............................................................................................................................... 7 - 3
7.3 Station selection....................................................................................................................................... 7 - 5
7.4 Parameters............................................................................................................................................... 7 - 6
7.5 Point table................................................................................................................................................. 7 - 8
7.6 Device assignment method .................................................................................................................... 7 -10
7.7 Test operation ......................................................................................................................................... 7 -14
7.7.1 Jog operation.................................................................................................................................... 7 -14
7.7.2 Positioning operation........................................................................................................................ 7 -16
7.7.3 Motor-less operation ........................................................................................................................ 7 -19
7.7.4 Output signal (DO) forced output..................................................................................................... 7 -20
7.7.5 Single-step feed ............................................................................................................................... 7 -21
7.8 Alarm ....................................................................................................................................................... 7 -24
7.8.1 Alarm display .................................................................................................................................... 7 -24
7.8.2 Batch display of data at alarm occurrence ...................................................................................... 7 -25
7.8.3 Alarm history..................................................................................................................................... 7 -27

8. GENERAL GAIN ADJUSTMENT 8 - 1 to 8 -12

8.1 Different adjustment methods.................................................................................................................. 8 - 2

8.1.1 Adjustment on a single driver ........................................................................................................... 8 - 2
8.1.2 Adjustment using set up software(MR Configurator) ....................................................................... 8 - 3
8.2 Auto tuning ............................................................................................................................................... 8 - 4
8.2.1 Auto tuning mode .............................................................................................................................. 8 - 4
8.2.2 Auto tuning mode operation.............................................................................................................. 8 - 5
8.2.3 Adjustment procedure by auto tuning............................................................................................... 8 - 6

4
 8.2.4 Response level setting in auto tuning mode .................................................................................... 8 - 7
8.3 Manual mode 1 (simple manual adjustment).......................................................................................... 8 - 8
8.4 Interpolation mode .................................................................................................................................. 8 -12

9. SPECIAL ADJUSTMENT FUNCTIONS 9- 1 to 9-18

9.1 Function block diagram............................................................................................................................. 9- 2

9.2 Adaptive filter .......................................................................................................................................... 9- 2
9.3 Machine resonance suppression filter...................................................................................................... 9- 5
9.4 Advanced vibration suppression control .................................................................................................. 9- 7
9.5 Low-pass filter .......................................................................................................................................... 9-12
9.6 Gain changing function ............................................................................................................................ 9-12
9.6.1 Applications ....................................................................................................................................... 9-12
9.6.2 Function block diagram..................................................................................................................... 9-13
9.6.3 Parameters ........................................................................................................................................ 9-14
9.6.4 Gain changing operation................................................................................................................... 9-16

10. TROUBLESHOOTING 10- 1 to 10-15

10.1 Trouble at start-up................................................................................................................................. 10- 2

10.2 Operation at error occurrence .............................................................................................................. 10- 3
10.3 CC-Link communication error............................................................................................................... 10- 3
10.4 When alarm or warning has occurred .................................................................................................. 10- 4
10.4.1 Alarms and warning list.................................................................................................................. 10- 4
10.4.2 Remedies for alarms...................................................................................................................... 10- 5
10.4.3 Remedies for warnings ................................................................................................................. 10-12
10.5 Point table error.................................................................................................................................... 10-14

11. OUTLINE DRAWINGS 11- 1 to 11- 6

11.1 Driver ..................................................................................................................................................... 11- 2

11.2 Connector.............................................................................................................................................. 11- 4

12. CHARACTERISTICS 12- 1 to 12-7

12.1 Overload protection characteristics ...................................................................................................... 12- 2

12.2 Power supply equipment capacity and generated loss ....................................................................... 12- 3
12.3 Dynamic brake characteristics.............................................................................................................. 12- 5
12.3.1 Dynamic brake operation............................................................................................................... 12- 5
12.3.2 The dynamic brake at the load inertia moment............................................................................. 12- 6
12.4 Cable flexing life.................................................................................................................................... 12- 7
12.5 Inrush currents at power-on of main circuit and control circuit............................................................ 12- 7

13. OPTIONS AND AUXILIARY EQUIPMENT 13- 1 to 13-32

13.1 Cable/connector sets ............................................................................................................................ 13- 2

13.1.1 Combinations of cable/connector sets .......................................................................................... 13- 3
13.1.2 Encoder cable/connector sets ....................................................................................................... 13- 5
13.1.3 Motor cables................................................................................................................................... 13- 7
13.1.4 Lock cables .................................................................................................................................... 13- 9

5
13.2 Regenerative options ........................................................................................................................... 13-10
13.3 Battery LEC-MR-J3BAT....................................................................................................................... 13-13
13.4 Selection example of wires.................................................................................................................. 13-14
13.5 No-fuse breakers, fuses, magnetic contactors ................................................................................... 13-18
13.6 Noise reduction techniques ................................................................................................................. 13-19
13.7 Leakage current breaker...................................................................................................................... 13-27
13.8 EMC filter (recommended) .................................................................................................................. 13-29

14. COMMUNICATION FUNCTION 14- 1 to 14-49

14.1 Configuration ......................................................................................................................................... 14- 2

14.2 Communication specifications .............................................................................................................. 14- 4
14.2.1 Communication overview............................................................................................................... 14- 4
14.2.2 Parameter setting........................................................................................................................... 14- 5
14.3 Protocol ................................................................................................................................................. 14- 6
14.3.1 Transmission data configuration.................................................................................................... 14- 6
14.3.2 Character codes............................................................................................................................. 14- 8
14.3.3 Error codes ..................................................................................................................................... 14- 9
14.3.4 Checksum....................................................................................................................................... 14- 9
14.3.5 Time-out operation ........................................................................................................................ 14-10
14.3.6 Retry operation.............................................................................................................................. 14-10
14.3.7 Initialization.................................................................................................................................... 14-11
14.3.8 Communication procedure example............................................................................................. 14-11
14.4 Command and data No. list ................................................................................................................. 14-12
14.4.1 Read commands ........................................................................................................................... 14-12
14.4.2 Write commands ........................................................................................................................... 14-16
14.5 Detailed explanations of commands ................................................................................................... 14-19
14.5.1 Data processing ............................................................................................................................ 14-19
14.5.2 Status display ................................................................................................................................ 14-21
14.5.3 Parameters .................................................................................................................................... 14-22
14.5.4 External I/O signal statuses (DIO diagnosis) ............................................................................... 14-25
14.5.5 Device ON/OFF............................................................................................................................. 14-30
14.5.6 Disable/enable of I/O devices (DIO)............................................................................................. 14-31
14.5.7 Input devices ON/OFF (test operation) ........................................................................................ 14-32
14.5.8 Test operation mode ..................................................................................................................... 14-33
14.5.9 Alarm history.................................................................................................................................. 14-39
14.5.10 Current alarm .............................................................................................................................. 14-40
14.5.11 Point table.................................................................................................................................... 14-41
14.5.12 Driver group designation............................................................................................................. 14-47
14.5.13 Other commands......................................................................................................................... 14-48

15. INDEXER POSITIONING OPERATION 15- 1 to 15-115

15.1 Function................................................................................................................................................. 15- 2

15.1.1 Overview......................................................................................................................................... 15- 2
15.1.2 Driver standard specifications (functions only).............................................................................. 15- 2
15.1.3 Function list .................................................................................................................................... 15- 3
15.2 I/O signals (I/O devices) transferred to/from the programmable controller CPU................................ 15- 4
15.2.1 I/O signals (I/O devices)................................................................................................................. 15- 4

6
 15.2.2 Detailed explanation of I/O signals ................................................................................................ 15- 6
15.2.3 Monitor codes................................................................................................................................ 15-15
15.2.4 Instruction codes (RWwn 2 RWwn 3)...................................................................................15-16
15.2.5 Respond codes (RWrn 2) ..........................................................................................................15-23
15.3 Signal.................................................................................................................................................... 15-24
15.3.1 Signal (device) explanation........................................................................................................... 15-24
15.3.2 Detailed description of signals (devices) ...................................................................................... 15-27
15.4 Switching power on for the first time ................................................................................................... 15-30
15.4.1 Startup procedure ......................................................................................................................... 15-30
15.4.2 Wiring check.................................................................................................................................. 15-31
15.4.3 Surrounding environment ............................................................................................................. 15-32
15.5 Startup .................................................................................................................................................. 15-33
15.5.1 Power on and off procedures........................................................................................................ 15-33
15.5.2 Stop ............................................................................................................................................... 15-33
15.5.3 Test operation ............................................................................................................................... 15-34
15.5.4 Parameter setting.......................................................................................................................... 15-35
15.5.5 Point table setting.......................................................................................................................... 15-36
15.5.6 Actual operation ............................................................................................................................ 15-36
15.6 Driver display........................................................................................................................................ 15-37
15.7 Automatic operation mode................................................................................................................... 15-39
15.7.1 What is automatic operation mode?............................................................................................. 15-39
15.7.2 Automatic operation mode 1 (Rotation direction specifying indexer)..........................................15-40
15.8 Manual operation mode ....................................................................................................................... 15-59
15.8.1 Indexer JOG operation.................................................................................................................. 15-59
15.8.2 JOG operation ............................................................................................................................... 15-61
15.9 Home position return mode ................................................................................................................. 15-62
15.9.1 Outline of home position return..................................................................................................... 15-62
15.9.2 Torque limit changing dog type home position return.................................................................. 15-64
15.9.3 Torque limit changing data setting type home position return.....................................................15-66
15.9.4 Home position return automatic return function ........................................................................... 15-67
15.10 Absolute position detection system................................................................................................... 15-68
15.11 Parameters......................................................................................................................................... 15-71
15.11.1 Basic setting parameters (No.PA ) ...................................................................................... 15-71
15.11.2 Gain/filter parameters (No.PB )............................................................................................ 15-80
15.11.3 Extension setting parameters (No.PC ) ............................................................................... 15-88
15.11.4 I/O setting parameters (No.PD )....................................................................................... 15-94
15.12 TROUBLESHOOTING ...................................................................................................................... 15-99
15.12.1 Trouble at start-up....................................................................................................................... 15-99
15.12.2 Operation at error occurrence ..................................................................................................15-100
15.12.3 CC-Link communication error...................................................................................................15-100
15.12.4 When alarm or warning has occurred ......................................................................................15-101
15.12.5 Point table error.........................................................................................................................15-115

APPENDIX App.- 1 to App.-25

App. 1 Parameter list..................................................................................................................................App.- 2

App. 2 Signal layout recording paper ........................................................................................................App.- 4
App. 3 Twin type connector: outline drawing for 721-2105/026-000(WAGO) .........................................App.- 5
App. 4 Parameter list ............................................................................................................................App.- 6

7
App. 5 Program example with MELSEC-A series programmable PC or PLC...etc.................................App.- 8

8
1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION.......................................................................................................... 2

1.1 Introduction .............................................................................................................................................. 2
1.1.1 Features of CC-Link communication functions ................................................................................. 2
1.1.2 Function block diagram ..................................................................................................................... 3
1.1.3 System configuration......................................................................................................................... 4
1.2 Driver standard specifications.................................................................................................................. 6
1.3 Function list ............................................................................................................................................ 10
1.4 Model code definition ............................................................................................................................. 12
1.5 Combination with servo motor ............................................................................................................... 14
1.6 Structure................................................................................................................................................. 15
1.6.1 Parts identification ........................................................................................................................... 15
1.7 Configuration including auxiliary equipment .......................................................................................... 16
1.8 Selection of operation method ............................................................................................................... 18

1- 1
1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction
The LECSC□-□ CC-Link compatible driver can support the CC-Link communication functions. Up to 42 axes
of drivers can be controlled/monitored from the programmable driver side.
As the servo, it has the function to perform positioning operation by merely setting the position data (target
positions), servo motor speeds, acceleration and deceleration time constants, etc. to point tables as if setting
them in parameters. The driver is the most appropriate to configure a program-free, simple positioning system
or to simplify a system, for example.
There are 31 points of point tables to be used when 1 station is occupied and 255 points when 2 stations are
occupied.
All servo motors are equipped with an absolute position encoder as standard. An absolute position detection
system can be configured by merely adding a battery to the driver. Once the home position has been set, home
position return is not required at power on, alarm occurrence, etc.
The LECSC□-□ is made easier to use and higher in function by using it with the set up software(MR
Configurator).

1.1.1 Features of CC-Link communication functions

(1) Fast communication
Fast communication can be made by cyclic transmission of not only bit data but also word data.

(a) The highest communication speed is 10Mbps.

(b) The broadcast polling system ensures as high as 3.9ms to 6.7ms even at the maximum link scan
(10Mbps).

(2) Variable communication speed/distance system

Selection of speed/distance allows use in a wide range of areas from a system requiring high speed to a
system requiring long distance.

(3) System fault prevention (station separating function)

Because of connection in the bus system, any remote or local station that has become faulty due to power-
off or the like does not affect communications with normal remote and local stations.
In addition, use of the two-piece terminal block allows the unit to be changed during data link.

(4) Factory Automation compatible

As the remote device stations of CC-Link, the drivers share a link system and can be controlled/monitored
with programmable driver user programs.
From the programmable driver side, the running speed, acceleration/deceleration time constant and other
settings of servo motors can be changed/checked and the servo motors started and stopped.

1- 2
1. FUNCTIONS AND CONFIGURATION

1.1.2 Function block diagram

The function block diagram of this servo is shown below.

(1) LECSC□-□
Power factor
improving DC Regenerative
reactor option

Servo amplifier P1 P2 P( ) C D N( ) Servo motor

Diode (Note 1)
NFB MC stack Relay
L1 U U
(Note 2) V V
Power L2 Current
detector M
supply W W
L3 CHARGE Regene-
lamp rative
TR

(Note 4) Cooling fan Dynamic

brake
RA
L11 Control Electro-
circuit 24VDC B1 magnetic
L21 power brake
supply B2

CN2
Base Voltage Overcurrent Current
amplifier detection protection detection
Encoder

Current
control
Point table
Acceleration Deceleration
No. Position Speed time Dwell Auxiliary
Model adaptive control

time
data constant constant
1 1000 1000 80 80 0 0
Speed 2 2000 2000 100 100 0 0
control
3 4000 2000 70 60 500 1
4 500 2000 60 70 1000 1
5 1000 2000 80 80 0 0
6 2000 1000 80 80 0 0
Position
control 7 1000 1000 80 80 0 0
8 1000 1000 100 100 0 0
MR-J3BAT
(Note 3) 1000 1000 100 100 0 0
CN4

Position 255 2000 2000 80 80 0 0

command Optional battery
creation (for absolute position
detection system)

USB RS-422

CN6 CN1 CN5 CN3

Personal
computer
DI/O Control USB
Servo on Controller
Start CC-Link
Failure, etc RS-422

Note 1. The built-in regenerative resistor is not provided for the LECSC□-S5.
2. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.2 for the power supply specification.
3. For the case when 2 stations are occupied. When 1 station is occupied, the point table ends at No.31.

1- 3
1. FUNCTIONS AND CONFIGURATION

1.1.3 System configuration

This section provides operations using this servo.
Use of CC-Link enables you to freely configure any system from a single-axis system to an up to 42-axis
system.
Set the following values to the point table.
Name Setting range Unit
0.001[mm]
0.01[mm]
Position data 999999 to 999999
0.1[mm]
1[mm]
Servo motor speed 0 to max. speed [r/min]
Acceleration time constant 0 to 20000 [ms]
Deceleration time constant 0 to 20000 [ms]
Dwell 0 to 20000 [ms]
0 to 3
Auxiliary function
(Refer to section 4.2)

There are 31 points of point tables to be used when 1 station is occupied and 255 points when 2 stations are
occupied.

(1) Operation using CC-Link communication functions

(a) Operation
All devices can be controlled by CC-Link communication. Also, each point table setting, point table
selection, parameter value change, setting, monitor, servo motor operation and others can be performed.
(b) Configuration
Programmable controller
CC-Link master unit To the next axis
Driver
Servo amplifier Driver
Servo amplifier
(Axis 1) (Axis 2)

CN1 CN1

CN6 CN6
CNP3 CNP3

CN2 CN2

1- 4
1. FUNCTIONS AND CONFIGURATION

(2) Operation using CC-Link communication functions and external input signals
(a) Operation
Using parameter No.PD06 to PD08 and parameter No.PD12, PD14, input devices can be assigned to
the external input devices of CN1A and CN1B. The signals assigned to the external input signals cannot
be used with the CC-Link communication functions. Output devices can be used with the CN6
connectors and CC-Link communication functions simultaneously.
(b) Configuration
Programmable controller To the next axis
CC-Link master unit
Driver
Servo amplifier Driveramplifier
Servo
(Axis 1) C (Axis
t ll2)

CN1 CN1

CN6 CN6
CNP3 CNP3

CN2 CN2

External I/O External I/O

signal signal

1- 5
1. FUNCTIONS AND CONFIGURATION

1.2 Driver standard specifications

(1) 200V class, 100V class
Driver LECSC□-□
S5 S7 S7
Item
Voltage/frequency 3-phase or 1-phase 200 to 230VAC, 50/60Hz
Permissible voltage
3-phase or 1-phase 200 to 230VAC: 170 to 253VAC
fluctuation
Power supply Permissible frequency
Within 5%
fluctuation
Power supply capacity Refer to section 12.2
Inrush current Refer to section 12.5
Voltage, frequency 1-phase 200 to 230VAC, 50/60Hz
Permissible voltage
1-phase 170 to 253VAC
fluctuation
Control circuit power
Permissible frequency
supply Within 5%
fluctuation
Input 30W
Inrush current Refer to section 12.5
Voltage 24VDC 10%
Interface power supply
Power supply capacity (Note 1) 150mA
Control System Sine-wave PWM control, current control system
Dynamic brake Built-in
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off
(electronic thermal relay), servo motor overheat protection, encoder error
Protective functions
protection, regenerative brake error protection, undervoltage, instantaneous
power failure protection, overspeed protection, excessive error protection
Operational specifications Positioning by specifying the point table No. (255 points)
Position command input Set in point table. 1-point feed length setting range: 1[ m] to 999.999[mm]
Set in point table. Acceleration/deceleration time is set in point table.
Point table number Speed command input S-pattern acceleration/deceleration time constant is set in parameter
input No.PC13.
Signed absolute value command system, incremental value command
Command system

System system, signed absolute value command/incremental value command

specifying system
Operational specifications Remote register setting is used for positioning.
Remote register is used to set position command data.
Position command input
Feed length input setting range: 1 m to 999.999m
Position command Remote register is used to make selection from point table.
data input Remote register is used to set speed command data (speed).
Speed command input
(when 2 stations S-pattern acceleration/deceleration time constant is set in parameter
are occupied) No.PC13.
Signed absolute value command system, incremental value command
System system, signed absolute value command/incremental value command
specifying system
Point table number input, position data input system
Point table Positioning operation is performed once in accordance with the position and
Automatic operation speed commands.
mode Varied speed operation (2 to 255 speeds), automatic continuous positioning
Automatic continuous
operation (2 to 255 points)
Operation mode

operation
Jog operation is performed in accordance with the parameter-set speed
Jog command by contact input or through CC-Link communication function.
Manual operation
Manual feed is made by manual pulse generator.
mode Manual pulse generator Command pulse multiplication: 1, 10 or 100 is selected using
parameter.
Point table number input, position data input system
Automatic operation
Point table Positioning operation is performed once in accordance with the position and
mode
speed commands.

1- 6
1. FUNCTIONS AND CONFIGURATION

Driver LECSC□-□
S5 S7 S8
Item
Voltage/frequency 3-phase or 1-phase 200 to 230VAC, 50/60Hz
Power supply

Permissible voltage fluctuation 3-phase or 1-phase 200 to 230VAC: 170 to 253VAC

Permissible frequency fluctuation Within 5%
Power supply capacity Refer to section 12.2
Inrush current Refer to section 12.5
Voltage, frequency 1-phase 200 to 230VAC, 50/60Hz
Permissible voltage
1-phase 170 to 253VAC
fluctuation
Control circuit power supply Permissible frequency
Within 5%
fluctuation
Input 30W
Inrush current Refer to section 12.5
Voltage 24VDC 10%
Interface power supply
Power supply capacity (Note 1) 150mA
Control System Sine-wave PWM control, current control system
Dynamic brake Built-in
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off
(electronic thermal relay), servo motor overheat protection, encoder error
Protective functions
protection, regenerative brake error protection, undervoltage, instantaneous
power failure protection, overspeed protection, excessive error protection
Operational specifications Positioning by specifying the point table No. (255 points)
Position command input Set in point table. 1-point feed length setting range: 1[ m] to 999.999[mm]
Set in point table. Acceleration/deceleration time is set in point table.
Speed command input S-pattern acceleration/deceleration time constant is set in parameter
Point table number input
No.PC13.
Signed absolute value command system, incremental value command
Command system

System system, signed absolute value command/incremental value command

specifying system
Operational specifications Remote register setting is used for positioning.
Remote register is used to set position command data.
Position command input
Feed length input setting range: 1 m to 999.999m
Position command data Remote register is used to make selection from point table.
input Remote register is used to set speed command data (speed).
Speed command input
(when 2 stations are S-pattern acceleration/deceleration time constant is set in parameter
occupied) No.PC13.
Signed absolute value command system, incremental value command
System system, signed absolute value command/incremental value command
specifying system
Point table number input, position data input system
Point table Positioning operation is performed once in accordance with the position and
Automatic operation
speed commands.
Operation mode

mode
Automatic continuous Varied speed operation (2 to 255 speeds), automatic continuous positioning
operation operation (2 to 255 points)
Jog operation is performed in accordance with the parameter-set speed
Jog
command by contact input or through CC-Link communication function.
Manual operation mode Manual feed is made by manual pulse generator.
Manual pulse generator Command pulse multiplication: 1, 10 or 100 is selected using
parameter.

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1. FUNCTIONS AND CONFIGURATION

Driver LECSC□-□
S5 S7 S8
Item
Home position return is made starting with Z-phase pulse after passage of
proximity dog.
Automatic operation Home position address may be set. Home position shift distance may be set.
Dog type
mode Home position return direction may be selected.
Automatic at-dog home position return return/automatic stroke return
function.
Home position return is made by counting encoder pulses after contact with
proximity dog.
Home position address may be set. Home position shift value may be set.
Count type
Home position return direction may be set.
Automatic at-dog home position return return/automatic stroke return
function.
Home position return is made without dog.
Data setting type Home position may be set at any position by manual operation, etc. Home
position address may be set.
Home position return is made by pressing machine part against stroke end.
Stopper type Home position address may be set. Home position return direction may be
set.
Home position ignorance Position where servo-on (RYn0) is switched on is defined as home position.
(Servo-on position as Home position address may be set.
home position)
Home position return is made with respect to the rear end of a proximity dog.
Home position address may be set. Home position shift value may be set.
Operation mode

Dog type rear end

Home position return direction may be set.
reference
Automatic at-dog home position return return/automatic stroke return
function.
Home position return is made with respect to the front end of a proximity
dog.
Count type front end Home position address may be set. Home position shift value may be set.
reference Home position return direction may be set.
Automatic at-dog home position return return/automatic stroke return
function.
Home position return is made with respect to the front end of a proximity dog
by the first Z-phase pulse.
Home position address may be set. Home position shift value may be set.
Dog cradle type
Home position return direction may be set.
Automatic at-dog home position return return/automatic stroke return
function.
Home position return is made with respect to the front end of a proximity dog
by the last Z-phase pulse.
Dog type last Home position address may be set. Home position shift value may be set.
Z-phase reference Home position return direction may be set.
Automatic at-dog home position return return/automatic stroke return
function.
Home position return is made to the dog front end with respect to the front
end of a proximity dog.
Dog type front end Home position address may be set. Home position shift value may be set.
reference Home position return direction may be set.
Automatic at-dog home position return return/automatic stroke return
function.

1- 8
1. FUNCTIONS AND CONFIGURATION

Home position return is made with respect to the first Z-phase to the Z-
Dogless phase.
Z-phase reference Home position address may be set. Home position shift value may be set.
Home position return direction may be set.
Automatic positioning to home position High-speed automatic return to a defined home position.

Driver LECSC□-□
S5 S7 S8
Item
Absolute position detection, backlash function
Other functions Overtravel prevention using external limit switch
Software stroke limit
Structure Self-cooled, open (IP00)
Permissible voltage
3-phase or 1-phase 200 to 230VAC: 170 to 253VAC
fluctuation
Permissible frequency
Within 5%
fluctuation
Power supply capacity Refer to section 12.2
Inrush current Refer to section 12.5
[ ] (Note 2) 0 to 55 (non-freezing)
In operation
Ambient [ ] (Note 2) 32 to 131 (non-freezing)
temperature [ ] 20 to 65 (non-freezing)
In storage
Environment

[ ] 4 to 149 (non-freezing)
Ambient In operation
90%RH or less (non-condensing)
humidity In storage
Indoors (no direct sunlight)
Ambient
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m above sea level
2
Vibration 5.9 [m/s ] or less
[kg] 0.8 0.8 1.0
Mass
[lb] 1.76 1.76 2.21

Note 1. 150mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. When closely mounting the Driver, operate them at the ambient temperatures of 0 to 45 (32 to 113 ) or at 75% or smaller
effective load ratio.

1- 9
1. FUNCTIONS AND CONFIGURATION

1.3 Function list

The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function Description Reference
Select the required ones from among 31 preset point tables and perform
Positioning by automatic operation in accordance with the set values.
Section 5.4
operation Use the external input signal or communication function to choose the point
tables.
Servo motor speed can be varied continuously until the preset moving Section 5.4.2
Varied speed operation
distance is reached. (Max. set speeds: 255 speeds) (4)(b)
Automatic continuous positioning By merely choosing one point table and starting operation, positioning can
Section 5.4.2 (4)
operation be executed continuously in accordance with several point tables.
Dog type, count type, data setting type, stopper type, home position
Home position return ignorance, dog type rear end reference, count type front end reference, dog Section 5.6
cradle type
High-resolution encoder of 262144 pulses/rev is used as a servo motor
High-resolution encoder
encoder.
Absolute position detection By merely setting the home position once, home position return need not be
Section 5.7
system done at each power on.
You can switch between gains during rotation and gains during stop or use
Gain changing function Section 9.6
an input device to change gains during operation.
Advanced vibration suppression This function suppresses vibration at the arm end or residual vibration.
Section 9.4
control
Driver detects mechanical resonance and sets filter characteristics
Adaptive filter Section 9.2
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system
Low-pass filter Section 9.5
response is increased.
Analyzes the frequency characteristic of the mechanical system by simply
connecting a set up software(MR Configurator) installed personal computer
Machine analyzer function
and driver.
Set up software(MR Configurator) is necessary for this function.
Can simulate machine motions on a personal computer screen on the basis
Machine simulation of the machine analyzer results.
Set up software(MR Configurator) is necessary for this function.
Personal computer changes gains automatically and searches for
Gain search function overshoot-free gains in a short time.
Set up software(MR Configurator) is necessary for this function.
Slight vibration suppression Suppresses vibration of 1 pulse produced at a servo motor stop. Parameters No.
control PB24
The electronic gear is used to make adjustment so that the driver setting
matches the machine moving distance. Also, changing the electronic gear Parameter No.
Electronic gear
value allows the machine to be moved at any multiplication ratio to the PA06, PA07
moving distance using the driver.
Automatically adjusts the gain to optimum value if load applied to the servo
Auto tuning Section 8.2
motor shaft varies.
S-pattern Acceleration/deceleration can be made smoothly.
Parameters No.
acceleration/deceleration time
PC13
constant
Used when the built-in regenerative resistor of the driver does not have
Regenerative option Section 13.2
sufficient regenerative capability for the regenerative power generated.
Used when the regenerative option cannot provide enough regenerative
Brake unit power. Section 13.3
Can be used with the driver of 5kW or more.
Used when the regenerative option cannot provide enough regenerative
Regeneration converter power. Section 13.4
Can be used with the driver of 5kW or more.
Alarm history is cleared. Parameter No.
Alarm history clear
PC18

1 - 10
1. FUNCTIONS AND CONFIGURATION

Function Description Reference

Any input device such as servo-on (SON) can be assigned to any pin of CN6 Parameter No.
I/O signal selection (Device
connector. PD06 to PD08
setting)
PD12 PD14
Servo motor-torque is limited. Section 4.6.3
Torque limit
Section 6.1.11
Output signal can be forced on/off independently of the servo status.
Output signal (DO) forced output Section 7.7.4
Use this function for output signal wiring check, etc.
JOG operation positioning operation DO forced output single - step
Test operation mode feed. Section 7.7
Set up software(MR Configurator) is necessary for this function.
The servo motor travel region can be limited using the forward rotation
Limit switch
stroke end (LSP)/reverse rotation stroke end (LSN).
The travel region is limited using parameters in terms of address.
Software limit Section 6.3.6
The function similar to that of a limit switch is limited by parameter.

1 - 11
 1. FUNCTIONS AND CONFIGURATION

1.4 Model code definition

(1) Model

LECS C 1 － S5
Driver Type Motor type
Type Capacity Encoder
C CC-Link type
（Absolute encoder） AC Servo motor（S5,S6） 50W,100W
S5
Absolute
S7 AC Servo motor（S7） 200W

S8 AC Servo motor（S8） 400W

Power supply

１ AC100V～AC120V 50Hz，60Hz

２ AC200V～AC230V 50Hz，60Hz

(2) Option Model

a) Motor cable / Lock cable / Encoder cable

ＬＥ － C S M － S ５ A
Motor Type Connector Direction
S AC Servo motor A Axis side
B Opposite axis side
Cable Content
M Motor cable
B Lock cable
Cable Length (L) [ｍ]
E Encoder cable
2 2m

*LE-CSM-S□□ is MR-PWS1CBL□M-A□-L of Mitsubishi Electric. 5 5m

LE-CSB-S□□ is MR-BKS1CBL□M-A□-L of Mitsubishi Electric. A 10m
LE-CSE-S□□ is MR-J3ENCBL□M-A□-L of Mitsubishi Electric.
LE-CSM-R□□ is MR-PWS1CBL□M-A□-H of Mitsubishi Electric.
LE-CSB-R□□ is MR-BKS1CBL□M-A□-H of Mitsubishi Electric. Cable Type
LE-CSE-R□□ is MR-J3ENCBL□M-A□-H of Mitsubishi Electric. S Standard cable
R Robot cable

1 - 12
1. FUNCTIONS AND CONFIGURATION

b） I/O Connector

ＬＥ-CＳＮA
Driver Type

A LECSC

*LE-CSNA is 10126-3000EL(Connector)/10326-3210-0000（Shell kit）of 3M or equivalent

goods.

c）Regenerative options

ＬＥC-MR-RB-032
Regenerative option Type

032 Permissible regenerative power 30W

12 Permissible regenerative power 100W

*MR-RB-□ of Mitsubishi Electric.

d）MR Configrator(Setup software Japanese version)

ＬＥＣ-MR-SETUP221□
Languag
NIL Japanese version
E English version
* MRZJW3-SETUP221 of Mitsubishi Electric.
Refer to the website of Mitsubishi Electric for the information of the operating environment and
upgrading.
Prepare USB cable should be ordered separately.

e）USB cable(3m)

ＬＥＣ-MR-Ｊ3ＵＳＢ
* MR-J3USB of Mitsubishi Electric.

f）Battery

ＬＥＣ-MR-Ｊ3ＢＡＴ
* MR-J3BAT of Mitsubishi Electric.
Battery for replacement.
Absolute position data is maintained by installing the battery to the driver.

1 - 13
1. FUNCTIONS AND CONFIGURATION

1.5 Combination with servo motor

The following table lists combinations of drivers and servo motors. The same combinations apply to the servo
motors with an electromagnetic brakes and the servo motors with a reduction gear.

Servo motor
Driver
LE-□-□

LECSC□-S5 S5,S6
LECSC□-S7 S7
LECSC□-S8 S8

1 - 14
1. FUNCTIONS AND CONFIGURATION

1.6 Structure
1.6.1 Parts identification
(1) LECSC□-□
Detailed
Name/Application
explanation
Display
Section 5.3
The 3-digit, seven-segment LED shows the servo
Chapter 11
status and alarm number.

4
5 6 Baud rate switch (MODE)
MODE
2 3

7 8

5 6
0 1
9 4
Select the CC-Link communication baud rate. Section 3.2.4

7 8
2 3
9
0 1
5 6 5 6
4 4
2 3

7 8

2 3

7 8

0 1
9
0 1
9 Station number switches (STATION NO.)
Set the station number of the servo amplifier.
X10 STATION NO. X1
5 6 5 6
4 4
Section 3.2.3

7 8

7 8
2 3

2 3
9 9
0 1 0 1

Set the one place.

Set the ten place.
Occupied station count switch (SW1)
SW1
Section 3.2.5
Set the number of occupied stations.

Main circuit power supply connector (CNP1) Section 4.1

Used to connect the input power supply. Section 4.3
Section 12.1
Communication alarm display section
Indicates alarms in CC-Link communication.
L.RUN Section 11.3
SD
RD
L.ERR
USB communication connector (CN5)
Chapter 7
Used to connect the personal computer.
RS-422 communication connector (CN3) Chapter 7
Used to connect the MR-PRU03 parameter unit or Chapter 8
personal computer. Chapter 15
CC-Link connector (CN1)
Section 3.2.2
Wire the CC-Link cable.
Control circuit connector (CNP2) Section 4.1
Used to connect the control circuit power supply/ Section 4.3
regenerative option. Section 12.1
Section 14.2
I/O signal connector (CN6) Section 4.2
Used to connect digital I/O signals. Section 4.4
Servo motor power connector (CNP3) Section 4.1
Used to connect the servo motor. Section 4.3
Section 12.1
Encoder connector (CN2) Section 4.10
Used to connect the servo motor encoder. Section 14.1
Battery connector (CN4)
Section 5.8
Used to connect the battery for absolute position data
Section 14.7
backup.
Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Battery holder
Section 5.8
Contains the battery for absolute position data backup.

Fixed part Rating plate Section 1.4

(2 places)
Protective earth (PE) terminal ( ) Section 4.1
Ground terminal. Section 4.3
Section 12.1

1 - 15
1. FUNCTIONS AND CONFIGURATION

1.7 Configuration including auxiliary equipment

POINT
Equipment other than the driver and servo motor are optional or
recommended products.

(1) LECSC□-□
(a) For 3-phase or 1-phase 200V to 230VAC
RST
(Note 3)
Power supply MRup
Set Configurator
software Personal
（MR Configurator） computer

No-fuse breaker
(NFB) or fuse

Controller
Servo amplifier

Magnetic
contactor
(MC)

(Note 2) CN5 CC-Link

CN3
Line noise
filter
(FR-BSF01)
CN1

U CN6
V I/O signal
L1 W
L2
L3 CN2

CN4
(Note 2)
Power factor
improving DC P1 (Note 1)
reactor Battery
(FR-BEL) P2 MR-J3BAT
LEC-MRJ3BAT
LEC-MR-J3BAT
LEC-MRJ3BAT

P C

Regenerative option Servo motor

Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
3. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.2 for the power supply
specification.

1 - 16
1. FUNCTIONS AND CONFIGURATION

(b) For 1-phase 100V to 120VAC

R S
(Note 3)
Power supply
SetMR
upConfigurator
software Personal
（MR Configurator） computer

No-fuse breaker
(NFB) or fuse

Driver
Servo amplifier

Magnetic
contactor
(MC)
Power factor
improving DC CN5 CC-Link
reactor (Note 2)
(FR-BEL) CN3

Line noise
filter
(FR-BSF01) CN1

U CN6
V I/O signal
L1 W

L2 CN2

CN4

(Note 1)
Battery
MR-J3BAT
LEC-MR-J3BAT

P C

Regenerative option Servo motor

Note 1. The battery (option) is used for the absolute position detection system in the position control mode.
3. Refer to section 1.2 for the power supply specification.

1 - 17
1. FUNCTIONS AND CONFIGURATION

1.8 Selection of operation method

Using the CC-Link communication functions, this servo enables a wide variety of operation methods. The
operation method changes depending on the input device, parameter and point table setting.
The flow of the operation method that changes depending on the device and parameter setting status is shown
in the chart for your reference.

Remote input-based point

1 station
occupied table No. setting auxiliary
function valid
LECSC□-□ occupied (Refer to section 5.4)
MR-J3-T occupied
Station count setting
station count setting
switch SW1
OFF OFF
Driveramplifier
Servo
LECSC □-□
MR-J3-T OFF ON

(Refer to section 3.2.5) Remote input position/speed

specifying system selection
(RY(n+2)A)
OFF
2 stations
occupied ON Remote register-based
point table No. setting
auxiliary function invalid

Parameter No.PA30

0
Remote register-based
1 position data setting/point
table No. (speed) setting
2 auxiliary function invalid

Remote register-based
position data/speed data
setting auxiliary function
invalid

1 - 18
1. FUNCTIONS AND CONFIGURATION

Reference Main description

Positioning operation is Section 3.8.2 Positioning is started by
Point table making the start signal
executed once with Section
auxiliary function position data handled valid after selection of
5.4.2 (1)
0 as absolute value. the point table with the
Continuous positioning Section 3.8.2 remote input. Using the
operation is executed with Section auxiliary function,
1 position data handled as 5.4.2 (4)(b)1) automatic continuous
Absolute value absolute values.
command operation can be
specifying system 2 Positioning operation is Section 3.8.2 performed with multiple
executed once with Section point tables.
Parameter No.PA01 position data handled 5.4.2 (2)
3 as incremental value.
0
Continuous positioning Section 3.8.2
operation is executed with Section
1 position data handled as 5.4.2 (4)(b)1)
Point table incremental values.
auxiliary function
Positioning operation is Section 3.8.2
0 executed once in Section
Incremental value incremental value 5.4.2 (1)
command command system.
specifying system 1
Continuous positioning Section 3.8.2
operation is executed Section
in incremental value 5.2.2 (4)(b)2)
Remote input absolute command system.
value/incremental value Positioning is started by
selection (RY(n+2)B) Positioning operation is making the start signal
executed once with
OFF position data handled valid after selection of
Parameter No.PA01 Absolute value as absolute value. the point table with the
command Section remote register. The
0 specifying system ON Positioning operation is 3.6.3 (1)
executed once with auxiliary function cannot
position data handled be used.
Section
1 as incremental value. 3.7.6 (3)
Incremental value Positioning operation is
command executed once in
specifying system incremental value
Remote input absolute command system.
value/incremental value Set the position data
selection (RY(n+2)B) Positioning operation is
executed once with directly with the remote
OFF position data handled register, and use the
Parameter No.PA01 Absolute value as absolute value. settings of the point table
command selected with the remote
specifying system ON Positioning operation is register as the servo
0 executed once with Section
3.6.3 (2) motor speed and
position data handled acceleration/deceleration
1 as incremental value.
time constants.
Incremental value Positioning operation is Positioning is started by
command executed once in making the start signal
specifying system incremental value valid. The auxiliary
Remote input absolute command system. function cannot be used.
value/incremental value Set the position data and
selection (RY(n+2)B) Positioning operation is Section 3.6.3(3)
executed once with Section 3.8.4
servo motor speed
OFF position data handled Section 5.4.3(1) directly with the remote
Parameter No.PA01 Absolute value as absolute value. register.
command Positioning operation is Section Use the settings of the
0 specifying system ON point table No.1 as the
executed once with 3.6.3 (3)
position data handled Section acceleration/deceleration
as incremental value. 5.4.3 (2) time constants.
1
Positioning operation is Positioning is started by
Incremental value
command executed once in Section 3.6.3(3) making the start signal
specifying system incremental value Section 3.7.6(2) valid. The auxiliary
command system. Section 5.4.3(3)
function cannot be used.

1 - 19
1. FUNCTIONS AND CONFIGURATION

MEMO

1 - 20
2. INSTALLATION

2. INSTALLATION .............................................................................................................................................2
2.1 Installation direction and clearances........................................................................................................2
2.2 Keep out foreign materials .......................................................................................................................4
2.3 Cable stress .............................................................................................................................................4
2.4 Inspection items .......................................................................................................................................5
2.5 Parts having service lives ........................................................................................................................5

2- 1
2. INSTALLATION

2. INSTALLATION
Stacking in excess of the limited number of products is not allowed.
Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range. (For the
environmental conditions, refer to section 1.2.)
Provide an adequate protection to prevent screws, metallic detritus and other
CAUTION conductive matter or oil and other combustible matter from entering the driver.
Do not block the intake/exhaust ports of the driver. Otherwise, a fault may occur.
Do not subject the driver to drop impact or shock loads as they are precision
equipment.
Do not install or operate a faulty driver.
When the product has been stored for an extended period of time, contact your
local sales office.
When treating the driver, be careful about the edged parts such as the corners of
the driver.

2.1 Installation direction and clearances

The equipment must be installed in the specified direction. Otherwise, a fault may
occur.
CAUTION
Leave specified clearances between the driver and control box inside walls or other
equipment.

(1) LECSC□-□
(a) Installation of one driver
Control box Control box

40mm
or more Wiring allowance
Servo amplifier
Driver
80mm
Top
or more
10mm 10mm
or more or more

Bottom
40mm
or more

2- 2
2. INSTALLATION

(b) Installation of two or more drivers

POINT
Close mounting is available for the driver of under 3.5kW for 200V class and
400W for 100V class.

Leave a large clearance between the top of the driver and the internal surface of the control box, and
install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
When installing the drivers closely, leave a clearance of 1mm between the adjacent drivers in
consideration of mounting tolerances.
In this case, bring the ambient temperature within 0 to 45 (32 to 113 ), or use it at 75% or a smaller
effective load ratio.
Control box Control box

100mm 100mm
or more 10mm or more
or more 1mm 1mm
Top

30mm 30mm 30mm 30mm

or more or more or more or more

Bottom

40mm or more 40mm or more

Leaving clearance Mounting closely

2- 3
2. INSTALLATION

(2) Others
When using heat generating equipment such as the regenerative option, install them with full consideration
of heat generation so that the driver is not affected.
Install the driver on a perpendicular wall in the correct vertical direction.

2.2 Keep out foreign materials

(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the driver.

(2) Prevent oil, water, metallic dust, etc. from entering the driver through openings in the control box or a
cooling fan installed on the ceiling.

(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air
purge (force clean air into the control box from outside to make the internal pressure higher than the
external pressure) to prevent such materials from entering the control box.

2.3 Cable stress

(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress
are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) with
having some slack from the connector connection part of the servo motor to avoid putting stress on the
connector connection part. Use the optional encoder cable within the flexing life range. Use the power
supply and brake wiring cables within the flexing life of the cables.

(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or
stamped by workers or vehicles.

(4) For installation on a machine where the servo motor will move, the flexing radius should be made as large
as possible. Refer to section 9.4 for the flexing life.

2- 4
2. INSTALLATION

2.4 Inspection items

Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an
electric shock may occur. In addition, always confirm from the front of the driver
WARNING whether the charge lamp is off or not.
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock. For repair and parts replacement,
contact your local sales office.

POINT
Do not test the driver with a megger (measure insulation resistance), or it may
become faulty.
Do not disassemble and/or repair the equipment on customer side.

It is recommended to make the following checks periodically.

(1) Check for loose terminal block screws. Retighten any loose screws.

(2) Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating
conditions.

2.5 Parts having service lives

The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed
immediately even when it has not yet reached the end of its life, which depends on the operating method and
environmental conditions. For parts replacement, please contact your local sales office.

Part name Life guideline

Smoothing capacitor 10 years
Number of power-on and number of emergency stop
Relay
Driver times : 100,000 times
Cooling fan 10,000 to 30,000hours (2 to 3 years)
Absolute position battery Refer to section 5.8

(1) Smoothing capacitor

Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends
on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of
continuous operation in normal air-conditioned environment.

(2) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life
when the cumulative number of power-on and emergency stop times is 100,000, which depends on the
power supply capacity.

(3) Driver cooling fan

The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the
cooling fan must be changed in a few years of continuous operation as a guideline.
It must also be changed if unusual noise or vibration is found during inspection.

2- 5
3. CC-LINK COMMUNICATION FUNCTIONS

3. CC-LINK COMMUNICATION FUNCTIONS..................................................................................................2

3.1 Communication specifications .................................................................................................................2
3.2 System configuration ...............................................................................................................................3
3.2.1 Configuration example ......................................................................................................................3
3.2.2 Wiring method ...................................................................................................................................4
3.2.3 Station number setting ......................................................................................................................6
3.2.4 Communication baud rate setting......................................................................................................7
3.2.5 Occupied station count setting ..........................................................................................................7
3.3 Functions..................................................................................................................................................8
3.3.1 Function block diagram .....................................................................................................................8
3.3.2 Functions ...........................................................................................................................................8
3.4 Driver setting ............................................................................................................................................9
3.5 I/O signals (I/O devices) transferred to/from the programmable controller CPU...................................10
3.5.1 I/O signals (I/O devices) ..................................................................................................................10
3.5.2 Detailed explanation of I/O signals..................................................................................................13
3.5.3 Monitor codes ..................................................................................................................................23
3.5.4 Instruction codes (RWwn+2 RWwn+3) .........................................................................................24
3.5.5 Respond codes (RWrn+2)...............................................................................................................32
3.5.6 Setting the CN6 external input signals ............................................................................................33
3.6 Data communication timing charts.........................................................................................................35
3.6.1 Monitor codes ..................................................................................................................................35
3.6.2 Instruction codes .............................................................................................................................37
3.6.3 Remote register-based position/speed setting................................................................................39
3.7 Function-by-function programming examples........................................................................................42
3.7.1 System configuration example ........................................................................................................42
3.7.2 Reading the driver status ................................................................................................................45
3.7.3 Writing the operation commands.....................................................................................................46
3.7.4 Reading the data .............................................................................................................................47
3.7.5 Writing the data ...............................................................................................................................50
3.7.6 Operation.........................................................................................................................................53
3.8 Continuous operation program example................................................................................................56
3.8.1 System configuration example when 1 station is occupied.............................................................56
3.8.2 Program example when 1 station is occupied.................................................................................57
3.8.3 System configuration example when 2 stations are occupied ........................................................59
3.8.4 Program example when 2 stations are occupied ............................................................................60

3- 1
3. CC-LINK COMMUNICATION FUNCTIONS

3. CC-LINK COMMUNICATION FUNCTIONS

3.1 Communication specifications
POINT
This servo is equivalent to a remote device station.

For details of the programmable driver side specifications, refer to the CC-Link system master unit manual.

Item Specifications
Power supply 5VDC supplied from driver
Applicable CC-Link version Ver.1.10
Communication speed 10M/5M/2.5M/625k/156kbps
Communication system Broadcast polling system
Synchronization system Frame synchronization system
Encoding system MRZI
Transmission path format Bus format (conforming to EIA RS485)
CC-Link

16 12 5
Error control system CRC (X +X +X +1)
Connection cable CC-Link Ver.1.10-compliant cable (Shielded 3-core twisted pair cable)
Transmission format Conforming to HDLC
Remote station number 1 to 64
(Note) Communication speed 156Kbps 625Kbps 2.5Mbps 5Mbps 10Mbps
Cable Maximum overall cable length 1200m 900m 400m 160m 100m
length Inter-station cable length 0.2m or more
Max. 42 (when 1 station is occupied by 1 driver), (max. 32 when 2 stations are
Number of drivers connected occupied by 1 driver), when there are only remote device stations. Can be
used with other equipment.
Note. If the system comprises of both CC-Link Ver.1.00- and Ver.1.10-compliant cables, Ver.1.00 specifications are applied to the
overall cable length and the cable length between stations. For more information, refer to the CC-Link system master/local unit
user's manual.

3- 2
3. CC-LINK COMMUNICATION FUNCTIONS

3.2 System configuration

3.2.1 Configuration example
(1) Programmable driver side
Fit "Type QJ61BT11N", "Type A1SJ61BT11" or "Type A1SJ61QBT11" "Control & Communication Link
system master/local module" to the main or extension base unit which is loaded with the programmable
driver CPU used as the master station.

(2) Wiring
Connect the programmable driver CC-Link unit master station and the driver by a twisted pair cable (3-wire
type).

Programmable controller
CC-Link unit

CC-Link Ver.1.10-compliant cable

3- 3
3. CC-LINK COMMUNICATION FUNCTIONS

3.2.2 Wiring method

(1) Communication connector
The pin layout of the communication connector CN10 on the driver unit is shown below.
Servo amplifier
Driver
CN1

DA DB DG SLD FG
CN1

(2) Connection example

The driver and programmable driver CC-Link master unit are wired as shown below. Refer to section 13.9
(3) for the CC-Link Ver.1.10-compliant cable used for connection.
Programmable controller
CC-Link master unit Driver
Servo amplifier

CN1

FG FG
SLD SLD
DG DG
DB DB
DA DA

(3) Example of connecting multiple servo units

As the remote I/O stations of CC-Link, drivers share the link system and can be controlled/monitored using
programmable driver user programs.
Programmable controller MR-J3- T option unit
LECSC□-□ MR-J3- T option unit
LECSC□-□
CC-Link master unit CC-Link connector (CN1) CC-Link connector (CN1)
DA DB DG SLD FG
DA DB DG SLD FG

FG

SLD
(Note 1)
Termination register
DG
Termination register
DB

DA

(Note 2) CC-Link Ver.1.10-compliant cable

Note 1. Use the termination resistor supplied with the programmable driver. The resistance of the termination resistor depends on the
cable used. For details, refer to the open field network CC-Link catalog (L(NA)74108143).
2. Refer to (4) in this section.

3- 4
3. CC-LINK COMMUNICATION FUNCTIONS

(4) How to wire the CC-Link connector (CN1)

(a) Strip the sheath of the cable and separate the internal wires and braided shield.

(b) Strip the sheaths of the braided shield and internal wires and twist the cores.
Braided shield

Approx. 10mm
3-core twisted pair cable

(c) Match and twist the wires and braided shield of the cable connected to the preceding axis or
programmable driver and the corresponding wires and braided shield of the cable connected to the
subsequent axis.

(d) For the last axis, work the termination resistor supplied to the CC-Link master unit as shown below.
Termination register
(10mm) (10mm)
Remove sheath Remove sheath Fold lead wire

Cut Cut

(e) Insert the core of the cable into the opening and tighten it with a flat-blade screwdriver so that it will not
come off. (Tightening torque: 0.5 to 0.6N m) When inserting the wire into the opening, make sure that
the terminal screw is fully loose.

To the preceding station or To the next

programmable controller station

Loosen Tighten CC-Link connector (CN1)

Flat blade screwdriver

Tip thickness 0.4 to 0.6mm
Full wide 2.5 to 3.5mm

POINT
Do not solder the cores as it may cause a contact fault.

Use of a flat-blade torque screwdriver is recommended to manage the screw tightening torque. The
following table indicates the recommended products of the torque screwdriver for tightening torque
management and the flat-blade bit for torque screwdriver. When managing torque with a Phillips bit, please
consult us.

Product Model Manufacturer/Representative

Torque screwdriver N6L TDK Nakamura Seisakusho
Bit for torque screwdriver B-30, flat-blade, H3.5 X 73L Shiro Sangyo

3- 5
3. CC-LINK COMMUNICATION FUNCTIONS

3.2.3 Station number setting

POINT
Be sure to set the station numbers within the range of 1 to 64. Do not set the
other values.

(1) How to number the stations

Set the servo station numbers before powering on the drivers. Note the following points when setting the
station numbers.

(a) Station numbers may be set within the range 1 to 64.

(b) One driver occupies 1 or 2 stations. (One station of programmable driver remote device station)

(c) Max. number of connected units: 42

Note that the following conditions must be satisfied.
{(1 a) (2 b) (3 c) (4 d)} 64
a: Number of 1-station occupying units
b: Number of 2-station occupying units
c: Number of 3-station occupying units (not available for LECSC□-□)
d: Number of 4-station occupying units (not available for LECSC□-□)
{(16 A) (54 B) (88 C)} 2304
A: Number of remote I/O stations 64
B: Number of remote device stations 42
C: Number of local stations 26

(d) When the number of units connected is 4, station numbers can be set as shown below.
Servo
Driver amplifier
No.1 No.1 Servo amplifier
Driver No.2 No.2 Servo
Driver amplifier
No.3 No.3
Programmable controller (When 2 stations are (When 2 stations are (When 2 stations are
CC-Link remote I/O station occupied) occupied) occupied)
master unit (1 station occupied) Remote device station Remote device station Remote device station

Station No.1 Station No.2 Station No.4 Station No.6

Number of connected units is 4.

(2) Station number setting method

Set the station number with the station number switches (STATION NO.) on the driver front. The station
number that may be set is any of 1 to 64 in decimal. In the initial status, the station number is set to station
1.
Driver
Servo amplifier X10 STATION No. X1
5 6 5 6
4 4
2 3

2 3
7

7
8

9 0 1 9 0 1

Set the units. (initial value: 1)

Set the tens. (initial value: 0)

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3. CC-LINK COMMUNICATION FUNCTIONS

3.2.4 Communication baud rate setting

Set the transfer baud rate of CC-Link with the transfer baud rate switch (MODE) on the driver front. The initial
value is set to 156kbps.
The overall distance of the system changes with the transfer speed setting. For details, refer to the CC-Link
system master/local unit user's manual.
Servo amplifier
Driver
MODE No. Baud rate
5 6 0 (initial value) 156kbps
4
1 625kbps

2 3

7 8
5

0
9 2 2.5Mbps
5 5
0 1 3 5Mbps
0 0
4 10Mbps
5 to 9 Not used

3.2.5 Occupied station count setting

Set the number of occupied stations with the occupied station count switch (SW1) on the driver front. The
usable I/O device and the number of connectable units change with the set number of occupied stations. Refer
to section 3.2.3. In the initial status, the number of stations occupied is set to 1.

SW1 setting Number of occupied stations

Driver
Servo amplifier

1 station occupied
Initial value
5

5 5

(Note) 0 0 2 station occupied

Note. SW1

This switch hidden under the cover is for manufacturer setting.

Do not change this setting by any means.

3- 7
3. CC-LINK COMMUNICATION FUNCTIONS

3.3 Functions
3.3.1 Function block diagram
This section explains the transfer of I/O data to/from the driver in CC-Link, using function blocks.

(1) Between the master station and driver in the CC-Link system, link refresh is normally performed at intervals
of 3.5 to 18ms (512 points). The link scan time of link refresh changes with the communication speed. For
details, refer to the CC-Link system master/local unit user's manual.

(2) The I/O refresh and master station sequence program are executed asynchronously. Some programmable
drivers allow link scans to be synchronized with programmable driver scans.

(3) The FROM instruction from the buffer memory of the CC-Link system master/local unit is used to read data
from the driver, and the TO instruction is used to write data. Some programmable drivers allow automatic
refresh to be set to omit the FROM and TO instructions.
Driver
Servo amplifier
Programmable controller
CC-Link unit
Programmable controller

programmable controller

3) CC-Link
1) QJ61B11N

Servo amplifier CPU

CPU CC-Link interface Ver.1.10- Input

CC-Link interface
I/O signal
compliant
Interface with

cable
CPU

2) Buffer memory access Output

Buffer
memory

3.3.2 Functions
The following table lists the functions that may be performed from the programmable driver in the CC-Link
system in the CC-Link operation mode or test operation mode.

Operation mode
Item
CC-Link operation mode Test operation mode
Monitor
Operation
Parameter write
Parameter read
Point table data write
Point table data read

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3. CC-LINK COMMUNICATION FUNCTIONS

3.4 Driver setting

(1) Driver side operation modes
This driver has the following operation modes.

Operation mode Description

Parameter unit or personal computer in which set up software(MR Configurator) is installed is

Test operation mode
used to run the servo motor.
CC-Link communication functions are used to operate the servo with the programmable
CC-Link operation mode
controller programs.

(2) Operation mode changing

(a) Operation mode changing conditions
Change the operation mode after making sure that.

1) The servo motor is at a stop.

2) The forward rotation start (RYn1) or reverse rotation start (RYn2) is OFF.

(b) Operation mode changing method

When changing from test operation to CC-Link operation, deselect test operation by switching power
OFF/ON.
Test operation
Test operation mode
mode isisselected
selectedusing
usingaaparameter
parameterunit
unit
or a personal computer in which MR Configurator is
or a personal computer in which Set up software (MR
installed.
CC-Link Configurator) is install
Test operation mode
operation mode
Deselect test operation mode by switching power
OFF/ON.

3- 9
3. CC-LINK COMMUNICATION FUNCTIONS

3.5 I/O signals (I/O devices) transferred to/from the programmable controller CPU
3.5.1 I/O signals (I/O devices)
The input signals (input devices) may be used as either the CC-Link or CN6 external input signals. Make
selection in parameter No.PD06 to PD11, PD12 and PD14. The output signals (output devices) can be used as
both the CC-Link CN6 external output signals.

POINT
In the factory-shipped status, the forward rotation stroke end (LSP), reverse
rotation stroke end (LSN) and proximity dog (DOG) are valid as the CN6
external input signals.

(1) When 1 station is occupied

RYn/RXn: 32 points each, RWrn/RWwn: 4 points each
Programmable controller Driver (RYn) Driver Programmable controller (RXn)
CN6 CN6
(Note) Signal (Note) Signal
Signal name connector Signal name connector
Device No. abbreviation Device No. abbreviation
pin No. pin No.
RYn0 Servo-on SON RXn0 Ready RD 14
RYn1 Forward rotation start ST1 RXn1 In position INP
RYn2 Reverse rotation start ST2 RXn2 Rough match CPO
RYn3 Proximity dog DOG 2 RXn3 Home position return completion ZP 16
RYn4 Forward rotation stroke end LSP 3 RXn4 Limiting torque TLC
RYn5 Reverse rotation stroke end LSN 4 RXn5 Reserved
RYn6 Automatic/manual selection MDO RXn6 Electromagnetic brake interlock MBR
RYn7 Temporary stop/Restart TSTP RXn7 Temporary stop PUS
RYn8 Monitor output execution demand MOR RXn8 Monitoring MOF
RYn9 Instruction code execution demand COR Instruction code execution
RXn9 COF
RYnA Point table No. selection 1 DI0 completion
RYnB Point table No. selection 2 DI1 RXnA Warning WNG
RYnC Point table No. selection 3 DI2 RXnB Battery warning BWNG
RYnD Point table No. selection 4 DI3 RXnC Movement completion MEND
RYnE Point table No. selection 5 DI4 RXnD Dynamic brake interlock DB
RYnF Clear CR RXnE Position range output POT
RY(n 1)0 RXnF Reserved
to Reserved RX(n 1)1
RY(n 1)9 to Reserved
RY(n 1)A Reset RES RX(n 1)9
RY(n 1)B RX(n 1)A Trouble ALM 15
to Reserved Remote station communication
RX(n 1)B CRD
RY(n 1)F ready
RX(n 1)C
to Reserved
RX(n 1)F

Programmable controller Driver (RWwn) Driver Programmable controller (RWrn)

Address No. Signal name Address No. Signal name
RWwn Monitor 1 RWrn Monitor 1 data
RWwn 1 Monitor 2 RWrn 1 Monitor 2 data
RWwn 2 Instruction code RWrn 2 Respond code
RWwn 3 Writing data RWrn 3 Reading data
Note. "n" depends on the station number setting.

3 - 10
3. CC-LINK COMMUNICATION FUNCTIONS

(2) When 2 stations are occupied

RXn/RYn: 64 points each, RWrn/RWwn: 8 points each
Programmable controller Driver (RYn) Driver Programmable controller (RXn)
CN6 CN6
(Note 1) Signal connector (Note 1) Signal connector
Signal name Signal name
Device No. abbreviation pin No. Device No. abbreviation pin No.

RYn0 Servo-on SON RXn0 Ready RD 14

RYn1 Forward rotation start ST1 RXn1 In position INP
RYn2 Reverse rotation start ST2 RXn2 Rough match CPO
RYn3 Proximity dog DOG 2 RXn3 Home position return completion ZP 16
RYn4 Forward rotation stroke end LSP 3 RXn4 Limiting torque TLC
RYn5 Reverse rotation stroke end LSN 4 RXn5 Reserved
RYn6 Automatic/manual selection MDO RXn6 Electromagnetic brake interlock MBR
RYn7 Temporary stop/Restart TSTP RXn7 Temporary stop PUS
RYn8 Monitor output execution demand MOR RXn8 Monitoring MOF
Instruction code execution Instruction code execution
RYn9 COR RXn9 COF
demand completion
RYnA Point table No. selection 1 DI0 RXnA Warning WNG
RYnB Point table No. selection 2 DI1 RXnB Battery warning BWNG
RYnC Point table No. selection 3 DI2 RXnC Movement completion MEND
RYnD Point table No. selection 4 DI3 RXnD Dynamic brake interlock DB
RYnE Point table No. selection 5 DI4 RXnE Position range output POT
RYnF Clear CR RXnF
RY(n 1)0 to Reserved
to Reserved RX(n 1)F
RY(n 1)F Position instruction execution
RX(n 2)0
Position instruction execution completion
RY(n 2)0
demand (Note) Speed instruction execution
RX(n 2)1
Speed instruction execution completion
RY(n 2)1
demand (Note) RX(n 2)2 Point table No. output 1 PT0
RY(n 2)2 Reserved RX(n 2)3 Point table No. output 2 PT1
RY(n 2)3 Point table No. selection 6 DI5 RX(n 2)4 Point table No. output 3 PT2
RY(n 2)4 Point table No. selection 7 DI6 RX(n 2)5 Point table No. output 4 PT3
RY(n 2)5 Point table No. selection 8 DI7 RX(n 2)6 Point table No. output 5 PT4
RY(n 2)6 Internal torque limit selection TL1 RX(n 2)7 Point table No. output 6 PT5
RY(n 2)7 Proportion control PC RX(n 2)8 Point table No. output 7 PT6
RY(n 2)8 Gain changing CDP RX(n 2)9 Point table No. output 8 PT7
RY(n 2)9 Reserved RX(n 2)A
Position/speed specifying system to Reserved
RY(n 2)A
selection RX(n 2)F
Absolute value/incremental value RX(n 3)0
RY(n 2)B
selection to Reserved
RY(n 2)C RX(n 3)9
to Reserved RX(n 3)A Trouble ALM 15
RY(n 2)F Remote station communication
RX(n 3)B CRD
RY(n 3)0 ready
to Reserved RX(n 3)C
RY(n 3)9 to Reserved
RY(n 3)A Reset RES RX(n 3)F
RY(n 3)B
to Reserved
RY(n 3)F
Note. "n" depends on the station number setting.

3 - 11
3. CC-LINK COMMUNICATION FUNCTIONS

Programmable controller Driver (RWwn) Driver Programmable controller (RWrn)

(Note 1) (Note 1)
Signal name Signal name
Address No. Address No.
RWwn (Note 2) Monitor 1 RWrn Monitor 1 data lower 16 bit
RWwn 1 (Note 2) Monitor 2 RWwn 1 Monitor 1 data upper 16 bit
RWwn 2 Instruction code RWwn 2 Respond code
RWwn 3 Writing data RWwn 3 Reading data
RWwn 4 (Note 3) Position command data lower 16 bit/Point table No. RWwn 4
RWwn 5 Position command data upper 16 bit RWwn 5 Monitor 2 data lower 16 bit
RWwn 6 (Note 4) Speed command data/Point table No. RWwn 6 Monitor 2 data upper 16 bit
RWwn 7 Reserved RWwn 7 Reserved
Note 1. "n" depends on the station number setting.
2. Specify the code of the lower 16 bit as the monitor code of 32-bit data.
3. When the parameter No.PC30 setting is " 0", specify the point table No. in RWwn 4. When the parameter No.PC30
setting is " 1" or " 2", specify the position data in RWwn 4/RWwn 5 and turn ON Position instruction execution
demand (RY(n 2)0).
4. When the parameter No.PC30 setting is " 1", specify the point table No. in RWwn 6. When the parameter No.PC30
setting is " 2", specify the speed data in RWwn 6, and turn ON Speed instruction execution demand (RY(n 2)1). When
setting the parameter No.PC30 to " 2", always set the acceleration/deceleration time constant in the point table No.1.
When the parameter No.PC30 setting is " 0", the RWwn 6 value is not used.

3 - 12
3. CC-LINK COMMUNICATION FUNCTIONS

3.5.2 Detailed explanation of I/O signals

(1) Input signals (Input devices)
The note signs in the remarks column indicates the following descriptions.
1: Can be used as external input signals of CN6 connector by setting parameters No.PD06 to PD08 and
parameter No.PD12 PD14.
2: Can be automatic turned ON internally by setting parameters No.PD01 PD04.
The device whose Device No. field has an oblique line cannot be used in CC-Link.

Device No.
Signal name
Description 1 station 2 stations Remarks
(Device name)
occupied occupied
Servo-on Turning RYn0 ON powers on the base circuit, making RYn0 RYn0 1
operation ready to start. (Servo on status)
Turning it OFF powers off the base circuit, coasting the servo
motor. (Servo off status)
Forward rotation start 1. In absolute value command system RYn1 RYn1 1
Turning RYn1 ON for automatic operation executes
positioning once on the basis of the position data set to the
point table.
Turning RYn1 ON for a home position return immediately
starts a home position return.
Keeping RYn1 ON for JOG operation performs rotation in
the forward rotation direction.
Forward rotation indicates the address increasing direction.
2. In incremental value command system
Turning RYn1 ON for automatic operation executes
positioning once in the forward rotation direction on the basis
of the position data set to the point table.
Turning RYn1 ON for a home position return immediately
starts a home position return.
Keeping RYn1 ON for JOG operation performs rotation in
the forward rotation direction.
Forward rotation indicates the address increasing direction.
Reverse rotation start Use this device in the incremental value command system. RYn2 RYn2 1
Turning RYn2 ON for automatic operation executes positioning
once in the reverse rotation direction on the basis of the
position data set to the point table.
Keeping RYn2 ON for JOG operation performs rotation in the
reverse rotation direction.
Reverse rotation indicates the address decreasing direction.
Reverse rotation start (RYn2) is also used as the start signal of
the high-speed automatic positioning function to the home
position.

3 - 13
3. CC-LINK COMMUNICATION FUNCTIONS

Device No.
Signal name Description 1 station 2 stations Remarks
occupied occupied
Proximity dog In the shipment status, the proximity dog external input signal RYn3 RYn3 1
(CN6-2) is valid. For use in CC-Link, make it usable in
parameter No.PD14. When RYn3 is turned OFF, the proximity
dog is detected. The polarity of dog detection can be changed
using parameter No.PD16.

Parameter No.PD16 Proximity dog (RYn3) detection polarity

0 (initial value) OFF

1 ON

Forward rotation stroke end In the factory-shipped status, the forward rotation stroke end is RYn4 RYn4 1
Reverse rotation stroke end valid as the external input signal (CN6-3) and the reverse RYn5 RYn5 2
rotation stroke end is valid as the external input signal (CN6-4).
Before operation, short between CN6-3 and DOCOM, and
between CN6-4 and DOCOM. Opening them causes a sudden
stop, resulting in servo lock.
For use in CC-Link, make it usable in parameter No.PD12.
When starting operation, turn RYn4/RYn5 to ON. Turning it to
OFF causes a sudden stop, resulting in servo lock. A stopping
method can be changed in parameter No.PD20.
When not using the forward/reverse rotation stroke end, set
"Automatic ON" in parameter No.PD01.

(Note) Input signal Operation

RYn4 RYn5 CCW direction CW direction

1 1
0 1
1 0
0 0
Note. 0: OFF 1: ON

Automatic/manual selection Turning RYn6 ON selects the automatic operation mode, and RYn6 RYn6 1
turning it OFF selects the manual operation mode.
Temporary stop/Restart Turning RYn7 ON during automatic operation makes a RYn7 RYn7
temporary stop.
Turning RYn7 ON again makes a restart.
Forward rotation start (RYn1) or Reverse rotation start (RYn2)
is ignored if it is turned ON during a temporary stop.
When the automatic operation mode is changed to the manual
operation mode during a temporary stop, the movement
remaining distance is erased.
During a home position return or during JOG operation,
Temporary stop/Restart input is ignored.

3 - 14
3. CC-LINK COMMUNICATION FUNCTIONS

Device No.
Signal name Description 1 station 2 stations Remarks
occupied occupied
Monitor output execution When RYn8 is turned ON, the following data and signals are RYn8 RYn8
demand set. At the same time, RXn8 turns ON. While RYn8 is ON, the
monitor values are kept updated.
1) When 1 station is occupied
Remote register RWrn: Data demanded by Monitor 1
(RWwn)
Remote register RWrn 1: Data demanded by Monitor 2
(RWwn+1)
Remote register RWrn 2: Respond code indicating normal
or error
2) When 2 stations are occupied
Remote register RWrn: Lower 16 bits of data demanded by
Monitor 1 (RWwn)
Remote register RWrn 1: Upper 16 bits of data demanded
by Monitor 1 (RWwn)
Remote register RWrn 5: Lower 16 bits of data demanded
by Monitor 2 (RWwn+2)
Remote register RWrn 6: Upper 16 bits of data demanded
by Monitor 2 (RWwn+2)
Remote register RWrn 2: Respond code indicating normal
or error
Instruction code execution Turning RYn9 ON executes the processing corresponding to RYn9 RYn9
demand the instruction code stored in remote register RWwn 2.
After completion of instruction code execution, the respond
code indicating normal or error is set to RWrn 2. At the same
time, RXn9 turns ON.
Refer to section 3.5.4 for details.
Point table No. selection 1 The point table No. and the home position return are selected RYnA RYnA 1
by RYnA to RY(n 2)5. 2
Point table No. selection 2 RYnB RYnB
(Note 1) Remote input
Point
table No. RY RY RY
Point table No. selection 3 RYnE RYnD RYnC RYnB RYnA RYnC RYnC
(n+2)5 (n+2)4 (n+2)3

(Note 2) 0 0 0 0 0 0 0 0

Point table No. selection 4 1 0 0 0 0 0 0 0 1 RYnD RYnD

2 0 0 0 0 0 0 1 0
3 0 0 0 0 0 0 1 1
Point table No. selection 5 RYnE RYnE
4 0 0 0 0 0 1 0 0

Point table No. selection 6 RY(n 2)3

254 1 1 1 1 1 1 1 0
Point table No. selection 7 RY(n 2)4
255 1 1 1 1 1 1 1 1

Note 1. 0: OFF 1: ON
Point table No. selection 8 2. Home position return is a setting RY(n 2)5

Clear When the parameter No.PD22 setting is " 1", the position RYnF RYnF 1
control counter droop pulses is cleared at the leading edge of 2
RYnF. The pulse width should be 10ms or more.
When the parameter No.PD22 setting is " 2", the pulses
are always cleared while RYnF is on.

3 - 15
3. CC-LINK COMMUNICATION FUNCTIONS

Device No.
Signal name Description 1 station 2 stations Remarks
occupied occupied
Position instruction demand When RY(n 2)0 is turned ON, the point table No. or position RY(n 2)0
command data set to remote register RWwn 4/RWwn 5 is
set.
When it is set to the driver, the respond code indicating normal
or error is set to RWrn 2. At the same time, RX(n 2)0 turns
ON.
Refer to section 3.6.3 for details.
Speed instruction demand When RY(n 2)1 is turned ON, the point table No. or speed RY(n 2)1
command data set to remote register RWwn 6 is set.
When it is set to the driver, the respond code indicating normal
or error is set to RWrn 2. At the same time, RX(n 2)1 turns
ON.
Refer to section 3.6.3 for details.
Internal torque limit selection Turning RY(n 2)6 OFF makes the torque limit value of RY(n 2)6 1
parameter No.PA11 (forward rotation torque limit) parameter
No.PA12 (reverse rotation torque limit) valid, and turning it ON
makes that of parameter No.PC35 (internal torque limit). (Refer
to section 4.6.3)
Proportion control When RY(n 2)7 is turned ON, the speed amplifier is switched RY(n 2)7 1
from the proportional integral type to the proportional type. 2
If the servo motor at a stop is rotated even one pulse by an
external factor, it develops torque in an attempt to compensate
for a position shift. When the shaft is locked mechanically after
Movement completion (RXnC) is turned OFF, for example,
turning Proportion control (RY(n 2)7) ON as soon as
Movement completion (RXnC) turns OFF allows control of
unnecessary torque developed in an attempt to compensate for
a position shift.
When the shaft is to be locked for an extended period of time,
turn Internal torque limit selection (RY(n 2)6) ON
simultaneously with Proportion control (RY(n 2)7) to make the
torque not more than the rated torque using Internal torque
limit (parameter No.PC35).
Gain changing When RY(n 2)8 is turned ON, the load inertia moment ratio RY(n+2)8 1
and the corresponding gain values change to the values of
parameter No.PB29 to PB32. To change the gain using
RY(n 2)8, make the auto tuning invalid.
Position/speed specifying Select how to give a position command/speed command. RY(n 2)A
system selection (Refer to section 3.6.3.)
OFF: Remote input-based position/speed specifying system
Specifying the point table No. with Point table No.
selection (RYnA to RYnE) gives a position
command/speed command.
ON : Remote register-based position/speed specifying system
Setting the instruction code to the remote register
(RWwn 4 to RWwn 6) gives a position
command/speed command.
Set the parameter No.PC30 (direct specification
selection) to " 2".

3 - 16
3. CC-LINK COMMUNICATION FUNCTIONS

Device No.
Signal name Description 1 station 2 stations Remarks
occupied occupied
Absolute value/incremental RY(n 2)B is made valid when the remote register-based RY(n 2)B
value selection position/speed specifying system is selected with
Position/speed specifying system selection (RY(n 2)A) and
the absolute value command system is selected in parameter
No.PD10. Turn RY(n 2)B OFF or ON to select whether the
set position data is in the absolute value command system or
incremental value command system.
OFF: Position data is handled as an absolute value.
ON : Position data is handled as an incremental value.
Reset Keeping RY(n 1)A or RY(n 3)A ON for 50ms or longer RY(n 1)A RY(n 3)A 1
allows an alarm to be deactivated.
Some alarms cannot be deactivated by Reset RY(n 1)A or
RY(n 3)A. (Refer to section 10.4.1.)
If RY(n 1)A or RY(n 3)A is turned ON with no alarm
occurring, the base circuit will not be shut off. When " 1 "
is set in parameter No.PD20 (function selection D-1), the base
circuit is shut off.
This device is not designed to make a stop. Do not turn it ON
during operation.
Forced stop This device is exclusively used as a CN6 external input signal.
It cannot be used for CC-Link.
Turn EMG off to bring the motor to an forced stop state, in
which the base circuit is shut off and the dynamic brake is
operated.
Turn EMG on in the forced stop state to reset that state.

3 - 17
3. CC-LINK COMMUNICATION FUNCTIONS

(2) Output signals (Output device)

POINT
The output devices can be used for both the remote output and the external
output signals of CN6 connector.

The signal whose Device No. field has an oblique line cannot be used in CC-Link.

Device No.
Signal name Description 1 station 2 stations
occupied occupied
Ready In the factory-shipped status, a ready is assigned to the CN6-14 pin as an RXn0 RXn0
external output signal. RXn0 turns ON when the driver is ready to operate
after servo-on.
In position RXn1 turns ON when the droop pulse value is within the preset in-position RXn1 RXn1
range.
The in-position range can be changed using parameter No.PA10.
Increasing the in-position range may result in a continuous conduction
status during low-speed rotation.
RXn1 turns ON at servo-on.
Rough match RXn2 turns ON when the command remaining distance becomes less than RXn2 RXn2
the rough match output range set in the parameter.
RXn2 turns ON at servo-on.
Home position return In the factory-shipped status, the home position return completion is RXn3 RXn3
completion assigned to the CN6-16 pin as an external output signal. RXn3 turns ON
when a home position return is completed. RXn3 turns ON at completion of
a home position return.
In an absolute position detection system, RXn3 turns ON when operation is
ready to start, but turns OFF in any of the following cases.
1) Servo-on (RYn0) is turned OFF.
2) Forced stop (EMG) is turned OFF.
3) Reset (RY(n 1)A or RY(n 3)A) is turned ON.
4) Alarm occurs.
5) Forward rotation stroke end (RYn4) or Reverse rotation stroke end
(RYn5) is turned OFF.
6) Home position return has not been made after product purchase.
7) Home position return has not been made after occurrence of Absolute
position erase (A25) or Absolute position counter warning (AE3).
8) Home position return has not been made after electronic gear change.
9) Home position return has not been made after the absolute position
detection system was changed from invalid to valid.
10) Parameter No.PA14 (Rotation direction selection) has been changed.
11) Software limit is valid.
12) While a home position return is being made.
When any of 1) to 12) has not occurred and a home position return is
already completed at least once, Home position return completion (RXn3)
turns to the same output status as Ready (RXn0).
Limiting torque RXn4 turns ON when the torque is reached at the time of torque RXn4 RXn4
generation.
Electromagnetic brake RXn6 turns OFF at servo-off or alarm occurrence. At alarm occurrence, it RXn6 RXn6
interlock turns OFF independently of the base circuit status.
Temporary stop RXn7 turns ON when deceleration is started to make a stop by Temporary RXn7 RXn7
stop/Restart (RYn7). When Temporary stop/Restart (RYn7) is made valid
again to resume operation, RXn7 turns OFF.
Monitoring Refer to Monitor output execution demand (RYn8). RXn8 RXn8

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3. CC-LINK COMMUNICATION FUNCTIONS

Device No.
Signal name Description 1 station 2 stations
occupied occupied
Instruction code execution Refer to Instruction code execution demand (RYn9). RXn9 RXn9
completion
Warning RXnA turns ON when a warning occurs. RXnA RXnA
When no warning has occurred, RXnA turns OFF within about 1s after
power-on.
Battery warning RXnB turns ON when Open battery cable warning (A92) or Battery RXnB RXnB
warning (A9F) occurs. When no battery warning has occurred, RXnB
turns OFF within about 1s after power-on.
Movement completion RXnC turns ON when In position (RXn1) turns ON and the command RXnC RXnC
remaining distance is "0".
RXnC turns ON at servo-on.
Dynamic brake interlock RXnD turns off simultaneously when the dynamic brake is operated. RXnD RXnD
When using the external dynamic brake on the driver of 11 kW or more,
this device is required. (Refer to section 13.6.) For the driver of 7kw or
less, it is not necessary to use this device.
Position range RXnE turns ON when the actual current position falls within the range RXnE RXnE
set in the parameter.
It is OFF when a home position return is not yet completed or while the
base circuit is off.
Position instruction execution Refer to Speed instruction execution demand (RY(n+2)0). RX(n+2)0
completion
Speed instruction execution Refer to Position instruction execution demand (RY(n+2)1). This device RX(n+2)1
completion is required when using the external dynamic brake with a driver of
11kW or more. (Refer to section 13.6.)
This is not required with drivers of 7kW or less.
Point table No. output 1 As soon as Movement completion (RXnC) turns ON, the point table No. RX(n+2)2
is output in 8-bit code.

Point table No. output 2 (Note) Remote output RX(n+2)3

Point
table No. RX RX RX RX RX RX RX RX
(n+2)9 (n+2)8 (n+2)7 (n+2)6 (n+2)5 (n+2)4 (n+2)3 (n+2)2
Point table No. output 3 RX(n+2)4
1 0 0 0 0 0 0 0 1
2 0 0 0 0 0 0 1 0
Point table No. output 4 RX(n+2)5
3 0 0 0 0 0 0 1 1
4 0 0 0 0 0 1 0 0
Point table No. output 5 RX(n+2)6

Point table No. output 6 RX(n+2)7

254 1 1 1 1 1 1 1 0
255 1 1 1 1 1 1 1 1
Point table No. output 7 RX(n+2)8
Note. 0: OFF 1: ON

Point table No. output 8 RX(n+2)9

RX(n+2)2 to RX(n+2)9 turn OFF in any of the following statuses.
Power on
Servo off
During home position return
Home position return completion
In any of the following statuses, RX(n+2)2 to RX(n+2)9 maintain their
pre-change status (ON/OFF).
When operation mode is changed
When Automatic/manual selection (RYn6) is turned from OFF to ON
or from ON to OFF to change the operation mode.
During manual operation
During execution of automatic positioning to home position

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3. CC-LINK COMMUNICATION FUNCTIONS

Device No.
Signal name Description 1 station 2 stations
occupied occupied
Trouble A trouble is assigned to the CN6-15 pin as an external output signal. RX(n 1)A RX(n 3)A
RX(n 1)A or RX(n 3)A turns ON when the protective circuit is
activated to shut off the base circuit.
When no alarm has occurred, RX(n 1)A or RX(n 3)A turns OFF within
about 1.5s after power is switched ON.
Remote station This signal turns ON at power-on and turns off at a trouble occurrence RX(n 1)B RX(n 3)B
communication ready or in the reset (RY(n 1)A or RY(n 3)A) ON status.

(3) Remote registers

The signal whose Remote Register field has an oblique line cannot be used.

(a) Input (Programmable controller Driver)

Remote register
1 station 2 stations Signal name Description Setting range
occupied occupied
RWwn RWwn Monitor 1 Demands the status indication data of the driver. Refer to section
1) When 1 station is occupied 3.5.3.
Setting the monitor code of the status indication item to
be monitored to RWwn and turning RYn8 to ON sets data
to RWrn. RXn8 turns on at the same time.
2) When 2 stations are occupied
Setting the monitor code of the status indication item to
be monitored to RWwn and turning RYn8 to ON sets data
to RWrn. RXn8 turns on at the same time.
When demanding 32-bit data, specifying the lower 16-bit
code No. and turning RYn8 to ON sets the lower 16-bit
data to RWwn and the upper 16-bit data to RWrn. Data is
stored in the RXn8. RXn8 turns on at the same time.
Refer to section 3.5.3 for the item of the monitor code of
the status indication.
RWwn 1 RWwn 1 Monitor 2 Demands the status indication data of the driver. Refer to section
1) When 1 station is occupied 3.5.3.
Setting the monitor code of the status indication item to
be monitored to RWwn 1 and turning RYn8 to ON sets
data to RWrn 1. RXn8 turns on at the same time.
2) When 2 stations are occupied
Setting the monitor code of the status indication item to
be monitored to RWwn 1 and turning RYn8 to ON sets
data to RWrn 5. RXn8 turns on at the same time.
When demanding 32-bit data, specifying the lower 16-bit
code No. and turning RYn8 to ON sets the lower 16-bit
data to RWwn 5 and the upper 16-bit data to RWrn 6.
Data is stored in the RXn8. RXn8 turns on at the same
time.
Refer to section 3.5.3 for the item of the monitor code of
the status indication.

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3. CC-LINK COMMUNICATION FUNCTIONS

Remote register
1 station 2 stations Signal name Description Setting range
occupied occupied
RWwn+2 RWwn+2 Instruction code Sets the instruction code used to perform parameter or Refer to section
point table data read and write, alarm reference or the like. 3.5.4 (1).
Setting the instruction code No. to RWwn+2 and turning
RYn9 to ON executes the instruction. RXn9 turns to ON on
completion of instruction execution.
Refer to section 3.5.4 (1) for instruction code No. definitions.
RWwn+3 RWwn+3 Writing data Sets the written data used to perform parameter or point Refer to section
table data write, alarm history clear or the like. 3.5.4 (2).
Setting the written data to RWwn+3 and turning RYn9 to ON
writes the data to the driver. RXn9 turns to ON on
completion of write.
Refer to section 3.5.4 (2) for written data definitions.
RWwn+4 Point table Set the point table No. to be executed in the automatic Point table No.:
No./Position operation mode when 2 stations are occupied. 0 to 255
command data When the point table No. is set to RWwn+4 and RY(n+2)0 is Absolute value
lower 16 bit turned ON, the point table No. is set to the driver. On command: Position
completion of setting, RX(n+2)0 turns ON. command data:
When the point table is not used, set the position command 999999 to 999999
data. Incremental value
When the lower 16 bits are set to RWwn+4 and the upper command: Position
16 bits to RWwn+5, and RY(n+2)0 is turned ON, the command data:
position command data in the upper and lower 16 bits are 0 to 999999
RWwn+5 Position command written. On complete of write, RX(n+2)0 turns ON.
data upper 16 bit Use parameter No.PC30 to select whether point table No.
setting or position command data setting will be made.
Refer to section 3.6.3 for details of Point table No./Position
command data.
RWwn+6 Point table When the point table is not used, set the point table No. to Point table No.:
No./Speed be executed or the speed command data (servo motor 0 to 255
command data speed [r/min]). Speed command
When the point table No. is set to RWwn+6 and RY(n+2)1 is data:
turned ON, the point table No. or speed command data is 0 to permissible
set to the driver. On completion of setting, RX(n+2)1 turns speed
ON.
Use parameter No.PC30 to select whether point table No.
setting or speed command data setting will be made.
Refer to section 3.6.3 for details of Point table No./Speed
command data.
When setting the servo motor speed in this remote register,
always set the acceleration/deceleration time constant in
the point table No.1.

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3. CC-LINK COMMUNICATION FUNCTIONS

(b) Output (Driver Programmable controller)

Note that the data set to RWrn and RWrn+1 depends on whether 1 station or 2 stations are occupied.
If you set inappropriate code No. or data to the remote register input, the error code is set to respond
code (RWrn+2). Refer to section 3.5.5 for the error code.

When 1 station is occupied

Remote register Signal name Description

RWrn Monitor 1 data The data of the monitor code set to RWwn is set.
RWrn+1 Monitor 2 data The data of the monitor code set to RWwn+1 is set.
"0000" is set when the codes set to RWwn to RWwn+3 are executed
RWrn+2 Respond code
normally.
RWrn+3 Reading data Data corresponding to the read code set to RWwn+2 is set.

When 2 stations are occupied

Remote register Signal name Description

RWrn Monitor 1 data lower 16bit The lower 16 bits of the data of the monitor code set to RWwn are set.
Monitor 1 data upper 16bit The upper 16 bits of the data of the monitor code set to RWwn are set. A
RWrn+1
sign is set if there are no data in the upper 16 bits.
Respond code "0000" is set when the codes set to RWwn to RWwn+6 are executed
RWrn+2
normally.
RWrn+3 Reading data Data corresponding to the read code set to RWwn+2 is set.
RWrn+4
RWrn+5 Monitor 2 data lower 16bit The lower 16 bits of the data of the monitor code set to RWwn+1 are set.
Monitor 2 data upper 16bit The upper 16 bits of the data of the monitor code set to RWwn+1 are set. A
RWrn+6
sign is set if there are no data in the upper 16 bits.
RWrn+7

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3. CC-LINK COMMUNICATION FUNCTIONS

3.5.3 Monitor codes

To demand 32-bit data when 2 stations are occupied, specify the lower 16-bit code No. Use any of the
instruction codes 0101 to 011C to read the decimal point position (multiplying factor) of the status indication.
Setting any code No. that is not given in this section will set the error code ( 1 ) to respond code (RWrn+2).
At this time, "0000" is set to RWrn, RWrn+1, RWrn+5 and RWrn+6.

Answer data
Code No.
(Driver Programmable controller)
Monitored item
1 station 2 stations
Data length Unit
occupied occupied
0000h 0000h
0001h 0001h Current position lower 16bit 16bit
0002h Current position upper 16bit 16bit
STM
0003h 0003h Command position lower 16bit 16bit 10 [mm] or
STM
0004h Command position upper 16bit 16bit 10 [inch]
0005h 0005h Command remaining distance lower 16bit 16bit
0006h Command remaining distance upper 16bit 16bit
0007h 0007h
0008h 0008h Point table No. 16bit [No.]
0009h
000Ah 000Ah Feedback pulse value lower 16bit 16bit [pulse]
000Bh Feedback pulse value upper 16bit 16bit [pulse]
000Ch
000Dh
000Eh 000Eh Droop pulse value lower 16bit 16bit [pulse]
000Fh Droop pulse value upper 16bit 16bit [pulse]
0010h 0010h
0011h 0011h Regenerative load factor 16bit [%]
0012h 0012h Effective load factor 16bit [%]
0013h 0013h Peak load factor 16bit [%]
0014h Instantaneously occurring torque 16bit [%]
0015h 0015h ABS counter 16bit [rev]
0016h 0016h Motor speed lower 16bit 16bit 0.1[rev/min]
0017h Motor speed upper 16bit 16bit 0.1[rev/min]
0018h 0018h Bus voltage 16bit [V]
0019h 0019h ABS position lower 16bit 16bit [pulse]
001Ah ABS position middle 16bit 16bit [pulse]
001Bh 001Bh ABS position upper 16bit 16bit [pulse]
001Ch 001Ch Within one-revolution position lower 16bit 16bit [pulse]
001Dh Within one-revolution position upper 16bit 16bit [pulse]

3 - 23
3. CC-LINK COMMUNICATION FUNCTIONS

3.5.4 Instruction codes (RWwn+2 RWwn+3)

Refer to section 3.6.2 for the instruction code timing charts.

(1) Read instruction codes

The word data requested to be read with the instruction code 0000h to 0AFFh is read by Read code
(RWrn+3).
Set the command code No. corresponding to the item to RWrn+2. The codes and answer data are all 4-
digit hexadecimal numbers.
Setting any command code No. that is not given in this section will set the error code ( 1 ) to respond
code (RWrn+2). At this time, "0000" is set to Reading data (RWrn+3).

Reading data (RWrn 3) contents

Code No. Item/Function
(Driver Programmable controller)
0000h Operation mode 0000: CC-Link operation mode
Reads the current operation mode. 0001: Test operation mode
0002h Travel multiplying factor
Reads the multiplying factor of the position
data in the point table set in parameter No.
PA05. Travel multiplying factor
0300: 1000
0200: 100
0100: 10
0000: 1

0010h Current alarm (warning) reading

Reads the alarm No. or warning No. occurring 0 0
currently.
Occurring alarm No./warning No.

0020h Alarm number in alarm history

(most recent alarm) 0 0
0021h Alarm number in alarm history
(first recent alarm) Alarm No. that occurred in past
0022h Alarm number in alarm history
(second recent alarm)
0023h Alarm number in alarm history
(third recent alarm)
0024h Alarm number in alarm history
(fourth recent alarm)
0025h Alarm number in alarm history
(fifth recent alarm)
0030h Alarm occurrence time in alarm history
(most recent alarm)
0031h Alarm occurrence time in alarm history
(first recent alarm) Occurrence time of alarm that occurred in past
0032h Alarm occurrence time in alarm history
(second recent alarm)
0033h Alarm occurrence time in alarm history
(third recent alarm)
0034h Alarm occurrence time in alarm history
(fourth recent alarm)
0035h Alarm occurrence time in alarm history
(fifth recent alarm)

3 - 24
3. CC-LINK COMMUNICATION FUNCTIONS

Reading data (RWrn 3) contents

Code No. Item/Function
(Driver Programmable controller)
0040h Input device status 0 bit 0 to bit F indicate the OFF/ON statuses of the corresponding input
Reads the statuses (OFF/ON) of the input devices. Refer to section 3.5.1 for the meanings of the abbreviations.
devices. bitF bit0

When 2 stations are occupied, DI0, DI1 and DI2 do not function and
therefore they are always "0".
bit0: SON bit4: LSP bit8: MOR bitC: DI2
bit1: ST1 bit5: LSN bit9: COR bitD: DI3
bit2: ST2 bit6: MDO bitA: DI0 bitE: DI4
bit3: DOG bit7: TSTP bitB: DI1 bitF:
0041h Input device status 1 bit 0 to bit F indicate the OFF/ON statuses of the corresponding input
Reads the statuses (OFF/ON) of the input devices. Refer to section 3.5.1 for the meanings of the abbreviations.
devices. bitF bit0

bit0: PSR bit4: DI6 bit8: CDP bitC:

bit1: SPR bit5: DI7 bit9: bitD:
bit2: bit6: TL1 bitA: CSL bitE:
bit3: DI5 bit7: PC bitB: INC bitF:
0042h Input device status 2 bit 0 to bit F indicate the OFF/ON statuses of the corresponding input
Reads the statuses (OFF/ON) of the input devices. Refer to section 3.5.1 for the meanings of the abbreviations.
devices. bitF bit0

bit0: bit4: bit8: bitC:

bit1: bit5: bit9: bitD:
bit2: bit6: bitA: RES bitE:
bit3: bit7: bitB: bitF:
0050h Output device status 0 bit 0 to bit F indicate the OFF/ON statuses of the corresponding
Reads the statuses (OFF/ON) of the Output output devices. Refer to section 3.5.1 for the meanings of the
devices. abbreviations.
bitF bit0

bit0: RD bit4: TLC bit8: MOF bitC: MEND

bit1: INP bit5: bit9: COF bitD:
bit2: CPO bit6: MBR bitA: WNG bitE: POT
bit3: ZP bit7: PUS bitB: BWNG bitF:
0051h Output device status 1 bit 0 to bit F indicate the OFF/ON statuses of the corresponding
Reads the statuses (OFF/ON) of the Output output devices. Refer to section 3.5.1 for the meanings of the
devices. abbreviations.
bitF bit0

bit0: PSF bit4: PT2 bit8: PT6 bitC:

bit1: SPF bit5: PT3 bit9: PT7 bitD:
bit2: PT0 bit6: PT4 bitA: bitE:
bit3: PT1 bit7: PT5 bitB: bitF:

3 - 25
3. CC-LINK COMMUNICATION FUNCTIONS

Reading data (RWrn 3) contents

Code No. Item/Function
(Driver Programmable controller)
0052h Output device status 2 bit 0 to bit F indicate the OFF/ON statuses of the corresponding
Reads the statuses (OFF/ON) of the Output output devices. Refer to section 3.5.1 for the meanings of the
devices. abbreviations.
bitF bit0

bit0: bit4: bit8: bitC:

bit1: bit5: bit9: bitD:
bit2: bit6: bitA: ALM bitE:
bit3: bit7: bitB: CRD bitF:
0081h Energization time Returns the energization time [h].
Reads the energization time from shipment.

Energization time

0082h Power ON frequency Returns the number of power-on times.

Reads the number of power-on times from
shipment.

Power ON frequency

00A0h Ratio of load inertia moment Return unit [times].

Reads the estimated ratio of load inertia
moment to servo motor shaft inertia moment.

Ratio of load inertia moment

00B0h Home position within-1-revolution position Return unit [pulses].

lower 16bit (CYC0)
Reads the lower 16 bits of the cycle counter
value of the absolute home position.
Cycle counter value

00B1h Home position within-1-revolution position Return unit [pulses].

upper 16bit
Reads the upper 16 bits of the cycle counter
value of the absolute home position.
Cycle counter value

00B2h Home position Multi-revolution data (ABS0) Return unit [rev].

Multi-revolution counter value of absolute
home position reading.

Multi-revolution counter value

00C0h Error parameter No./Point data No. reading

Reads the parameter No./point table No. in
error.
Parameter No. or point table No.
Parameter group
0: Basic setting parameters (No.PA )
1: Gain/filter parameters (No.PB )
2: Extension setting parameters (No.PC )
3: I/O setting parameters (No.PD )
Type
1: Parameter No.
2: Point table No.

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3. CC-LINK COMMUNICATION FUNCTIONS

Reading data (RWrn 3) contents

Code No. Item/Function
(Driver Programmable controller)
0100h Monitor multiplying factor
to Reads the multiplying factor of the data to be
011Dh read with the monitor code.
The instruction codes 0100 to 011D Monitor multiplying factor
correspond to the monitor codes 0000 to
0003: 1000
001D.
0002: 100
0000 applies to the instruction code that does
0001: 10
not correspond to the monitor code. 0000: 1

0200h Parameter group reading

Reads the parameter group to be read with 0 0 0
code No.8200h to be written.
Parameter group
0: Basic setting parameters (No.PA )
1: Gain/filter parameters (No.PB )
2: Extension setting parameters (No.PC )
3: I/O setting parameters (No.PD )

0201h Parameter data reading The value set in the parameter No. corresponding to the requested
to Reads the set value of each No. of the group name is stored.
02FFh parameter group read with code No.0200h.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the
parameter No.
If the instruction code is set outside the range
set in parameter No.PA19, an error code is
returned and the data cannot be read.
0301h Data form of parameter The value set in the parameter No. corresponding to the requested
to Reads the data format of each No. of the group name is stored.
03FFh parameter group read with code No.0200h.
The decimal value converted from the 2 lower 0
digits of the code No. corresponds to the
parameter No.
Decimal point position
If the instruction code is set outside the range
0: Without decimal point
set in parameter No.PA19, an error code is
1: First least significant digit
returned and the data cannot be read. (without decimal point)
Data format 2: Second least significant digit
0: Used unchanged 3: Third least significant digit
as hexadecimal 4: Fourth least significant digit
1: Must be converted
into decimal

Parameter write type

0: Valid after write
1: Valid when power is switched on again after write

0401h Position data of point table No.1 to 255 The position data (upper 16 bits or lower 16 bits) set in the requested
to Reads the point table data of point table No.1 point table No. is returned.
04FFh to 255.
0400 to 04FF: Position data in lower 16 bits of
point table No.1 to 255
0501h
0500 to 05FF: Position data in upper 16 bits
to
of point table No.1 to 255
05FFh
Example
Instruction code 0413: Lower 16 bits of point
table No.19
Instruction code 0513: Upper 16 bits of point
table No.19

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3. CC-LINK COMMUNICATION FUNCTIONS

Reading data (RWrn 3) contents

Code No. Item/Function
(Driver Programmable controller)
0601h Servo motor speed of point table No.1 to 255 The servo motor speed set to the requested point table No. is
to The decimal value converted from the 2 lower returned.
06FFh digits of the code No. corresponds to the point
table No.

Servo motor speed

0701h Acceleration time constant of point table No.1 The acceleration time constant set to the requested point table No. is
to to 255 returned.
07FFh The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
0801h Deceleration time constant of point table No.1 The deceleration time constant set to the requested point table No. is
to to 255 returned.
08FFh The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
0901h Dwell of point table No.1 to 255 The dwell set to the requested point table No. is returned.
to The decimal value converted from the 2 lower
09FFh digits of the code No. corresponds to the point
table No.
0A01h Auxiliary function of point table No.1 to 255 The Auxiliary function set to the requested point table No. is returned.
to The decimal value converted from the 2 lower
0AFFh digits of the code No. corresponds to the point
table No.

(2) Write instruction codes

Set the data, which was requested to be written with the instruction code 8010h to 91FFh.
Set the instruction code No. corresponding to the item to Instruction code (RWwn+2) and the written data to
Writing data (RWwn+3). The codes and answer data are all 4-digit hexadecimal numbers.
When the instruction code which has not been described in this section is set, the error code ( 1 ) is
stored in respond code (RWrn+2).

Writing data (RWwn 3) contents

Code No. Item
(Programmable controller Driver)
8010h Alarm reset command 1EA5
Deactivates the alarm that occurred.
8101h Feedback pulse value display data is clear 1EA5
Resets the display data of the status
indication "feedback pulse value" to 0.
8200h Parameter group write command
Writes the group of parameters that are 0 0 0
written to with codes No.8201h to 82FFh and
8301h to 83FFh. Parameter group
Writes the group of parameters that are read 0: Basic setting parameters (No.PA )
with codes No.0201h to 02FFh and 0301h to
1: Gain/filter parameters (No.PB )
03FFh.
2: Extension setting parameters (No.PC )
3: I/O setting parameters (No.PD )

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3. CC-LINK COMMUNICATION FUNCTIONS

Writing data (RWwn+3) contents

Code No. Item
(Programmable controller Driver)
8201h Data RAM instruction of parameter Convert the decimal values into hexadecimal before setting.
to Writes the set value of each No. of the
82FFh parameter group written by code No.8200h to
RAM. These values are cleared when power
is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the
parameter No.
An error code is returned if an instruction
code outside the range set in parameter No.
PA19 or a value outside the setting range of
the corresponding parameter is written.
8301h Data EEP-ROM instruction of parameter Convert the decimal values into hexadecimal before setting.
to Writes the set value of each No. of the
83FFh parameter group written with code No.8200h
to EEP-ROM. Written to EEP-ROM, these
values are held if power is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the
parameter No.
An error code is returned if an instruction
code outside the range set in parameter No.
PA19 or a value outside the setting range of
the corresponding parameter is written.
8401h Position data RAM command of point table Convert the values into hexadecimal before setting.
to Writes the position data of point table No. 1 to
84FFh 255 to RAM. These values are cleared when
power is switched off.
8501h
to Point
85FFh A set of the upper and lower bits makes position data. When changing the
data, always set the data of both lower and upper bits in order of lower 16-
bit data and upper 16-bit data.
8400h to 84FFh: Position data in lower 16 bits of point table No.1 to 255
8500h to 85FFh: Position data in upper 16 bits of point table No.1 to 255
Example
Instruction code 8413h: Lower 16 bits of point table No.19
Instruction code 8513h: Upper 16 bits of point table No.19

8601h Motor speed of point table Convert the values into hexadecimal before setting.
to Writes the motor speeds of point table No.1 to
86FFh 255 to RAM. These values are cleared when
power is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
8701h Acceleration time constant data RAM Convert the values into hexadecimal before setting.
to command of point table
87FFh Writes the acceleration time constants of point
table No.1 to 255 to RAM. These values are
cleared when power is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.

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3. CC-LINK COMMUNICATION FUNCTIONS

Writing data (RWwn 3) contents

Code No. Item
(Programmable controller Driver)
8801h Deceleration time constant data RAM Convert the values into hexadecimal before setting.
to command of point table
88FFh Writes the deceleration time constants of
point table No.1 to 255 to RAM. These values
are cleared when power is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
8901h Dwell data RAM command of point table Convert the values into hexadecimal before setting.
to Writes the dwell data of point table No.0 to
89FFh 255 to RAM. These values are cleared when
power is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
8A01h Auxiliary function data RAM command of Convert the values into hexadecimal before setting.
to point table
8AFFh Writes the auxiliary function data of point table
No.0 to 31 to RAM. These values are cleared
when power is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
8B01h Position data EEP-ROM command of point Convert the values into hexadecimal before setting.
to table
8BFFh Writes the position data of point table No.1 to
255 to EEP-ROM. Written to EEP-ROM,
these values are held if power is switched off.
8C01h
to
8CFFh
Point
A set of the upper and lower bits makes position data. When changing the
data, always set the data of both lower and upper bits in order of lower 16-
bit data and upper 16-bit data.
8B01h to 8BFFh: Position data in lower 16 bits of point table No.1 to 255
8C01h to 8CFFh: Position data in upper 16 bits of point table No.1 to 255
Example
Instruction code 8B13h: Lower 16 bits of point table No.19
Instruction code 8C13h: Upper 16 bits of point table No.19

8D01h Servo motor speed data EEP-ROM command Convert the values into hexadecimal before setting.
to of point table
8DFFh Writes the servo motor speeds of point table
No.1 to 255 to EEP-ROM. Written to EEP-
ROM, these values are held if power is
switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.

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3. CC-LINK COMMUNICATION FUNCTIONS

Writing data (RWwn+3) contents

Code No. Item
(Programmable controller Driver)
8E01h Acceleration time constant data EEP-ROM Convert the values into hexadecimal before setting.
to command of point table
8EFFh Writes the acceleration time constants of point
table No.1 to 255 to EEP-ROM. Written to
EEP-ROM, these values are held if power is
switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
8F01h Deceleration time constant data EEP-ROM Convert the values into hexadecimal before setting.
to command of point table
8FFFh Writes the deceleration time constants of
point table No.1 to 255 to EEP-ROM. Written
to EEP-ROM, these values are held if power
is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
9001h Dwell data EEP-ROM command of point table Convert the values into hexadecimal before setting.
to Writes the dwell data of point table No.1 to
90FFh 255 to EEP-ROM. Written to EEP-ROM,
these values are held if power is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
9101h Auxiliary function data EEP-ROM command Convert the values into hexadecimal before setting.
to of point table
91FFh Writes the auxiliary function data of point table
No.1 to 255 to EEP-ROM. Written to EEP-
ROM, these values are held if power is
switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.

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3. CC-LINK COMMUNICATION FUNCTIONS

3.5.5 Respond codes (RWrn+2)

If any of the monitor codes, instruction codes, position command data/point table Nos., speed command
data/point table Nos. set to the remote register is outside the setting range, the corresponding error code is set
to respond code (RWwn+2). "0000" is set if they are normal.

Error related to Monitor code 1/Monitor code 2

Error related to Instruction code/Writing data

Error related to Position instruction data/Point table No.

Error related to Speed instruction data/Point table No.

Code No. Error Details

0 Normal answer Instruction was completed normally.
Code error The monitor code not in the specifications was set.
1
Read/write of the point table of No.255 or later was set.
Parameter point table The parameter No. disabled for reference was set.
2
selection error
Write range error An attempt was made to write the parameter or point table data outside
3
the setting range.

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3. CC-LINK COMMUNICATION FUNCTIONS

3.5.6 Setting the CN6 external input signals

Using parameter No.PD06 to PD08, PD12 and PD14, you can assign the input devices as the CN6 external
input signals. The signals assigned as the CN6 external input devices cannot be used in CC-Link. Refer to
section 4.5.1 for the pins to which signals can be assigned.

In the initial status, the forward rotation stroke end, reverse rotation stroke end and proximity dog are preset to
be usable as the CN6 external input signals.
Parameter No.PD12

Initial value
Device name
BIN HEX
0
0
0
Servo-on (SON) 0
Reset (RES) 0

Initial value
Device name
BIN HEX
Proportion control (PC) 0
0
0
Clear (CR) 0
Forward rotation start (ST1) 0

Initial value
Device name
BIN HEX
Reverse rotation start (ST2) 0
Internal torque limit
selection (TL1) 0

Forward rotation stroke end C

(LSP) 1

Reverse rotation stroke end

(LSN) 1

Initial value
Device name
BIN HEX
0
Gain changing (CDP) 0
0
0
0
BIN 0: Used in CC-Link
BIN 1: Used as CN6 external input signal

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3. CC-LINK COMMUNICATION FUNCTIONS

Parameter No.PD14

0
Initial value
Device name
BIN HEX
Automatic/manual selection
(MD0) 0

0 0
0
0

Initial value
Device name
BIN HEX
0
0
0
0
Temporary stop/Restart
(TSTP) 0

Initial value
Device name
BIN HEX
0
0
8
0
Proximity dog (DOG) 1
BIN 0: Used in CC-Link
BIN 1: Used as CN6 external input signal

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3. CC-LINK COMMUNICATION FUNCTIONS

3.6 Data communication timing charts

3.6.1 Monitor codes
(1) When 1 station is occupied
Monitor 1
(RWwn)

Monitor 2
(RWwn+1)

Monitor execution ON
demand (RYn8)
OFF

Monitoring ON
(RXn8) OFF

Monitor 1 data
(RWrn)

Monitor 2 data
(RWrn+1)

Respond code
(RWrn+2)

Data HOLD

Set the monitor codes (refer to section 3.5.3) to Monitor 1 (RWwn) and Monitor 2 (RWwn+1) and turn Monitor
output execution demand (RYn8) to ON. Turning Monitor execution demand (RYn8) to ON sets the next data.
Data are all hexadecimal numbers. At this time, Monitoring (RXn8) turns to ON at the same time.

Monitor data 1 (RWrn): Data demanded by Monitor 1 (RWwn)

Monitor data 2 (RWrn+1): Data demanded by Monitor 2 (RWwn+1)

For 32-bit data, set the lower 16 bits of the monitor code to Monitor 1 (RWwn) and the upper 16 bits to Monitor
2 (RWwn+1) and read them simultaneously.
The monitor data set to the remote register are always updated while Monitor execution demand (RYn8) is ON.
When Monitoring (RXn8) turns to OFF, the data set to Monitor data RWrn, RWrn+1 are held. If the monitor
code not in the specifications is set to either Monitor 1 (RWwn) or Monitor 2 (RWwn+1), the corresponding
error code ( 1) is set to respond code.

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3. CC-LINK COMMUNICATION FUNCTIONS

(2) When 2 stations are occupied

Monitor 1
(RWwn)

Monitor 2
(RWwn+1)

Monitor execution ON
demand (RYn8)
OFF

Monitoring ON
(RXn8) OFF

Monitor 1 data
Lower 16bit (RWrn)

Monitor 1 data
Upper 16bit (RWrn+1)

Monitor 2 data
Lower 16bit (RWrn+5)

Monitor 2 data
Upper 16bit (RWrn+6)

Respond code
(RWrn+2)

Data HOLD

Set the monitor codes (refer to section 3.5.3) to Monitor 1 (RWwn) and Monitor 2 (RWwn+1) and turn Monitor
output execution demand (RYn8) to ON. Turning Monitor execution demand (RYn8) to ON sets the next data.
32-bit data are all divided into the upper 16 bits and lower 16 bits, and set to the remote register. Data are all
hexadecimal numbers. At this time, Monitoring (RXn8) turns to ON at the same time.

Monitor data 1 lower 16 bit (RWrn): Lower 16 bits of data demanded by Monitor 1 (RWwn)
Monitor data 1 upper 16 bit (RWrn+1): Upper 16 bits of data demanded by Monitor 1 (RWwn)
Monitor data 2 lower 16 bit (RWrn+5): Lower 16 bits of data demanded by Monitor 2 (RWwn+1)
Monitor data 2 upper 16 bit (RWrn+6): Upper 16 bits of data demanded by Monitor 2 (RWwn+1)

A sign is set if data does not exist in RWrn+1 RWrn+6. A " " sign is indicated by "0000", and " " by "FFFF".
The monitor data set to the remote register are always updated while Monitoring (RXn8) is ON.
When Monitoring (RXn8) turns to OFF, the data set to Monitor data RWrn, RWrn+1, RWrn+5, RWrn+6 are
held.
If the monitor code not in the specifications is set to either Monitor 1 (RWwn) or Monitor 2 (RWwn+1), the
corresponding error code ( 1) is set to respond code.

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3. CC-LINK COMMUNICATION FUNCTIONS

3.6.2 Instruction codes

(1) Read instruction codes (0000h to 0A1Fh)
Instruction code
(RWwn+2)
Instruction code
execution demand
(RYn9)
Instruction code
execution completion
(RXn9)
Reading data
(RWrn+3)

Respond code
(RWrn+2)

Data read period

Set the read instruction code (refer to section 3.5.4 (1)) to Instruction code (RWwn+2) and turn Instruction
code execution demand (RYn9) to ON. Turning Instruction code execution demand (RYn9) to ON sets the
data corresponding to the preset read code to Reading data (RWrn+3). Data are all hexadecimal numbers.
At this time, Instruction code execution completion (RXn9) turns to ON at the same time.
Read the read data set to Reading data (RWrn+3) while Instruction code execution completion (RXn9) is
ON. The data set to Reading data (RWrn+3) is held until the next read instruction code is set and
Instruction code execution demand (RYn9) is turned to ON.
If the instruction code not in the specifications is set to Instruction code (RWwn+2), the corresponding error
code ( 1 ) is set to respond code. If any unusable parameter, point table is read, the corresponding
error code ( 2 ) is set.
Turn Instruction code execution demand (RYn9) to OFF after completion of data read.

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3. CC-LINK COMMUNICATION FUNCTIONS

(2) Write instruction codes (8000h to 911Fh)

Instruction code
(RWwn+2)

Writing data
(RWwn+3)

Instruction code
execution demand
(RYn9)
Instruction code Write in execution
processing

Instruction code
execution completion
(RXn9)
Respond code
(RWrn+2)

Set the write instruction code (refer to section 3.5.4 (2)) to Instruction code (RWwn+2) and the data to be
written (data to be executed) to Writing data (RWwn+3) in hexadecimal, and turn Instruction code execution
demand (RYn9) to ON.
Turning instruction code execution completion to ON sets the data set in Wiring data (RWwn+3) to the item
corresponding to the write instruction code. When write is executed, Instruction code execution completion
(RXn9) turns to ON.
If the instruction code not in the specifications is set to Instruction code (RWwn+2), the corresponding error
code ( 1 ) is set to respond code.
Turn Instruction code execution demand (RYn9) to OFF after Instruction code execution completion (RXn9)
has turned to ON.

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3. CC-LINK COMMUNICATION FUNCTIONS

3.6.3 Remote register-based position/speed setting

The functions in this section are usable when Position/speed specifying system selection (RY(n+2)A) is ON
(remote register-based position/speed specifying system is selected) with 2 stations occupied.
The position command/speed command necessary for positioning can be selected by parameter No.PC30
setting as indicated below.
Parameter No.PC30

Set value Position command Speed command

0 Specify the point table No.
1 Specify the point table No.
Set the position data.
2 Set the servo motor speed.

(1) When setting the point table No.

Specify the point table No. stored in the driver and execute positioning.
Preset " 0" (initial value) in parameter No.PC30 to enable point table No.-setting operation.
Point table No.
(RWwn+4)

Position instruction ON
demand
(RY(n+2)0) OFF

Point table No. (Note) Data reserved

designation
Position instruction
execution ON
completion OFF
(RX(n+2)0)
Respond code
(RWrn+2)
6ms
Forward/reverse ON
rotation start
(RYn1 RYn2) OFF

Note. This data is stored into RAM of the driver. Hence, the data is cleared when power is switched off.

Set the point table No. to point table No. (RWwn+4) and turn Position instruction demand (RY(n+2)0) to ON.
Turning RY(n+2)0 to ON stores the position block No. into RAM of the driver.
When the data is stored, Position instruction execution completion (RX(n+2)0) turns to ON.
If data outside the setting range is set to Position block No. (RWwn+4), the error code (refer to section
3.5.5) is set to respond code.
Turn Forward rotation start (RYn1)/Reverse rotation start (RYn2) to ON after Position instruction execution
completion (RX(n+2)0) has turned to ON.

3 - 39
3. CC-LINK COMMUNICATION FUNCTIONS

(2) When setting the position command data/point table No. (speed command)
Specify the position address with the remote register, and specify the speed command data by specifying
the point table No. to use the preset servo motor speed, acceleration time constant and deceleration time
constant the speed command data, and execute positioning.
Preset " 1" in parameter No.PC30 to enable position command data-set and point table No. (speed
instruction)-setting operation.
Position instruction data
Lower 16bit (RWwn+4)

Position instruction data

Upper 16bit (RWwn+5)

Point table No.

(RWwn+6)

Position instruction ON
demand
(RY(n+2)0) OFF
Speed instruction ON
demand
(RY(n+2)1) OFF
Position data setting
Point table No. (Note) Data reserved
designation
Position instruction ON
execution completion
(RX(n+2)0) OFF
Speed instruction ON
execution completion
(RX(n+2)1) OFF
Respond code
(RWrn+2)
6ms
Forward rotation
Reverse rotation ON
start OFF
(RYn1 RYn2)

Note. This data is stored into RAM of the driver. Hence, the data is cleared when power is switched off.

Set the lower 16 bits of the position instruction data to Position instruction data lower 16 bit (RWwn+4), the
upper 16 bits of the position instruction data to Position instruction data upper 16 bit (RWwn+5), and point
table for speed command No. to point table No. (RWwn+6), and turn Position instruction demand
(RY(n+2)0) and Speed instruction demand (RY(n+2)1) to ON.
Turning RY(n+2)0 and RY(n+2)1 to ON stores the position command data and point table No. into RAM of
the driver.
When the data are stored, Position instruction execution completion (RX(n+2)0) and Speed instruction
execution completion (RX(n+2)1) turn to ON.
If data outside the setting range is set to any of Position instruction data lower 16 bit (RWwn+4), Position
instruction data upper 16 bit (RWwn+5) and point table No. (RWwn+6), the error code (refer to section
3.5.5) is set to respond code.
Turn Forward rotation start (RYn1) Reverse rotation start (RYn2) to ON after Position instruction execution
completion (RX(n+2)0) and Speed instruction execution completion (RX(n+2)1) have turned to ON.

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3. CC-LINK COMMUNICATION FUNCTIONS

(3) When setting the position command data and speed command data
Specify the position address and servo motor speed with the remote register, and execute positioning. At
this time, use the acceleration time constant and deceleration time constant set in point table No.1.
Preset " 2" in parameter No.PC30 to enable position command data- and speed command data-set
operation.
Position instruction data
Lower 16bit (RWwn+4)

Position instruction data

Upper 16bit (RWwn+5)

Speed instruction data

(RWwn+6)

Position instruction ON
demand
(RY(n+2)0) OFF
Speed instruction ON
demand
(RY(n+2)1) OFF

Position speed (Note) Data reserved

data setting
Position instruction ON
execution completion
(RX(n+2)0) OFF
Speed instruction ON
execution completion
(RX(n+2)1) OFF

Respond code
(RWrn+2)
6ms
Forward rotation ON
Reverse rotation
start OFF
(RYn1 RYn2)

Note. This data is stored into RAM of the driver. Hence, the data is cleared when power is switched off.

Set the lower 16 bits of the position instruction data to Position instruction data lower 16 bit (RWwn+4), the
upper 16 bits of the position instruction data to Position instruction data upper 16 bit (RWwn+5), and speed
instruction data to Speed instruction data (RWwn+6), and turn Position instruction demand (RY(n+2)0) and
Speed instruction demand (RY(n+2)1) to ON.
Turning RY(n+2)0 and RY(n+2)1 to ON stores the position command data and speed command data into
RAM of the driver.
When the data are stored, Position instruction execution completion (RX(n+2)0) and Speed instruction
execution completion (RX(n+2)1) turn to ON.
If data outside the setting range is set to any of Position instruction data lower 16 bit (RWwn+4), Position
instruction data upper 16 bit (RWwn+5) and Speed command data (RWwn+6), the error code (refer to
section 3.5.5) is set to respond code.
Turn Forward rotation start (RYn1) Reverse rotation start (RYn2) to ON after Position instruction execution
completion (RX(n+2)0) and Speed instruction execution completion (RX(n+2)1) have turned to ON.

3 - 41
3. CC-LINK COMMUNICATION FUNCTIONS

3.7 Function-by-function programming examples

This section explains specific programming examples for servo operation, monitor, parameter read and write,
and others on the basis of the equipment makeup shown in section 3.7.1.

3.7.1 System configuration example

As shown below, the CC-Link system master local unit is loaded to run two drivers (1 station occupied / 2
stations occupied).

(1) System configuration

Programmable controller
Master station Input module Output module
Power supply CPU
QJ61BT11N QX40 QY40P
Q62P Q02HCPU
(X/Y00 to 1F) (X20 to X2F) (Y30 to Y3F)

Terminating X20 to Y30

resistor
Station No.1 Station No.2

ServoDriver
amplifier Servo amplifier
Driver
(1 station occupied) (2 stations occupied)

Terminating
resistor

(2) Master station network parameter setting

In the programming examples, network parameters are set as below.

Item Setting condition Item Setting condition

Start I/O No. 0000 Remote register (RWr)
W0
Clear Refresh device
Data link disorder
(No check on Remote register (RWw)
station settings W100
Operational setting "Hold input data") Refresh device
Case of CPU Special relay (SB)
Refresh SB0
STOP setting Refresh device
Type Master station Special relay (SW)
SW0
Remote net Refresh device
Mode
(Ver.1 mode) Retry count 3
All connect count 2 Automatic reconnection station count 1
Remote input (RX) CPU down select Stop
X1000
Refresh device Scan mode setting Asynchronous
Remote output (RY)
Y1000
Refresh device

3 - 42
3. CC-LINK COMMUNICATION FUNCTIONS

(3) Relationship of remote I/O (RX, RY)

The following shows a relationship between the devices of the programmable driver CPU and the remote
I/Os (RX, RY) of the remote device stations.
Shaded area shows the devices actually used.
Remote device
Programmable (Station No.1)
controller CPU (1 station occupied)
PC or PLC etc

X100F to X1000 RX0F to RX00

X101F to X1010 RX1F to RX10
X102F to X1020
X103F to X1030
RY0F to RY00
X104F to X1040
RY1F to RY10
X105F to X1050
X106F to X1060 Remote device
X107F to X1070 (Station No.2)
(2 stations occupied)

Y100F to Y1000
RX0F to RX00
Y101F to Y1010
RX1F to RX10
Y102F to Y1020
RX2F to RX20
Y103F to Y1030
RX3F to RX30
Y104F to Y1040
Y105F to Y1050
RY0F to RY00
Y106F to Y1060
RY1F to RY10
Y107F to Y1070
RY2F to RY20
RY3F to RY30

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3. CC-LINK COMMUNICATION FUNCTIONS

(4) Relationship of remote register (RWw, RWr)

The following shows a relationship between the devices of the programmable driver CPU and the remote
registers (RWw, RWr) of the remote device stations.
Shaded area shows the devices actually used.
Remote device
Programmable (Station No.1)
controller CPU (1 station occupied)
PC or PLC etc
For writing
W100 RWw0
W101 RWw1
W102 RWw2
W103 RWw3
W104
W105 RWr0
W106 RWr1
W107 RWr2
W108 RWr3
W109
W10A
W10B
W10C
Remote device
W10D (Station No.2)
W10E (2 stations occupied)
W10F
For reading RWw0
W000 RWw1
W001 RWw2
W002 RWw3
W003 RWw4
W004 RWw5
W005 RWw6
W006 RWw7
W007
W008 RWr0
W009 RWr1
W00A RWr2
W00B RWr3
W00C RWr4
W00D RWr5
W00E RWr6
W00F RWr7

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3. CC-LINK COMMUNICATION FUNCTIONS

3.7.2 Reading the driver status

When the driver on station number 1 becomes ready for the remote station communication, Y30 of the output
module turns on.
The program is for turning on Y30 when CC-Link communication is normal.

Checks data link status of station No.1.

Turns on output module (Y30).
Remote station communication ready

X100F X1000
Remote input b15 b10 b5 b0
RX0F to RX00
1 station * 0 0 0 0 0 0 0 0 0 * 0 0 0 0 0
RX1F to RX10
[Servo amplifier
[Controller status]
status]
X101F X1010
*: Set 0 or 1 as the bit is not used. b15 b10 b5 b0
* * * * 0 0 * * * * * * * * * *

[Servo amplifier
[Controller status]
status]

Driver status (1 station occupied)

X1000: Ready (RD) X1008: Monitoring (MOF) X1010: X1018:
X1001: In position (INP) X1009: Instruction code execution X1011: X1019:
X1002: Rough match (CPO) completion (COF) X1012: X101A: Trouble (ALM)
X1003: Home position return completion X100A: Warning (WNG) X1013: X101B: Remote station
(ZP) X100B: Battery warning (BWNG) X1014: communication ready
X1004: Limiting torque (TLC) X100C: Movement completion X1015: (CRD)
X1005: (MEND) X1016: X101C:
X1006: Electromagnetic brake interlock X100D: Dynamic brake interlock (DB) X1017: X101D:
(MBR) X100E: Position range (POT) X101E:
X1007: Temporary stop (PUS) X100F: X101F:

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3. CC-LINK COMMUNICATION FUNCTIONS

3.7.3 Writing the operation commands

Perform positioning operation of point table No.2 for the driver of station 2.
Start the operation by turning on X20.

Checks data link status of station No.1.

Servo-on command (RY00)

Servo-on command
Point table No. selection command (bit1) (RY0B)

Automatic/manual selection command (RY06)

Point table establishment time 4ms *1

Forward rotation start command (RY01)

Operation command
Command demand time 6ms *1

Forward rotation start command reset

*1: This is when the high-speed timer limit is set to 1ms.

Setting time for the timer should be larger than the command processing
time or twice the link scan time whichever larger. When the setting time
is short, the command cannot be received properly.

Y100F Y1000
b15 b10 b5 b0 Remote input
RY0F to RY00
0 0 0 0 0 1 0 0 0 1 1 1 0 0 1 1 Station No.1
RY1F to RY10
1: ON
[Operation command] 0: OFF
*: Set 0 as the bit is not used.
Point table Automatic/manual Forward Servo-on
selection (bit1) selection rotation start
Y101F Y1010
b15 b10 b5 b0
* * * * * 0 * * * * * * * * * *

[Operation command]

Operation commands
(1 station occupied) Y1008: Monitor output execution demand Y1010: Y1018:
Y1000: Servo-on (SON) (MOR) Y1011: Y1019:
Y1001: Forward rotation start (ST1) Y1009: Instruction code execution Y1012: Y101A: Reset (RES)
Y1002: Reverse rotation start (ST2) demand (COR) Y1013: Y101B:
Y1003: Proximity dog (DOG) Y100A: Point table No. selection 1 (DI0) Y1014: Y101C:
Y1004: Forward rotation stroke end Y100B: Point table No. selection 2 (DI1) Y1015: Y101D:
(LSP) Y100C: Point table No. selection 3 (DI2) Y1016: Y101E:
Y1005: Reverse rotation stroke end Y100D: Point table No. selection 4 (DI3) Y1017: Y101F:
(LSN) Y100E: Point table No. selection 5 (DI4)
Y1006: Automatic/manual selection Y100F: Clear (CR)
(MDO)
Y1007: Temporary stop/Restart (TSTP)

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3. CC-LINK COMMUNICATION FUNCTIONS

3.7.4 Reading the data

Read various data of the driver.

(1) Reading the monitor value

Read the (feedback pulse value) of the driver of station 2 to D1.

Data No. Description

H000A Cumulative feedback pulse data (hexadecimal)

Read the cumulative feedback pulse monitor by turning on X20.

Checks data link status of station No.2.

Sets monitor code (H000A) of feedback pulse in
RWw4.
Read
command Turns on Monitor output execution demand
(RY28).
Reads feedback pulse (RWr4, RWr5) to D10
and D11 when monitoring (RX28) turns on.

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3. CC-LINK COMMUNICATION FUNCTIONS

(2) Reading the parameter

Read parameter No.PA04 "Function selection A-1" of the driver of station 2 to D1.

Data No. Description

H8200 Parameter group selection
H2024 Parameter No.PA04 setting (hexadecimal)

Read the parameter No.PA04 by turning on X20.

The respond code at instruction code execution is set to D2.

Checks data link status of station No.2.

Read command

Writes parameter group No. write (H8200) to

RWw6 and parameter group PA (H0000) to
RWw7.

Turns on instruction code execution demand

(RY29).

Turns off instruction code execution demand

(RY29) when instruction code execution
completion (RX29) turns on.
Writes parameter No.PA04 read (H0204) to
RWw6.
Turns on instruction code execution demand
(RY29).

Reads function selection A-1 (RWr7) and

respond code (RWr6) to D1 and D2 when
instruction code execution demand (RX29)
turns on.
Turns off instruction code execution demand
(RY29).

3 - 48
3. CC-LINK COMMUNICATION FUNCTIONS

(3) Reading the alarm definition

Read the alarm definition of the driver of station 2 to D1.

Data No. Description

H0010 Occurring alarm/warning No. (hexadecimal)

Read current alarms by turning on X20.

The respond code at instruction code execution is set to D2.

Checks data link status of station No.2.

Read command

Writes current alarm read (H0010) to RWw6.

Turns on instruction code execution demand
(RY29).

Reads current alarm (RWr7) and respond code

(RWr6) to D1 and D2 when instruction code
execution demand (RX29) turns on.
Turns off instruction code execution demand
(RY29).

3 - 49
3. CC-LINK COMMUNICATION FUNCTIONS

3.7.5 Writing the data

This section explains the programs for writing various data to the driver.

(1) Writing the servo motor speed data of point table

Change the servo motor speed data in the point table No.1 of the driver of station 2 to "100".
The following shows a program example for writing data to the driver when two stations are occupied.
Writing is disabled for the driver when one station is occupied.

Code No. Description

Write of servo motor speed data of point table No.1
H8D01
(hexadecimal)

Set data Description

Servo motor speed data of point table No.1
K100
(decimal)

Write the data to the servo motor speed data of point table No.1 by turning on X20.
The respond code at instruction code execution is set to D2.

Checks data link status of station No.2.

Write In position
command

Writes speed data (H8D01) of point table No.1

to RWw6, and speed data (K100) to RWw7.

Turns on instruction code execution demand

(RY29).

Reads respond code (RWr6) to D2 when

instruction code execution completion (RX29)
turns on.
Turns off instruction code execution demand
(RY29).

3 - 50
3. CC-LINK COMMUNICATION FUNCTIONS

(2) Writing the parameter

The following shows a program example when two stations are occupied.
Change parameter No.PC12 (JOG speed) of the driver of station 2 to "100".
The parameter group PC is specified as follows.

Code No. Description

8200h Parameter group selection

Set data Description

H0002 Set data (hexadecimal)

The parameter No.12 is changed to "100" as follows.

Code No. Description

H820C Parameter No.PC12 write (hexadecimal)

Set data Description

K100 Set data (decimal)

Write the data to the parameter No.PC12 by turning on X20.

The respond code at instruction code execution is set to D2.

Checks data link status of station No.2.

Write command

Writes parameter group No. write (H8200) to

RWw6 and parameter group PC (H0002) to
RWw7.
Turns on instruction code execution demand
(RY29).

Turns off instruction code execution demand

(RY29) when instruction code execution
completion (RX29) turns on.

Writes parameter No.PC12 write (H820C) to

RWw6 and data (K100) to RWw7.

Turns on instruction code execution demand

(RY29).

Reads RWw6 to D2 when instruction code

execution completion (RX29) turns on.
Turns off instruction code execution demand
(RY29).

3 - 51
3. CC-LINK COMMUNICATION FUNCTIONS

(3) Driver alarm resetting program examples

(a) Deactivate the alarm of the driver of station 2 by issuing a command from the programmable
driver.
Reset the driver on the occurrence of a servo alarm by turning on X20.

Checks data link status of station No.2.

Turns on reset command (RY5A).
Turns off reset command (RY5A) when trouble
Trouble Reset flag (RX5A) turns off.
flag command

(b) Deactivate the alarm of the driver of station 2 using the instruction code.

Code No. Description

H8010 Alarm reset command (hexadecimal)

Set data Description

H1EA5 Execution data (hexadecimal)

Reset the driver by turning on X20.

The respond code at instruction code execution is set to D2.

Checks data link status of station No.2.

Reset command

Writes alarm reset command (H8010) to

RWw6 and execution data (H1EA5) to RWw7.

Turns on instruction code execution demand

(RY29).

Reads respond code (RWr6) to D2 when

instruction code execution completion (RX29)
turns on.
Turns off instruction code execution demand
(RY29).

3 - 52
3. CC-LINK COMMUNICATION FUNCTIONS

3.7.6 Operation
This section explains the operation programs of the driver.

(1) JOG operation

Perform JOG operation of the driver of station 1 and read the "current position" data.

Code No. Description

H0001 Lower 16-bit data of current position (hexadecimal)
H0002 Upper 16-bit data of current position (hexadecimal)

Start the forward rotation JOG operation by turning on X22.

Start the reverse rotation JOG operation by turning on X23.

Checks data link status of station No.1.

Servo-on command (RY00).

Remote station
communication
ready Forward rotation
Forward rotation start (RY01).
Ready Automatic/ JOG command
manual
selection Reverse rotation
Reverse rotation start (RY02).
JOG command
Sets monitor code (H0001) of current position
(lower 16 bits) to RWw0.
Sets monitor code (H0002) of current
position (upper 16 bits) to RWw1.
Turns on monitor command (RY08).
Reads current position (RWr0, RWr1) to D10
and D11 when monitoring (RX08) turns on.

3 - 53
3. CC-LINK COMMUNICATION FUNCTIONS

(2) Remote register-based position data/speed data setting

The following program example is only applicable when two stations are occupied.
Operate the driver of station 2 after specifying the position data as "100000" and the speed data as "1000"
in the direct specification mode.
Preset " 2" in parameter No.PC30.

Set data Description

K100000 Position command data (decimal)
K1000 Speed command data (decimal)

Execute positioning operation with position and speed settings specified in the remote register by turning on
X20.

Checks data link status of station No.2.

Servo-on command (RY20)

Automatic operation mode selection (RY26)

Position/speed specifying system selection
(RY4A)

Operation In position
command

Writes position command data (K100000) to

RWw8, RWw9, and speed data (K1000) to
RWwA.

Turns on position instruction demand (RY40).

Turns on speed instruction demand (RY41).

Reads respond code (RWr6) to D2 when
position instruction execution completion (RX40)
and speed instruction execution completion
(RX41) turn on.
Position and speed data establishment time
4ms *1
Turns on forward rotation start command
(RY21).

Command request time 6ms *1

Turns off forward rotation start command
(RY21).
Turns off position instruction demand (RY40).

Turns off speed instruction demand (RY41).

*1: This is when the high-speed timer limit is set to 1ms.

Setting time for the timer should be larger than the command processing
time or twice the link scan time whichever larger. When the setting time
is short, the command cannot be received properly.

3 - 54
3. CC-LINK COMMUNICATION FUNCTIONS

(3) Remote register-based point table No. setting (incremental value command system)
The following program example is only applicable when two stations are occupied.
Operate the driver of station 2 with incremental values after specifying the point table No.5 in the direct
specification mode.
Preset " 0" in parameter No.PA01 and " 0" in parameter No.PA30.

Set data Description

K5 Point table No. (decimal)

Execute positioning operation to the point table No.5 by turning on X20.

Checks data link status of station No.2.

Servo-on command (RY20)

Automatic operation mode selection (RY26)

Position/speed specifying system selection
(RY4A)
Incremental value selection (RY4B)

Operation In position
command

Writes point table No.5 (K5) to RWw8.

Turns on position instruction demand (RY40).

Reads respond code (RWr6) to D2 when
position instruction execution completion (RX40)
turns on.
Point table establishment time 4ms *1
Turns on forward rotation start command
(RY21).

Command request time 6ms *1

Turns off forward rotation start command
(RY21).
Turns off position instruction demand (RY40).

*1: This is when the high-speed timer limit is set to 1ms.

Setting time for the timer should be larger than the command processing
time or twice the link scan time whichever larger. When the setting time
is short, the command cannot be received properly.

3 - 55
3. CC-LINK COMMUNICATION FUNCTIONS

3.8 Continuous operation program example

This section shows a program example which includes a series of communication operations from a servo start.
The program will be described on the basis of the equipment makeup shown in section 3.8.1, 3.8.3.

3.8.1 System configuration example when 1 station is occupied

As shown below, the CC-Link system master local unit is loaded to run one driver (1 station occupied).
Programmable controller

Power supply CPU Master station Input module

Q62P Q02HCPU QJ61BT11N QX40
(X/Y00 to 1F) (X20 to X2F)

Terminating X20 to X2C

resistor
Station No.1

Servo amplifier
Driver
Terminating (1 station occupied)
resistor

Input signal assignment

Input signal Signal name General operation when the input is on
X20 Reset command Resets the driver on an occurrence of a servo alarm.
X21 Servo-on command Turns on the servo motor. (Servo-on status)
Forward rotation JOG
X22 Executes a forward JOG operation in the manual operation mode.
command
Reverse rotation JOG
X23 Executes a reverse JOG operation in the manual operation mode.
command
OFF: Manual operation mode
X24 Automatic/manual selection
ON: Automatic operation mode
Home position return Executes a dog type home position return when home position return
X25
command is incomplete in the automatic operation mode.
OFF: Proximity dog is on. (Note)
X26 Proximity dog command
ON: Proximity dog is off.
Executes a positioning operation to the point table number specified
X27 Positioning start command by X28 to X2C when home position return is incomplete in the
automatic operation mode.
X28 No. selection 1 Specifies the position for the point table No. selection 1
X29 No. selection 2 Specifies the position for the point table No. selection 2
X2A No. selection 3 Specifies the position for the point table No. selection 3
X2B No. selection 4 Specifies the position for the point table No. selection 4
X2C No. selection 5 Specifies the position for the point table No. selection 5
Note. This is when the parameter No.PD16 is set to " 0 (initial value)" (detects the dog at off).

3 - 56
3. CC-LINK COMMUNICATION FUNCTIONS

3.8.2 Program example when 1 station is occupied

POINT
To execute a dog type home position return with the CC-Link communication
functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG)
with the remote input (RY03) in this example.

Operate the driver of station 1 in the positioning mode and read the "current position" data.

Operation: Alarm reset, dog type home position return, JOG operation, automatic operation under point table
command

Code No. Description

H0001 Lower 16-bit data of current position (hexadecimal)
H0002 Upper 16-bit data of current position (hexadecimal)

Checks data link status of station No.1.

Writes current alarm read (H0010) to RWw2 at

trouble (RY1A) occurrence.
Turns on instruction code execution demand
(RY09).

Reads current alarm (RWr3) and respond code

(RWr2) to D11 and D12 when instruction code
execution completion (RX09) turns on.
Turns off instruction code execution demand
(RY09).

Alarm reset command (RY1A)

Reset command

Servo-on command (RY00)

Servo-on command
Automatic operation mode selection (RY06)
Automatic/manual selection
Manual operation mode selection (RY06)
Automatic/manual selection
Home position return request
Home position return Home position return completion
command

Point table establishment time 4ms *1

Forward rotation start request

Command request time 6ms *1

Forward rotation start request reset

Proximity dog command (RY03)

Proximity dog command

Forward rotation start request

Forward rotation JOG command
Reverse rotation start request
Reverse rotation JOG command

3 - 57
3. CC-LINK COMMUNICATION FUNCTIONS

Positioning start command

Positioning start command

In Rough Home position
position match return completion

Point table establishment time 4ms *1

Forward rotation start request

Command request time 6ms *1

Forward rotation start request reset

Point table No. selection 1 (RY0A)

No.selection 1
Point table No. selection 2 (RY0B)
No.selection 2
Point table No. selection 3 (RY0C)
No.selection 3
Point table No. selection 4 (RY0D)
No.selection 4

Point table No. selection 5 (RY0E)

No.selection 5
Forward rotation start (RY01)

Reverse rotation start (RY02)

Sets monitor code (H001) of current position

(lower 16 bits) in RWw0.
Sets monitor code (H002) of current position
(upper 16 bits) in RWw1.
Turns on monitor output execution demand
(RY08).
Reads current position (Rwr0, RWr1) to D120
and D121 when monitoring (RX08) turns on.

*1: This is when the high-speed timer limit is set to 1ms.

Setting time for the timer should be larger than the command processing
time or twice the link scan time whichever larger. When the setting time
is short, the command cannot be received properly.

3 - 58
3. CC-LINK COMMUNICATION FUNCTIONS

3.8.3 System configuration example when 2 stations are occupied

As shown below, the CC-Link system master local unit is loaded to run one drivers (2 station occupied).
Programmable controller

Power supply CPU Master station Input module

Q62P Q02HCPU QJ61BT11N QX40
(X/Y00 to 1F) (X20 to X2F)

Terminating X20 to X28

resistor
Station No.1

Servo amplifier
Driver
Terminating (2 stations occupied)
resistor

Input signal assignment

Input signal Signal name General operation when the input is on
X20 Reset command Resets the driver on an occurrence of a servo alarm.
X21 Servo-on command Turns on the servo motor. (Servo-on status)
Forward rotation JOG
X22 Executes a forward JOG operation in the manual operation mode.
command
Reverse rotation JOG
X23 Executes a reverse JOG operation in the manual operation mode.
command
OFF: Manual operation mode
X24 Automatic/manual selection
ON: Automatic operation mode
Home position return Executes a dog type home position return when home position return
X25
command is incomplete in the automatic operation mode.
OFF: Proximity dog is on. (Note)
X26 Proximity dog command
ON: Proximity dog is off.
Executes a positioning operation with position and speed settings
X27 Positioning start command specified in the remote register when home position return is
completed in the automatic operation mode.
Position/speed setting system
X28 Changes to position/speed specification by the remote register.
changing command
Note. This is when the parameter No.PD16 is set to " 0 (initial value)" (detects the dog at off).

3 - 59
3. CC-LINK COMMUNICATION FUNCTIONS

3.8.4 Program example when 2 stations are occupied

POINT
To execute a dog type home position return with the CC-Link communication
functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG)
with the remote input (RY03) in this example.

Operate the driver of station 1 in the positioning mode and read the "motor speed" data.
Preset the parameter No.PC30 to " 2".
Operation: Alarm reset, dog type home position return, JOG operation, automatic operation under point table
command

Code No. Description

H0016 32-bit data of motor speed (hexadecimal)

Code No. Description

K50000 Position command data (decimal)
K100 Speed command data (decimal)

Checks data link status of station No.1.

Writes current alarm read (H0010) to RWw2 at

trouble (RX3A) occurrence.
Turns on instruction code execution demand
(RY09).

Reads current alarm (RWr3) and respond code

(RWr2) to D11 and D12 when instruction code
execution completion (RX09) turns on.
Turns off instruction code execution demand
(RY09).

Alarm reset command (RY3A)

Reset command
Servo-on command (RY00)
Servo-on command
Automatic operation mode selection (RY06)
Automatic/manual selection
Manual operation mode selection (RY06)
Automatic/manual selection
Home position return request
Home position return Home position return completion
command

Point table establishment time 4ms *1

Forward rotation start request

Command request time 6ms *1

Forward rotation start request reset

Proximity dog command (RY03)

Proximity dog command
Forward rotation start request
Forward rotation JOG command
Reverse rotation start request
Reverse rotation JOG command

3 - 60
3. CC-LINK COMMUNICATION FUNCTIONS

Positioning start command

Position/speed specifying system selection

Position/speed setting system changing command (RY2A)

In Rough Home position

position match return completion

Writes position command data (K50000) to

RWw4, RWw5, and speed data (K100) to
RWw6.

Turns on position instruction demand (RY20).

Turns on speed instruction demand (RY21).

Reads respond code (RWr2) to D2 when
position instruction execution completion (RX20)
and speed instruction execution completion
(RX21) turn on.
Position and speed data establishment time
4ms *1
Positioning start command

Command request time 6ms *1

Positioning start command reset

Turns off position instruction demand (RY20).

Turns off speed instruction demand (RY21).

Forward rotation start (RY01)

Reverse rotation start (RY02)

Sets monitor code (H0016) of motor speed to

RWw0.
Turns on monitor output execution demand
(RY08).
Reads motor speed (RWr0, RWr1) to D120 and
D121 when monitoring (RX08) turns on.

*1: This is when the high-speed timer limit is set to 1ms.

Setting time for the timer should be larger than the command processing
time or twice the link scan time whichever larger. When the setting time
is short, the command cannot be received properly.

3 - 61
4. SIGNALS AND WIRING

4. SIGNALS AND WIRING ................................................................................................................................2

4.1 Input power supply circuit ........................................................................................................................3
4.2 I/O signal connection diagram .................................................................................................................6
4.3 Explanation of power supply system........................................................................................................7
4.3.1 Signal explanations ...........................................................................................................................7
4.3.2 Power-on sequence ..........................................................................................................................8
4.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................10
4.4 Connectors and signal arrangements ....................................................................................................17
4.5 Signal (device) explanation....................................................................................................................18
4.5.1 I/O devices.......................................................................................................................................18
4.5.2 Output signals .................................................................................................................................21
4.5.3 Power supply ...................................................................................................................................22
4.6 Detailed description of signals (devices) ...............................................................................................22
4.6.1 Forward rotation start reverse rotation start temporary stop/restart............................................22
4.6.2 Movement completion rough match in position...........................................................................23
4.6.3 Torque limit......................................................................................................................................25
4.7 Alarm occurrence timing chart ...............................................................................................................26
4.8 Interface .................................................................................................................................................27
4.8.1 Internal connection diagram ............................................................................................................27
4.8.2 Detailed description of interfaces ....................................................................................................28
4.8.3 Source I/O interfaces.......................................................................................................................30
4.9 Treatment of cable shield external conductor........................................................................................31
4.10 Connection of driver and servo motor..................................................................................................32
4.10.1 Connection instructions .................................................................................................................32
4.10.2 Power supply cable wiring diagrams.............................................................................................33
4.11 Servo motor with an electromagnetic brake ........................................................................................34
4.11.1 Safety precautions.........................................................................................................................34
4.11.2 Timing charts .................................................................................................................................35
4.11.3 Wiring diagrams (LE-□-□series servo motor) .............................................................................38
4.12 Grounding ............................................................................................................................................38

4- 1
4. SIGNALS AND WIRING

4. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with
a voltage tester and others. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the driver whether the charge lamp is off or not.
WARNING Ground the driver and the servo motor securely.
Do not attempt to wire the driver and servo motor until they have been installed.
Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.

Wire the equipment correctly and securely. Otherwise, the servo motor may
operate unexpectedly, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay designed for control output
should be fitted in the specified direction. Otherwise, the signal is not output due to
a fault, disabling the forced stop (EMG) and other protective circuits.
ServoDriver
amplifier Driver
Servo amplifier
24VDC 24VDC
DOCOM DOCOM
DICOM DICOM

Control output Control output

CAUTION signal
RA
signal
RA

Use a noise filter, etc. to minimize the influence of electromagnetic interference,

which may be given to electronic equipment used near the driver.
Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF-(H)
option) with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.

4- 2
4. SIGNALS AND WIRING

4.1 Input power supply circuit

Always connect a magnetic contactor (MC) between the main circuit power supply
and L1, L2, and L3 of the driver, and configure the wiring to be able to shut down the
power supply on the side of the driver’s power supply. If a magnetic contactor (MC)
CAUTION is not connected, continuous flow of a large current may cause a fire when the
driver malfunctions.
Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor
fault or the like may overheat the regenerative resistor, causing a fire.

Wire the power supply and main circuit as shown below so that the servo-on (RYn0) turns off as soon as alarm
occurrence is detected and power is shut off.
A no-fuse breaker (NFB) must be used with the input cables of the power supply.

(1) For 3-phase 200 to 230VAC power supply to LECSC□-□

Forced
RA stop ON
OFF
MC
MC
SK

Driver
Servo amplifier Servo motor
NFB MC CNP1
L1
3-phase CNP3 (Note 5)
200 to L2 U U 2
230VAC Motor
L3 V V 3
M
N( ) W W 4
P1 1
(Note 1)
P2
PE
CNP2
P( )
(Note 2) C
D (Note 3)
CN2 Encoder
L11 Encoder cable

L21

CN6 CN6 24VDC

Forced stop EMG DOCOM
(Note 4)
DOCOM DICOM
(Note 4)
ALM RA Trouble

Note 1. Always connect P( ) and D. (Factory-wired.) When using the regenerative option, refer to section 13.2.
2. For encoder cable, use of the option cable is recommended. Refer to section 13.1 for selection of the cable.
3. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3.
4. Refer to section 4.10.

4- 3
4. SIGNALS AND WIRING

(2) For 1-phase 200 to 230VAC power supply to LECSC□-□

Forced
RA stop ON
OFF
MC
MC
SK

Driveramplifier
Servo Servo motor
NFB MC CNP1
L1
1-phase CNP3 (Note 5)
200 to L2 U U 2
230VAC Motor
L3 V V 3
M
N W W 4
P1 1
(Note 1)
P2
PE
CNP2
P
(Note 2) C
D (Note 3)
CN2 Encoder
L11 Encoder cable

L21

CN6 CN6 24VDC

Forced stop EMG DOCOM
(Note 4)
DOCOM DICOM
(Note 4)
ALM RA Trouble

Note 1. Always connect P1 and P2. (Factory-wired.)

2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 13.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 13.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3.
5. Refer to section 4.10.

4- 4
4. SIGNALS AND WIRING

(3) For 1-phase 100 to 120VAC power supply to LECSC□-□

Forced
RA stop ON
OFF
MC
MC
SK
Driveramplifier
Servo Servo motor
NFB MC CNP1
L1
1-phase CNP3 (Note 5)
100 to Blank U U 2
120VAC Motor
L2 V V 3
M
N W W 4
P1 1
(Note 1)
P2
PE

P
(Note 2) C
D (Note 3)
CN2 Encoder
L11 Encoder cable

L21

CN6 CN6 24VDC

Forced stop EMG DOCOM
(Note 4)
DOCOM DICOM
(Note 4)
ALM RA Trouble

Note 1. Always connect P1 and P2. (Factory-wired.)

2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 14.2.
3. For encoder cable, use of the option cable is recommended. Refer to section 14.1 for selection of the cable.
4. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3.
5. Refer to section 4.10.

4- 5
4. SIGNALS AND WIRING

4.2 I/O signal connection diagram

(Note 4) Servo amplifier
Driver
24VDC CN6 (Note 2)
power
CN6 14 RD RA1 Ready
supply
DICOM 5 15 ALM RA2 Trouble (Note 6) (Note 9)
DOCOM 17
EMG 1 16 ZP RA3 Home position
(Note 3, 5) Forced stop
Proximity dog DOG 2 return completion
(Note 9) 10m or less
Forward rotation stroke end LSP 3
(Note 5)
Reverse rotation stroke end LSN 4 13 LZ Encoder Z-phase pulse
10m or less 26 LZR (differential line driver)
(Note 8) 11 LA Encoder A-phase pulse
24 LAR (differential line driver)
(Note
(Note7)
7)
MRSetConfigurator
up software Personal 12 LB Encoder B-phase pulse
（MR Configurator） computer 25 LBR (differential line driver)
23 LG Control common
LEC-MR-J3USB
MR-J3USBCBL3M CN5
(Option) Plate SD
+

(Note 1)
CN1

CC-Link

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the driver to the
protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the driver will be faulty and will not output signals,
disabling the emergency stop (EMG) and other protective circuits.
3. The forced stop switch (normally closed contact) must be installed.
4. Supply 24VDC 10% 150mA current for interfaces from the outside. 150mA is the value applicable when all I/O signals are used.
The current capacity can be decreased by reducing the number of I/O points. Refer to section 4.8.2 (1) that gives the current
value necessary for the interface.
5. When starting operation, always turn on forced stop (EMG) and Forward/Reverse rotation stroke end (LSP/LSN). (Normally
closed contacts)
6. Trouble (ALM) turns on in normal alarm-free condition.
7. Use LEC-MR-SETUP 221E.
8. Personal computers or parameter modules can also be connected via the CN3 connector, enabling RS-422 communication.
Note that using the USB communication function (CN5 connector) prevents the RS-422 communication function (CN3
connector) from being used, and vice versa. They cannot be used together.
Personal computer RS-232C/RS-422 conversion cable
Recommended product: Interface cable
DSV-CABV
(Diatrend)

Driver
Servo amplifier
To RS232C connector
CN3
or
MR-PRU03
parameter module

EIA568-compliant cable (10BASE-T cable, etc.)

9. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3.

4- 6
4. SIGNALS AND WIRING

4.3 Explanation of power supply system

4.3.1 Signal explanations

POINT
For the layout of connector and terminal block, refer to outline drawings in
chapter 12.

Connection target
Abbreviation Description
(application)
Supply the following power to L1, L2, L3. For the 1-phase 200 to 230VAC power supply,
connect the power supply to L1, L2, and keep L3 open.

LECSC2-S5 LECSC1-S5
Driver
LECSC2-S7 LECSC1-S7
Power supply
L1 LECSC2-S8 LECSC1-S8
L2 3-phase 200 to 230VAC,
Main circuit power L1・L2・L3
L3 50/60Hz
1-phase 200 to 230VAC,
L1・L2
50/60Hz
1-phase 100 to 120VAC,
supply L1 L2
50/60Hz

When using driver built-in regenerative resistor, connect P( ) and D. (Factory-wired)

P
When using regenerative option, disconnect P( ) and D, and connect regenerative option
C Regenerative option
to P and C.
D
Refer to section 14.2 to 14.5.
Supply the following power to L11 L21.

Driver
LECSC2-S5 LECSC1-S5
LECSC2-S7 LECSC1-S7
Power supply
L11 Control circuit power LECSC2-S8 LECSC1-S8
L21 supply
1-phase 200 to 230VAC,
L11 L21
50/60Hz
1-phase 100 to 120VAC,
L11 L21
50/60Hz

U
Connect to the servo motor power supply terminals (U, V, W). During power-on, do not open or
V Servo motor power
close the motor power line. Otherwise, a malfunction or faulty may occur.
W
Regenerative converter
N Do not connect to driver.
Brake unit
Connect to the earth terminal of the servo motor and to the protective earth (PE) of the
Protective earth (PE)
control box to perform grounding.

4- 7
4. SIGNALS AND WIRING

4.3.2 Power-on sequence

(1) Power-on procedure
1) Always wire the power supply as shown in above section 4.1 using the magnetic contactor with the
main circuit power supply (three-phase: L1, L2, L3, single-phase: L1, L2). Configure up an external
sequence to switch off the magnetic contactor as soon as an alarm occurs.

2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply
or before switching on the main circuit power supply. If the main circuit power supply is not on, the
display shows the corresponding warning. However, by switching on the main circuit power supply,
the warning disappears and the driver will operate properly.

3) The driver can accept the servo-on (RYn0) about 1 to 2s after the main circuit power supply is
switched on. Therefore, when servo-on (RYn0) is switched on simultaneously with the main circuit
power supply, the base circuit will switch on in about 1 to 2s, and the ready (RD) will switch on in
further about 5ms, making the driver ready to operate. (Refer to paragraph (2) in this section.)

4) When the reset (RY(n+1)A or RY(n+3)A) is switched on, the base circuit is shut off and the servo
motor shaft coasts.

(2) Timing chart

Servo-on (RYn0) accepted

(2 to 2.5s)
Main circuit ON
Control circuit OFF
Power supply
ON
Base circuit
OFF
10ms 10ms 95ms
Servo-on ON
(RYn0) OFF
95ms
Reset
ON
(RY(n+1)A
or RY(n+3)A) OFF
5ms 10ms 5ms 10ms 5ms 10ms
Ready ON
(RD) OFF

Power-on timing chart

4- 8
4. SIGNALS AND WIRING

(3) Forced stop

Provide an external forced stop circuit to ensure that operation can be stopped and
CAUTION power switched off immediately.

Make up a circuit that shuts off main circuit power as soon as EMG is turned off at a forced stop. When
EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop. At this time,
the display shows the servo forced stop warning (AE6).
During ordinary operation, do not use the external forced stop (EMG) to alternate stop and run.
The driver life may be shortened.
Also, if the forward rotation start (RYn1) and reverse rotation start (RYn2) are on or a pulse train is input
during a forced stop, the servo motor will rotate as soon as the warning is reset. During a forced stop,
always shut off the run command. Note also that during a forced stop, RYn1 and RYn2 must be off.
Servo
Driveramplifier

24VDC
DICOM

(Note) DOCOM

Forced stop EMG

Note. For the sink I/O interface. For the source I/O interface, refer to section 4.8.3.

4- 9
4. SIGNALS AND WIRING

4.3.3 CNP1, CNP2, CNP3 wiring method

POINT
Refer to table 13.1 in section 13.9 for the wire sizes used for wiring.

Use the supplied driver power supply connectors for wiring of CNP1, CNP2 and CNP3.
(1) LECSC□-□
(a) Driver power supply connectors
(Note)
Controller power
Servo amplifier powersupply connectors
supply connectors

Connector for CNP1

54928-0670 (Molex) Driver
Servo amplifier

<Applicable cable example>

Cable finish OD: to 8.8mm

CNP1
Connector for CNP2
54928-0520 (Molex)
CNP2

CNP3
Connector for CNP3
54928-0370 (Molex)

Note. These connectors are of insert type. As the crimping type, the following connectors (Molex) are recommended.
For CNP1: 51241-0600 (connector), 56125-0118 (terminal)
For CNP2: 51240-0500 (connector), 56125-0118 (terminal)
For CNP3: 51241-0300 (connector), 56125-0118 (terminal)
Crimping tool: CNP57349-5300
<Connector applicable cable example>
Cable finish OD: to 3.8mm

(b) Termination of the cables

Solid wire: After the sheath has been stripped, the cable can be used as it is.
Sheath Core

8 to 9mm

Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to avoid
a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as
it may cause a contact fault. Alternatively, a bar terminal may be used to put the wires
together.

Cable size Bar terminal type

2 Crimping tool (Note 2)
[mm ] AWG For 1 cable (Note 1) For 2 cable
1.25/1.5 16 AI1.5-10BK AI-TWIN2 1.5-10BK
Variocrimp 4 206-204
2/2.5 14 AI2.5-10BU
Note 1. Manufacturer: Phoenix Contact
2. Manufacturer: WAGO

4 - 10
4. SIGNALS AND WIRING

(c) The twin type connector for CNP2 (L11 L21): 721-2105/026-000 (WAGO)
Using this connector enables passing a wire of control circuit power supply.
Refer to appendix 3 for details of connector.
Twin type connector for CNP2

CNP2
L11 L11
Power supply
Rear axis
or Front axis
L21 L21

4 - 11
4. SIGNALS AND WIRING

(2) Insertion of cable into Molex and WAGO connectors

Insertion of cable into 54928-0670, 54928-0520, 54928-0370 (Molex) connectors and 721-207/026-000,
721-205/026-000 and 721-203/026-000 (WAGO) connectors are as follows.
The following explains for Molex, however use the same procedures for inserting WAGO connectors as
well.

POINT
It may be difficult for a cable to be inserted to the connector depending on
wire size or bar terminal configuration. In this case, change the wire type or
correct it in order to prevent the end of bar terminal from widening, and then
insert it.

How to connect a cable to the driver power supply connector is shown below.
(a) When using the supplied cable connection lever
1) The driver is packed with the cable connection lever.
a) 54932-0000 (Molex)
[Unit: mm]
20.6
10
3.4
4.9

Approx.4.9
Approx.

Approx.7.7
MXJ
3

54932
6.5
7.7

4.7

3.4

b) 231-131 (WAGO)
[Unit: mm]
4.9
3.4

20.3
10
3

6.5
7.6

1.3 16
1.5 17.5

4 - 12
4. SIGNALS AND WIRING

2) Cable connection procedure

Cable connection lever

1) Attach the cable connection lever to the housing.

(Detachable)

2) Push the cable connection lever in the direction

of arrow.

3) Hold down the cable connection lever and insert

the cable in the direction of arrow.

4) Release the cable connection lever.

4 - 13
4. SIGNALS AND WIRING

(b) Inserting the cable into the connector

1) Applicable flat-blade screwdriver dimensions
Always use the screwdriver shown here to do the work.
[Unit: mm]

Approx.R0.3 Approx.22 3

0.6
Approx.R0.3
3 to 3.5

2) When using the flat-blade screwdriver - part 1

1) Insert the screwdriver into the square hole.

Insert it along the top of the square hole to insert it smoothly.

2) If inserted properly, the screwdriver is held.

3) With the screwdriver held, insert the cable in the direction

of arrow. (Insert the cable as far as it will go.)

4) Releasing the screwdriver connects the cable.

4 - 14
4. SIGNALS AND WIRING

3) When using the flat-blade screwdriver - part 2

1) Insert the screwdriver into the 2) Push the screwdriver in the 3) With the screwdriver pushed, insert the cable in the
square window at top of the direction of arrow. direction of arrow. (Insert the cable as far as it will go.)
connector.

4) Releasing the screwdriver connects the cable.

4 - 15
4. SIGNALS AND WIRING

(3) How to insert the cable into Phoenix Contact connector

POINT
Do not use a precision driver because the cable cannot be tightened with
enough torque.

Insertion of cables into Phoenix Contact connector PC4/6-STF-7.62-CRWH or PC4/3-STF-7.62-CRWH is

shown as follows.
Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose. Insert the
core of the cable into the opening and tighten the screw with a flat-blade screwdriver. When the cable is not
tightened enough to the connector, the cable or connector may generate heat because of the poor contact.
(When using a cable of 1.5mm2 or less, two cables may be inserted into one opening.)
Secure the connector to the driver by tightening the connector screw.
For securing the cable and the connector, use a flat-blade driver with 0.6mm blade edge thickness and
3.5mm diameter (Recommended flat-blade screwdriver: Phoenix Contact SZS 0.6 3.5). Apply 0.5 to 0.6
N m torque to screw.
[Unit: mm]
Flat-blade

0.6
180
screwdriver
100
To loosen To tighten

(35)
3.5
Wire
Opening

Recommended flat-blade screwdriver dimensions

To loosen To tighten
Connector screw

Flat-blade
Servo amplifier power screwdriver
supply connector

4 - 16
4. SIGNALS AND WIRING

4.4 Connectors and signal arrangements

POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.

The driver front view shown is that of the LECSC□-S5 and LECSC□-S7. Refer to chapter 12 Outline
Drawings for the appearances and connector layouts of the LECSC□-S8.

CN5 (USB connector)

Personal computer

CN6
CN3
MR-PRU03
parameter module
1 14
CN1 2 15
EMG RD
CC-Link
DOG ALM
communication 3 16
4 17
LSP ZP
LSN DOCOM
5 18
6 19
DICOM OPC
PP NP
7 20
8 21

9 22
10 23
CN2
LG
11 24
2 6 10
LG 4 8 12 25
LA LAR
MRR MDR
1 5 9 LB LBR
13 26
P5 3 7 BAT The frames of the CN1 and CN6
MR MD connectors are connected to the LZ LZR
PE (earth) terminal ( ) in the amplifier.
The 3M make connector is shown.
When using any other connector,
refer to section 14.1.2.

4 - 17
4. SIGNALS AND WIRING

4.5 Signal (device) explanation

4.5.1 I/O devices

The CN6 connector provides three pins for inputs and three other pins for outputs. Devices assigned to these
pins are changeable. To make this change, configure parameter settings of Nos. PD06 to PD11, PD12, and
PD14. Refer to section 4.8.2 for the I/O interfaces (symbols in the I/O Division field in the table) of the
corresponding connector pins.

Parameter of change
Pin type CN6 connector pin No. I/O division Device in initial status
target device

Input-only pins 1 DI-1 Forced stop (EMG)

2 Proximity dog (DOG) No.PD06
3 Forward rotation stroke end (LSP) No.PD07
4 Reverse rotation stroke end (LSN) No.PD08
Output-only pins 14 DO-1 Ready (RD) No.PD09
15 Trouble (ALM) No.PD10
16 Home position return completion (ZP) No.PD11

4 - 18
4. SIGNALS AND WIRING

(1) Input device

POINT
Input devices assigned to the CN6 connector pins cannot be used with the
remote input of the CC-Link communication function.

Connector
Device Symbol Functions/Applications
pin No.
Forced stop (EMG) is fixed at CN6-1. Assigning this device to any other pin is
Forced stop EMG CN6-1
not allowed. For device details, refer to section 3.5.1 (1).
Servo-on SON For device details, refer to section 3.5.1 (1).
Forward rotation start ST1
Reverse rotation start ST2
CN6-2
Proximity dog DOG
(Note)
CN6-3
Forward rotation stroke end LSP
(Note)
CN6-4
Reverse rotation stroke end LSN
(Note)
Automatic/manual selection MD0
Temporary stop/Restart TSTP
Internal torque limit
TL1
selection
Proportion control PC
Gain changing CDP
Reset RES
Clear CR Turn CR on to clear the position control counter droop pulses on its leading
edge. The pulse width should be 10ms or more.
When the parameter No.PD22 setting is " 1", the pulses are always
cleared while CR is on.
Note. These are pin Nos. assigned at default.

4 - 19
4. SIGNALS AND WIRING

(2) Output device

POINT
Output devices assigned to the CN6 connector pins can be used with the
remote output of the CC-Link communication function.

Connector
Device Symbol Functions/Applications
pin No.
Ready CN6-14 For device details, refer to section 3.5.1 (2).
RD
(Note)
Trouble ALM CN6-15 ALM turns off when power is switched off or the protective circuit is activated to
(Note) shut off the base circuit. Without alarm occurring, ALM turns on within 1.5s after
power-on.
The significance of this device is opposite of that of remote output (RX (n 1)A
or RX (n 3)A).
Home position return CN6-16 For device details, refer to section 3.5.1 (2).
ZP
completion (Note)
In position INP
Rough match CPO
Limiting torque TLC
Electromagnetic brake
MBR
interlock
Temporary stop PUS
Warning WNG
Battery warning BWNG
Movement completion MEND
dynamic brake interlock DB
Position range POT
Point table No. output 1 PT0
Point table No. output 2 PT1
Point table No. output 3 PT2
Point table No. output 4 PT3
Point table No. output 5 PT4
Point table No. output 6 PT5
Point table No. output 7 PT6
Point table No. output 8 PT7
Speed command reached SA SA turns on when servo-on (SON) is on and the commanded speed is at the
target speed.
SA always turns on when servo-on (SON) is on and the commanded speed is
0r/min.
SA turns off when servo-on (SON) is off or the commanded speed is in
acceleration/deceleration.

4 - 20
4. SIGNALS AND WIRING

Connector
Device Symbol Functions/Applications
pin No.
Zero speed ZSP ZSP turns on when the servo motor speed is zero speed (50r/min) or less. Zero
speed can be changed using parameter No.PC17.
Example
Zero speed is 50r/min

OFF level 1)
Forward 3) 20r/min
rotation 70r/min 2) (Hysteresis width)
direction ON level
50r/min Parameter
No.PC17
Servo motor 0r/min
speed Parameter
No.PC17
Reverse ON level
rotation 50r/min
20r/min
directionOFF level (Hysteresis width)
70r/min 4)
zero speed ON
(ZSP) OFF

ZSP turns on 1) when the servo motor is decelerated to 50r/min, and ZSP turns
off 2) when the servo motor is accelerated to 70r/min again.
ZSP turns on 3) when the servo motor is decelerated again to 50r/min, and turns
off 4) when the servo motor speed has reached -70r/min.
The range from the point when the servo motor speed has reached ON level, and
ZSP turns on, to the point when it is accelerated again and has reached OFF
level is called hysteresis width.
Hysteresis width is 20r/min for this driver.
Variable gain selection CDPS CDPS is on during gain changing.
Note. These are pin Nos. assigned at default.

4.5.2 Output signals

Refer to section 4.8.2 for the output interfaces (symbols in the I/O Division field in the table) of the
corresponding connector pins.

Connector I/O
Signal Symbol Functions/Applications
pin No. division
Encoder A-phase pulse LA CN6-11 Outputs pulses per servo motor revolution set in parameter No.PA15 DO-2
(differential line driver) LAR CN6-24 in the differential line driver system. In CCW rotation of the servo
motor, the encoder B-phase pulse lags the encoder A-phase pulse
by a phase angle of /2.
Encoder B-phase pulse LB CN6-12
The relationships between rotation direction and phase difference of
(differential line driver) LBR CN6-25
the A- and B-phase pulses can be changed using parameter No.
PC19.
Encoder Z-phase pulse LZ CN6-13 Outputs the zero-point signal of the encoder in the differential line DO-2
(differential line driver) LZR CN6-26 driver system. One pulse is output per servo motor revolution. This
signal turns on when the zero-point position is reached. (Negative
logic)
The minimum pulse width is about 400 s. For home position return
using this pulse, set the creep speed to 100r/min. or less.

4 - 21
4. SIGNALS AND WIRING

4.5.3 Power supply

Connector I/O
Signal Symbol Functions/Applications
pin No. division
Digital I/F power supply DICOM CN6-5 Used to input 24VDC (24VDC 10% 150mA) for I/O interface. The
input power supply capacity changes depending on the number of I/O
interface points to be used.
Connect the plus of 24VDC terminal external power supply for the
sink interface.
Digital I/F common DOCOM CN6-17 Common terminal for input signals such as DOG and EMG. Pins are
connected internally. Separated from LG.
Connect the plus of 24VDC terminal external power supply for the
source interface.
Control common LG CN6-23 Common terminal for the differential line driver of the encoder pulses
(LA LAR LB LBR LZ LZR).
Shield SD Plate Connect the external conductor of the shield cable.

4.6 Detailed description of signals (devices)

4.6.1 Forward rotation start reverse rotation start temporary stop/restart

(1) A forward rotation start (RYn1) or a reverse rotation start (RYn2) should make the sequence which can be
used after the main circuit has been established. These signals are invalid if it is switched on before the
main circuit is established.
Normally, it is interlocked with the ready signal (RD).
(2) A start in the driver is made when a forward rotation start (RYn1) or a reverse rotation start (RYn2) changes
from OFF to ON. The delay time of the driver's internal processing is max. 3ms. The delay time of other
devices is max. 10ms.
3ms or less 3ms or less
Forward
rotation
Servo motor speed 0r/min
10ms
Forward rotation start (RYn1) or less
or reverse rotation start (RYn2)
6ms or more
Temporary stop/Restart (RYn7)

(3) When a programmable driver is used, the ON time of a forward rotation start (RYn1), a reverse rotation
start (RYn2) or temporary start/stop (RYn7) signal should be 6ms or longer to prevent a malfunction.
(4) During operation, the forward rotation start (RYn1) or reverse rotation start (RYn2) is not accepted. The
next operation should always be started after the rough match (RXn2) is output with the rough match output
range set to “0” or after the movement completion (RXnC) is output.

4 - 22
4. SIGNALS AND WIRING

4.6.2 Movement completion rough match in position

POINT
If an alarm cause, etc. are removed and servo-on occurs after a stop is made
by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic
operation, Movement completion (MEND), Rough-match, (CPO) and In
position (INP) are turned on. To resume operation, confirm the current
position and the selected point table No. for preventing unexpected operation.

(1) Movement completion

The following timing charts show the output timing relationships between the position command generated
in the driver and the movement completion (RYnC). This timing can be changed using parameter No.PA10
(in-position range). RYnC turns ON in the servo-on status.
Forward rotation start (RYn1) ON
or reverse rotation start (RYn2) OFF
Position command
3ms or less
Position command and Servo motor speed
Forward
servo motor speed rotation In-position range
0r/min

ON
Movement completion (RXnC)
OFF

When parameter No.PA10 is small

Forward rotation start (RYn1) ON

or reverse rotation start (RYn2) OFF
Position command
3ms or less
Position command and Servo motor speed
Forward
servo motor speed
rotation In-position range
0r/min

ON
Movement completion (RXnC)
OFF

When parameter No.PA10 is large

4 - 23
4. SIGNALS AND WIRING

(2) Rough match

The following timing charts show the relationships between the signal and the position command generated
in the driver. This timing can be changed using parameter No.PC11 (rough match output range). RXn2
turns ON in the servo-on status.
Forward rotation start (RYn1) ON
or reverse rotation start (RYn2)
OFF
3ms or less
Forward
Position command rotation

0r/min

ON
Rough match (RXn2)
OFF
When "0" is set in parameter No.PC11

ON

Forward rotation start (RYn1) OFF

3ms or less Rough match output range
or reverse rotation start (RYn2)
Forward
Position command rotation
0r/min

ON
Rough match (RXn2)
OFF
When more than "0" is set in parameter No.PC11

(3) In position
The following timing chart shows the relationship between the signal and the feedback pulse of the servo
motor. This timing can be changed using parameter No.PA10 (in-position range). turns on RYn1 in the
servo-on status.
ON
Forward rotation start (RYn1)
or reverse rotation start (RYn2) OFF
In-position range
3ms or less
Servo motor speed
Forward
rotation
0r/min

ON
In position (RXn1)
OFF
When positioning operation is performed once

Forward rotation start (RYn1) ON

or reverse rotation start (RYn2)
OFF
3ms or less
In-position range
Forward
rotation

Servo motor speed 0 r/min

Reverse
rotation

ON
In position (RXn1)
OFF
When servo motor reverses rotation direction during automatic continuous operation

4 - 24
4. SIGNALS AND WIRING

4.6.3 Torque limit

If the torque limit is canceled during servo lock, the servo motor may suddenly
CAUTION rotate according to position deviation in respect to the command position.

(1) Torque limit and torque

By setting parameter No.PA11 (forward rotation torque limit) or parameter No.PA12 (reverse rotation torque
limit), torque is always limited to the maximum value during operation. A relationship between the limit
value and servo motor torque is shown below.
CW direction Max. torque CCW direction

Torque
100 0 100 [%]
Torque limit value in Torque limit value in
parameter No.PA12 parameter No.PA11

(2) Torque limit value selection

As shown below, the forward rotation torque limit (parameter No.PA11), reverse rotation torque limit
(parameter No.PA12) or internal torque limit 2 (parameter No.PC35) can be chosen using the external
torque limit selection (RY(n 2)6).

Torque limit to be enabled

(Note) RY(n 2) 6 Limit value status CCW driving/CW CW driving/CCW
regeneration regeneration
0 Parameter No.PA11 Parameter No.PA12
Parameter No.PA11
Parameter No.PC35 Parameter No.PA11 Parameter No.PA12
Parameter No.PA12
1
Parameter No.PA11
Parameter No.PC35 Parameter No.PC35 Parameter No.PC35
Parameter No.PA12
Note. 0: OFF
1: ON

(3) Limiting torque (RXn4)

RXn4 turns on when the servo motor torque reaches the torque limited.

4 - 25
4. SIGNALS AND WIRING

4.7 Alarm occurrence timing chart

When an alarm has occurred, remove its cause, make sure that the operation
signal is not being input, ensure safety, and reset the alarm before restarting
CAUTION operation.
As soon as an alarm occurs, turn off Servo-on (RYn0) and power off.

When an alarm occurs in the driver, the base circuit is shut off and the servo motor is coated to a stop. Switch
off the main circuit power supply in the external sequence. To reset the alarm, switch the control circuit power
supply from off to on, press the "SET" button on the current alarm screen, or turn the reset (RY(n 1)A or
RY(n 3)A) from off to on. However, the alarm cannot be reset unless its cause is removed.
(Note 1)
Main circuit
control circuit ON Power off Power on
power supply OFF
Base circuit ON
OFF
Dynamic brake Valid
Brake operation Brake operation
Invalid
Servo-on ON
(RYn0) OFF
Ready ON
(RD) OFF
Trouble ON
(ALM) OFF 1.5s
Reset ON
(RY(n+1)A OFF 50ms or more 15 to 60ms (Note 2)
or RY(n+3)A) Alarm occurs.
Remove cause of trouble.

Note 1. Shut off the main circuit power as soon as an alarm occurs.
2. Changes depending on the operating status.

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent (A32),
overload 1 (A50) or overload 2 (A51) alarm after its occurrence, without removing its cause, the
driver and servo motor may become faulty due to temperature rise. Securely remove the cause of
the alarm and also allow about 30 minutes for cooling before resuming operation.
(2) Regenerative alarm
If operation is repeated by switching control circuit power off, then on to reset the regenerative (A30)
alarm after its occurrence, the external regenerative resistor will generate heat, resulting in an
accident.
(3) Instantaneous power failure
Undervoltage (A10) occurs when the input power is in either of the following statuses.
A power failure of the control circuit power supply continues for 60ms or longer and the control
circuit is not completely off.
During the servo-on status, the bus voltage dropped to 200VDC or less for LECSC2-□, 158VDC
or less for LECSC1-□.
(4) Incremental system
When an alarm occurs, the home position is lost. When resuming operation after deactivating the
alarm, make a home position return.

4 - 26
4. SIGNALS AND WIRING

4.8 Interface

4.8.1 Internal connection diagram

Driveramplifier
Servo

CN6 CN6
24VDC
DICOM 5 14 RD RA

DOCOM 17 15 ALM (Note 1, 2)

Forced stop Approx.5.6k
EMG 1 16 ZP RA
Note 2
DOG 2

Note 1 LSP 3
Approx.5.6k
LSN 4

<Isolated>

CN6
13 LZ
26 LZR
CN5 11 LA Differential line
VBUS1 24 LAR driver output
D 2 12 LB (35mA or less)
USB
D 3 25 LBR
GND 5 23 LG

Servo motor
CN2
Encoder
7 MD
8 MDR
3 MR
4 MRR
2 LG
E
M

Note 1. Devices assigned to these pins can be changed in the parameter settings.
2. For this sink I/O interface. For the source I/O interface, refer to section 4.8.3.

4 - 27
4. SIGNALS AND WIRING

4.8.2 Detailed description of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in
section 4.5.1. Refer to this section and make connection with the external equipment.

(1) Digital input interface DI-1

Give a signal with a relay or open collector transistor. Refer to section 4.8.3 for the source input.
Driveramplifier
Servo
For transistor
EMG,
Approx. 5mA 5.6k
etc.

Switch
TR
DICOM
VCES 1.0V 24VDC 10%
ICEO 100 A 150mA

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load. (Rated current: 40mA or less, maximum current: 50mA or
less, inrush current: 100mA or less) A maximum of 2.6V voltage drop occurs in the driver.
Refer to section 4.8.3 for the source output.

If polarity of diode is
Driver reversed, servo
Servo amplifier amplifier will fail.

ALM,
etc.

Load
DOCOM
(Note) 24VDC 10%
150mA

Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to
26.4V) from external source.

4 - 28
4. SIGNALS AND WIRING

(3) Encoder output pulse DO-2 (Differential line driver system)

(a) Interface
Max. output current: 35mA
Driveramplifier
Servo Driveramplifier
Servo
LA LA
Am26LS32 or equivalent 100 High-speed photocoupler
(LB, LZ) (LB, LZ)

150
LAR LAR
(LBR, LZR) (LBR, LZR)
LG
SD SD

(b) Output pulse

Servo motor CCW rotation
LA
Time cycle (T) is determined by the settings
of parameter No.PA15 and PC19.
LAR T
LB

LBR
/2

LZ
LZR
400 s or more
OP

4 - 29
4. SIGNALS AND WIRING

4.8.3 Source I/O interfaces

In this driver, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output
signals are of source type. Perform wiring according to the following interfaces.

(1) Digital input interface DI-1

Driver
Servo amplifier
EMG,
etc. Approx. 5.6k

Switch

DICOM

Approx. 5mA 24VDC 10%

VCES 1.0V 150mA
ICEO 100 A

(2) Digital output interface DO-1

A maximum of 2.6V voltage drop occurs in the driver.

If polarity of diode is
Driveramplifier reversed, servo
Servo amplifier will fail.

ALM,
etc.

Load
DOCOM
(Note) 24VDC 10%
150mA

Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to
26.4V) from external source.

4 - 30
4. SIGNALS AND WIRING

4.9 Treatment of cable shield external conductor

In the case of the CN2 and CN6 connectors, securely connect the shielded external conductor of the cable to
the ground plate as shown in this section and fix it to the connector shell.

External conductor Sheath Core Sheath

External conductor
Strip the sheath. Pull back the external conductor to cover the sheath.

(1) For CN6 connector (3M connector)

Screw

Cable

Screw

Ground plate

(2) For CN2 connector (3M or Molex connector)

Cable

Ground plate

Screw

4 - 31
4. SIGNALS AND WIRING

4.10 Connection of driver and servo motor

During power-on, do not open or close the motor power line. Otherwise, a
WARNING malfunction or faulty may occur.

4.10.1 Connection instructions

Insulate the connections of the power supply terminals to prevent an electric
WARNING shock.

Connect the wires to the correct phase terminals (U, V, W) of the driver and servo
motor. Not doing so may cause unexpected operation.
CAUTION
Do not connect AC power supply directly to the servo motor. Otherwise, a fault
may occur.

POINT
Refer to section 13.1 for the selection of the encoder cable.

This section indicates the connection of the servo motor power (U, V, W). Use of the optional cable and
connector set is recommended for connection between the driver and servo motor. When the options are not
available, use the recommended products. Refer to section 13.1 for details of the options.

(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal ( ) of the
driver and connect the ground cable of the driver to the earth via the protective earth of the control box. Do
not connect them directly to the protective earth of the control panel.
Control box

Servo
Driver Servo motor
amplifier

PE terminal

(2) Do not share the 24VDC interface power supply between the interface and electromagnetic brake. Always
use the power supply designed exclusively for the electromagnetic brake.

4 - 32
4. SIGNALS AND WIRING

4.10.2 Power supply cable wiring diagrams

(1) LE-□-□ series servo motor
(a) When cable length is 10m or less
10m or less
MR-PWS1CBL
LE-CSM-□□□ M-A1-L
MR-PWS1CBL M-A2-L
Driver MR-PWS1CBL M-A1-H
Servo amplifier Servo motor
MR-PWS1CBL M-A2-H
CNP3
AWG 19(red)
U U
AWG 19(white)
V V M
AWG 19(black)
W W
AWG 19(green/yellow)

(b) When cable length exceeds 10m

When the cable length exceeds 10m, fabricate an extension cable as shown below. In this case, the
motor power supply cable pulled from the servo motor should be within 2m long.
Refer to section 13.9 for the wire used for the extension cable.
2m or less
MR-PWS1CBL2M-A1-L
LE-CSM-□□□
MR-PWS1CBL2M-A2-L
MR-PWS1CBL2M-A1-H
50m or less MR-PWS1CBL2M-A2-H
Driveramplifier MR-PWS2CBL03M-A1-L
Servo MR-PWS2CBL03M-A2-L Servo motor
CNP3 Extension cable
AWG 19(red)
U U
AWG 19(white)
V V M
AWG 19(black)
W W
AWG 19(green/yellow)

(Note) (Note)
a) Relay connector for b) Relay connector for motor
extension cable power supply cable

Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

Protective
Relay connector Description
structure
Connector: RM15WTPZ-4P(71) IP65
a) Relay connector
Cord clamp: RM15WTP-CP(5)(71)
for extension cable
(Hirose Electric) Numeral changes depending on the cable OD
b) Relay connector Connector: RM15WTJA-4S(71) IP65
for motor power Cord clamp: RM15WTP-CP(8)(71)
supply cable (Hirose Electric) Numeral changes depending on the cable OD

4 - 33
4. SIGNALS AND WIRING

4.11 Servo motor with an electromagnetic brake

4.11.1 Safety precautions

Configure the electromagnetic brake operation circuit so that it is activated not only
by the driver signals but also by an external forced stop signal.
Contacts must be open when Circuit must be
servo-off, when an trouble (ALM) opened during
and when an electromagnetic brake forced stop (EMG).
interlock (MBR).

SON RA EMG

CAUTION 24VDC

Electromagnetic brake

The electromagnetic brake is provided for holding purpose and must not be used
for ordinary braking.
Before performing the operation, be sure to confirm that the electromagnetic brake
operates properly.

POINT
Refer to the Servo Motor Instruction Manual (Vol.2) for specifications such as
the power supply capacity and operation delay time of the electromagnetic
brake.

Note the following when the servo motor equipped with an electromagnetic brake is used.

1) Do not share the 24VDC interface power supply between the interface and electromagnetic brake.
Always use the power supply designed exclusively for the electromagnetic brake.

2) The brake will operate when the power (24VDC) switches off.

3) Switch off the servo-on (RYn0) after the servo motor has stopped.

Using parameter No.PC16 (electromagnetic brake sequence output), set a time delay (Tb) at servo-off from
electromagnetic brake operation to base circuit shut-off as in the timing chart shown in section 4.11.2 in this
section.

4 - 34
4. SIGNALS AND WIRING

4.11.2 Timing charts

(1) Servo-on (RYn0) command (from driver) ON/OFF
Tb [ms] after the servo-on (RYn0) is switched off, the servo lock is released and the servo motor coasts. If
the electromagnetic brake is made valid in the servo lock status, the brake life may be shorter. Therefore,
when using the electromagnetic brake in a vertical lift application or the like, set Tb to about the same as
the electromagnetic brake operation delay time to prevent a drop.

Coasting
Servo motor speed 0 r/min

(95ms) Tb
ON
Base circuit
OFF
(95ms) Electromagnetic
Electromagnetic (Note 1) ON brake operation
brake interlock delay time
(MBR) OFF

ON
Servo-on(RYn0)
OFF
(Note 3)
Forward rotation start ON
(RYn1) or reverse
rotation start (RYn2) OFF

Electromagnetic Release
brake Activate
Release delay time and external relay (Note 2)

Note 1. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.
2. Electromagnetic brake is released after delaying for the release delay time of electromagnetic brake and operation time of
external circuit relay. For the release delay time of electromagnetic brake, refer to the Servo Motor Instruction Manual (Vol.2).
3. After the electromagnetic brake is released, turn ON the RYn1 or RYn2.

(2) Forced stop (EMG) ON/OFF

Dynamic brake
Dynamic brake
Forward Electromagnetic brake
Servo motor speed Electromagnetic brake
rotation
Electromagnetic brake release
0r/min
(10ms) (210ms)
ON
Base circuit
OFF
(210ms)
Electromagnetic (Note) ON Electromagnetic brake
brake interlock (MBR) operation delay time
OFF

Invalid (ON)
Forced stop (EMG)
Valid (OFF)

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

4 - 35
4. SIGNALS AND WIRING

(3) Alarm occurrence

Dynamic brake
Dynamic brake
Electromagnetic brake
Forward
Servo motor speed Electromagnetic brake
rotation
0r/min
(10ms)
ON
Base circuit
OFF
Electromagnetic brake
Electromagnetic (Note) ON operation delay time
brake interlock (MBR)
OFF

No (ON)
ALM
Yes (OFF)
Trouble
Yes (ON)
RX(n+1)A
or RX(n+3) No (OFF)

Note. ON: Electromagnetic brake is not activated.

OFF: Electromagnetic brake is activated.

(4) Both main and control circuit power supplies off

Dynamic brake
Dynamic brake
(10ms) Electromagnetic brake
Forward (Note 1)
Servo motor speed
rotation 15 to 60ms Electromagnetic brake
0r/min

ON
Base circuit
OFF
10ms
Electromagnetic (Note 2) ON
brake interlock (MBR)
OFF
Electromagnetic brake
No (ON) operation delay time
ALM
Yes (OFF)
Trouble
Yes (ON)
RX(n+1)A
or RX(n+3)A No (OFF)

Main circuit ON
power
Control circuit OFF

Note 1. Changes with the operating status.

2. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.

4 - 36
4. SIGNALS AND WIRING

(5) Only main circuit power supply off (control circuit power supply remains on)
Dynamic brake
(10ms) Dynamic brake
Forward Electromagnetic brake
Servo motor speed (Note 1)
rotation 15ms or more Electromagnetic brake
0r/min

ON
Base circuit
OFF

(Note 3) ON
Electromagnetic
brake interlock (MBR) OFF
Electromagnetic brake
No (ON) operation delay time
ALM (Note 2)
Yes (OFF)
Trouble
Yes (ON)
RX(n+1)A
or RX(n+3)A No (OFF)

Main circuit ON
power supply OFF

Note 1. Changes with the operating status.

2. When the main circuit power supply is off in a motor stop status, the main circuit off warning (AE9) occurs and
the trouble (ALM) does not turn off.
3. ON: Electromagnetic brake is not activated.
OFF: Electromagnetic brake is activated.

4 - 37
4. SIGNALS AND WIRING

4.11.3 Wiring diagrams (LE-□-□series servo motor)

(1) When cable length is 10m or less
10m or less
24VDC power
supply for LE-CSB-□□□
MR-BKS1CBL M-A1-L
electromagnetic MR-BKS1CBL M-A2-L
(Note 3) Forced MR-BKS1CBL M-A1-H Servo motor
brake stop
Electromagnetic Trouble MR-BKS1CBL M-A2-H
brake (MBR) (ALM) (EMG) (Note 2)
AWG20
+ B1
(Note 1)
AWG20
- B2

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. There is no polarity in electromagnetic brake terminals (B1 and B2).
3. When using a servo motor with an electromagnetic brake, assign the electromagnetic brake interlock (MBR) to external output
signal in the parameters No.PD09 to PD11.

When fabricating the lock cable LE-CSB-R□A, refer to section 13.1.4.

(2) When cable length exceeds 10m

When the cable length exceeds 10m, fabricate an extension cable as shown below on the customer side. In
this case, the lock cable should be within 2m long.
Refer to section 13.9 for the wire used for the extension cable.
2m or less
MR-BKS1CBL2M-A1-L
LE-CSB-□□□
24VDC power MR-BKS1CBL2M-A2-L
supply for 50m or less MR-BKS1CBL2M-A1-H
electromagnetic (Note 4) MR-BKS1CBL2M-A2-H
Extension cable MR-BKS2CBL03M-A1-L Servo motor
brake Electromagnetic
Trouble (To be fabricated) MR-BKS2CBL03M-A2-L
brake (MBR) (Note 3)
(ALM) Forced stop (EMG)
AWG20
+ B1
(Note 1)
AWG20
- B2

(Note 2) (Note 2)
a) Relay connector for b)b)Relay
Relayconnector
connectorfor
formotor
extension cable brake
lock cable
cable

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

Protective
Relay connector Description
structure
a) Relay connector CM10-CR2P- IP65
for extension (DDK) Wire size: S, M, L
cable
b) Relay connector CM10-SP2S- IP65
for lock cable (DDK) Wire size: S, M, L

3. There is no polarity in electromagnetic brake terminals (B1 and B2).

4. When using a servo motor with an electromagnetic brake, assign the electromagnetic brake interlock (MBR) to external output
signal in the parameters No.PD09 to PD11.

4.12 Grounding
Ground the driver and servo motor securely.
WARNING To prevent an electric shock, always connect the protective earth (PE) terminal
(terminal marked ) of the driver with the protective earth (PE) of the control box.

4 - 38
4. SIGNALS AND WIRING

The driver switches the power transistor on-off to supply power to the servo motor. Depending on the wiring
and ground cable routing, the driver may be affected by the switching noise (due to di/dt and dv/dt) of the
transistor. To prevent such a fault, refer to the following diagram and always ground.
To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).
Control box
Driveramplifier
Servo Servo motor
NFB MC CN2
Line filter L1
Encoder
(Note)
Power supply L2

L3
L11 U U
L21
V V M
W W
CN3
Programmable
controller

Ensure
Ensure to
to connect
connect itit to
to PE
PE
terminal
Terminalofofthe
theservo
Driveramplifier.
Do not connect it directly to
the protective earth of
the control panel.

Outer
box
Protective earth(PE)

Note. For 1-phase 200 to 230VAC or 1-phase 100 to 120VAC, connect the power supply to L1 L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.2 for the power supply specification.

4 - 39
4. SIGNALS AND WIRING

MEMO

4 - 40
5. OPERATION

5. OPERATION..................................................................................................................................................2
5.1 Switching power on for the first time ........................................................................................................2
5.1.1 Startup procedure..............................................................................................................................2
5.1.2 Wiring check ......................................................................................................................................3
5.1.3 Surrounding environment ..................................................................................................................4
5.2 Startup......................................................................................................................................................5
5.2.1 Power on and off procedures ............................................................................................................5
5.2.2 Stop ...................................................................................................................................................5
5.2.3 Test operation....................................................................................................................................6
5.2.4 Parameter setting ..............................................................................................................................7
5.2.5 Point table setting..............................................................................................................................8
5.2.6 Actual operation ................................................................................................................................8
5.3 Driver display ...........................................................................................................................................9
5.4 Automatic operation mode .....................................................................................................................11
5.4.1 What is automatic operation mode?................................................................................................11
5.4.2 Automatic operation using point table .............................................................................................13
5.4.3 Remote register-based position/speed setting................................................................................25
5.5 Manual operation mode .........................................................................................................................31
5.5.1 JOG operation .................................................................................................................................31
5.6 Manual home position return mode .......................................................................................................33
5.6.1 Outline of home position return .......................................................................................................33
5.6.2 Dog type home position return ........................................................................................................36
5.6.3 Count type home position return .....................................................................................................38
5.6.4 Data setting type home position return ...........................................................................................40
5.6.5 Stopper type home position return ..................................................................................................41
5.6.6 Home position ignorance (servo-on position defined as home position) ........................................43
5.6.7 Dog type rear end reference home position return .........................................................................44
5.6.8 Count type front end reference home position return .....................................................................46
5.6.9 Dog cradle type home position return .............................................................................................48
5.6.10 Dog type first Z-phase reference home position return.................................................................50
5.6.11 Dog type front end reference home position return method .........................................................52
5.6.12 Dogless Z-phase reference home position return method............................................................54
5.6.13 Home position return automatic return function ............................................................................56
5.6.14 Automatic positioning function to the home position .....................................................................57
5.7 Roll feed display function in roll feed mode ...........................................................................................58
5.8 Absolute position detection system........................................................................................................59

5- 1
5. OPERATION

5. OPERATION

WARNING Do not operate the switches with wet hands. You may get an electric shock.

Before starting operation, check the parameters. Some machines may perform
unexpected operation.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with the driver heat sink, regenerative resistor, servo motor,
CAUTION etc. since they may be hot while power is on or for some time after power-off. Their
temperatures may be high and you may get burnt or a parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can
cause injury.

5.1 Switching power on for the first time

When switching power on for the first time, follow this section to make a startup.

5.1.1 Startup procedure

Wiring check Check whether the driver and servo motor are wired correctly
using visual inspection, DO forced output function (Section
7.7.4), etc. (Refer to section 5.1.2.)

Surrounding environment check Check the surrounding environment of the driver and servo
motor. (Refer to section 5.1.3.)

Parameter setting Set the parameters as necessary, such as the used control
mode and regenerative option selection with the set up
software(MR Configurator). (Refer to chapter 6.)

Test operation of servo motor For the test operation, with the servo motor disconnected from
alone in test operation mode the machine and operated at the speed as low as possible, and
check whether the servo motor rotates correctly. (Refer to
sections 7.7.)
Test operation of servo motor For the test operation with the servo motor disconnected from
alone by commands the machine and operated at the speed as low as possible, and
check whether the servo motor rotates correctly.

Test operation with servo motor Connect the servo motor with the machine, give operation
and machine connected commands from the host command device, and check machine
motions.

Gain adjustment Make gain adjustment to optimize the machine motions. (Refer
to chapter 8.)

Actual operation

Stop Stop giving commands and stop operation.

5- 2
5. OPERATION

5.1.2 Wiring check

(1) Power supply system wiring
Before switching on the main circuit and control circuit power supplies, check the following items.
(a) Power supply system wiring
The power supplied to the power input terminals (L1, L2, L3, L11, L21) of the driver should satisfy the
defined specifications. (Refer to section 1.2.)
(b) Connection of driver and servo motor
1) The servo motor power supply terminals (U, V, W) of the driver match in phase with the power
input terminals (U, V, W) of the servo motor.
ServoDriver
amplifier Servo motor
U
U
V
V M
W
W

2) The power supplied to the driver should not be connected to the servo motor power supply
terminals (U, V, W). To do so will fail the connected driver and servo motor.
Servo amplifier
Driver Servo motor

M
U V W
U V W

3) The earth terminal of the servo motor is connected to the PE terminal of the driver.
ServoDriver
amplifier Servo motor

4) P1-P2 (For 11kW or more, P1-P) should be connected.

ServoDriver
amplifier

P1

P2

(c) When option and auxiliary equipment are used

1) When regenerative option is used for 200V class
The lead between P terminal and D terminal of CNP2 connector should not be connected.
The generative brake option should be connected to P terminal and C terminal.
A twisted cable should be used. (Refer to section 13.2.)

5- 3
5. OPERATION

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN6 connector. This function can be used to
perform a wiring check. (Refer to section 7.7.4.) In this case, switch on the control circuit power supply
only.

(b) 24VDC or higher voltage is not applied to the pins of connectors CN6.

(c) SD and DOCOM of connector CN6 is not shorted.

ServoDriver
amplifier
CN6
DOCOM

SD

5.1.3 Surrounding environment

(1) Cable routing
(a) The wiring cables are free from excessive force.

(b) The encoder cable should not be used in excess of its flex life. (Refer to section 12.4.)

(c) The connector part of the servo motor should not be strained.

(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

5- 4
5. OPERATION

5.2 Startup
5.2.1 Power on and off procedures
(1) Power-on
Switch power on in the following procedure. Always follow this procedure at power-on.
1) Switch off the servo-on (RYn0).
2) Make sure that the Forward rotation start (RYn1) and Reverse rotation start (RYn2) are off.
3) Switch on the main circuit power supply and control circuit power supply.
When main circuit power/control circuit power is switched on, the driver display shows "b01" (if the
driver has the station number of 1).

In the absolute position detection system, first power-on results in the absolute position lost (A25)
alarm and the servo system cannot be switched on.
The alarm can be deactivated then switching power off once and on again.
Also in the absolute position detection system, if power is switched on at the servo motor speed of
3000r/min or higher, position mismatch may occur due to external force or the like. Power must
therefore be switched on when the servo motor is at a stop.

(2) Power-off
1) Make sure that the Forward rotation start (RYn1) and Reverse rotation start (RYn2) are off.
2) Switch off the Servo-on (RYn0).
3) Switch off the main circuit power supply and control circuit power supply.

5.2.2 Stop
In any of the following statuses, the driver interrupts and stops the operation of the servo motor.
Refer to section 4.11 for the servo motor equipped with an electromagnetic brake.

(a) Servo-on (RYn0) OFF

The base circuit is shut off and the servo motor coasts.

(b) Alarm occurrence

When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo
motor to a sudden stop.

(c) Forced stop (EMG) OFF

The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop.
The servo forced stop warning (AE6) occurs.

(d) Forward rotation stroke end (LSP), reverse rotation stroke end (LSN) OFF
The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in the
opposite direction.

5- 5
5. OPERATION

5.2.3 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 5.2.1 for the power on and off methods of the driver.

Test operation of servo motor In this step, confirm that the driver and servo motor operate
alone in JOG operation of test normally.
operation mode With the servo motor disconnected from the machine, use the
test operation mode and check whether the servo motor
correctly rotates at the slowest speed. Refer to section 7.7 for
the test operation mode.

Test operation of servo motor In this step, confirm that the servo motor correctly rotates at the
alone by commands slowest speed under the commands from the command device.
Make sure that the servo motor rotates in the following
procedure.
1) Switch on the Forced stop (EMG) and Servo-on (RYn0).
When the driver is put in a servo-on status, the Ready (RD)
switches on.
2) Switch on the Forward rotation stroke end (LSP) or Reverse
rotation stroke end (LSN).
3) When the point table is designated to switch on the forward
rotation start (RYn1) or reverse rotation start (RYn2), the
servo motor starts rotating. Give a low speed command at
first and check the rotation direction, etc. of the servo motor.
If the servo motor does not operate in the intended direction,
check the input signal.

Test operation with servo motor In this step, connect the servo motor with the machine and
and machine connected confirm that the machine operates normally under the
commands from the command device.
Make sure that the servo motor rotates in the following
procedure.
1) Switch on the Forced stop (EMG) and Servo-on (RYn0).
When the driver is put in a servo-on status, the Ready (RD)
switches on.
2) Switch on the Forward rotation stroke end (LSP) or Reverse
rotation stroke end (LSN).
3) When the point table is specified from the command device
and the forward rotation start (RYn1) or reverse rotation start
(RYn2) is turned ON, the servo motor starts rotating. Give a
low speed command at first and check the operation
direction, etc. of the machine. If the machine does not
operate in the intended direction, check the input signal. In
the status display, check for any problems of the servo motor
speed, load ratio, etc.
4) Then, check automatic operation with the program of the
command device.

5- 6
5. OPERATION

5.2.4 Parameter setting

POINT
The encoder cable LE-CSE-□□□ for the LE-□-□series servo motor
requires the parameter No.PC22 setting to be changed depending on its
length. Check whether the parameter is set correctly. If it is not set correctly,
the encoder error 1 (A16) will occur at power-on.

Encoder cable Parameter No.PC22 setting

LE-CSE-□2□
LE-CSE-□5□ 0 (initial value)
LE-CSE-□A□

Other cable 1

The driver can be used by merely changing the basic setting parameters (No.PA ) mainly.
As necessary, set the gain filter parameters (No.PB ), extension setting parameters (No.PC ) and I/O
setting parameters (No.PD ).

Parameter group Main description

Basic setting parameter Set the basic setting parameters first. Generally, operation can be performed by merely setting this
(No.PA ) parameter group.
In this parameter group, set the following items.
Control mode selection (select the position control mode)
Regenerative option selection
Absolute position detection system selection
Setting of command input pulses per revolution
Electronic gear setting
Auto tuning selection and adjustment
In-position range setting
Torque limit setting
Command pulse input form selection
Servo motor rotation direction selection
Encoder output pulse setting
Gain filter parameter If satisfactory operation cannot be achieved by the gain adjustment made by auto tuning, execute in-
(No.PB ) depth gain adjustment using this parameter group.
This parameter group must also be set when the gain changing function is used.
Extension setting parameter This parameter group is unique to LECSC□-□ driver.
(No.PC )
I/O setting parameter Used when changing the I/O devices of the driver.
(No.PD )

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5. OPERATION

5.2.5 Point table setting

Set necessary items to the point table before starting operation. The following table indicates the items that
must be set.

Name Description
Position data Set the position data for movement.
Servo motor speed Set the command speed of the servo motor for execution of positioning.
Acceleration time constant Set the acceleration time constant.
Deceleration time constant Set the deceleration time constant.
Dwell Set the waiting time when performing automatic continuous operation.
Auxiliary function Set when performing automatic continuous operation.

Refer to section 5.4.2 for details of the point table.

5.2.6 Actual operation

Start actual operation after confirmation of normal operation by test operation and completion of the
corresponding parameter settings. Perform a home position return as necessary.

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5. OPERATION

5.3 Driver display

On the driver display (three-digit, seven-segment display), check the status of communication with the CC-Link
driver at power-on, check the station number, and diagnose a fault at occurrence of an alarm.

(1) Display sequence

Servo
Driver amplifier
power ON power ON

(Note 3) Waiting for CC-Link communication

CC-Link master module power ON (Note 1)

CC-Link communication beginning When alarm warning
No. is displayed
At occurrence of overload
Flicker
(Note 3) Not ready display
At occurrence of overload
warning (Note 2)
Flicker
Servo ON display

During forced stop

(Note 3) Ready Flicker
display

When alarm occurs, Alarm reset or

2s later
alarm code appears. warning

Point table No. display

2s later

Servo amplifier power OFF

Driver power OFF

Note 1. Only alarm and warning No. are displayed, but no station No. is displayed.
2. If warning other than AE6 occurs during the servo on, flickering the second place of decimal point indicates that it is during the
servo on.
3. The right-hand segments of b01, c02 and d16 indicate the axis number.
(Below example indicates Station No.1)

Station Station Station

No.1 No.2 No.64

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5. OPERATION

(2) Indication list

Indication Status Description
Power of the CC-Link master module was switched on at the condition that the power of
b # # Waiting for CC-Link CC-Link master module is OFF.
communication
The CC-Link master module is faulty.

d # # Ready The servo was switched on after completion of initialization and the driver is ready to
(Note 1)
operate. (This is indicated for 2 seconds.)

(Note 1) C # # Not ready The driver is being initialized or an alarm has occurred.

$ $ $ Ready for operation Two seconds have passed after the driver is ready to operate by turning ON the servo-on
(Note 2)
(RYn1).

(Note 3) A Alarm Warning The alarm No./warning No. that occurred is displayed. (Refer to section 10.4.)

8 8 8 CPU error CPU watchdog error has occurred.

b 0 0. JOG operation positioning operation programmed operation DO forced output single-

(Note 4)
step feed
(Note 4)
d # #.
Test operation mode
(Note 1) Motor-less operation
C # #.

Note 1. ## denotes any of numerals 00 to 16 and what it means is listed below.

## Description
00 Set to the test operation mode.
01 Station number 1
02 Station number 2
03 Station number 3
: :

: :
62 Station number 62
63 Station number 63
64 Station number 64

Note 2. $$$ indicates numbers from 0 to 255, and the number indicates the executing point table number.
3. indicates the warning/alarm No.
4. Requires set up software(MR Configurator) .

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5. OPERATION

5.4 Automatic operation mode

5.4.1 What is automatic operation mode?
(1) Command system
After selection of preset point tables using the input signals or communication, operation is started by the
forward rotation start (RYn1) or reverse rotation start (RYn2). Automatic operation has the absolute value
command system, incremental value command system.
(a) Absolute value command system
As position data, set the target address to be reached.
Setting range: 999999 to 999999 [ 10STM m] (STM feed length multiplication parameter No.PA05)
999999 999999

Position data setting range

STM
[ 10 m]

(b) Incremental value command system

As position data, set the moving distance from the current address to the target address.
Setting range: 0 to 999999 [ 10STM m] (STM feed length multiplication parameter No.PA05)
Current address Target address

Position data |target address - current address|

(2) Point table

(a) Point table setting
Up to 255 point tables may be set.
Set the point tables using the set up software(MR Configurator) Software, the CC-Link write instruction
code.
The following table lists what to set: Refer to section 5.4.2 for details of the settings.

Name Description
Position data Set the position data for movement.
Servo motor speed Set the command speed of the servo motor for execution of positioning.
Acceleration time constant Set the acceleration time constant.
Deceleration time constant Set the deceleration time constant.
Dwell Set the waiting time when performing automatic continuous operation.
Auxiliary function Set when performing automatic continuous operation.

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5. OPERATION

(b) Selection of point table

Using the input signal or CC-Link, select the point table No. with the remote input and remote register
from the command device (PC or PLC...etc) such as a personal computer.
The following table lists the point table No. selected in response to the remote input. When 2 stations
are occupied, the point table No. can be selected by remote register setting. (Refer to section 3.6.3.)

Remote input (0: OFF 1: ON)

Selected point
2 stations occupied
1 station occupied table No.
RY(n 2)5 RY(n 2)4 RY(n 2)3 RYnE RYnD RYnC RYnB RYnA
0 0 0 0 0 0 0 1 1
0 0 0 0 0 0 1 0 2
0 0 0 0 0 0 1 1 3
0 0 0 0 0 1 0 0 4

1 1 1 1 1 1 1 0 254
1 1 1 1 1 1 1 1 255

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5. OPERATION

5.4.2 Automatic operation using point table

(1) Absolute value command system
(a) Point table
Set the point table values using the set up software(MR Configurator), the or the remote register of CC-
Link.
Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and
auxiliary function to the point table. The following table gives a setting example. However, this function
cannot be used when the point table No. is selected using the remote register of CC-Link.

Name Setting range Unit Description

(1) When using this point table as absolute value command system
STM Set the target address (absolute value).
Position data 999999 to 999999 10 m
(2) When using this point table as incremental value command system
Set the moving distance. A "-" sign indicates a reverse rotation command.
Set the command speed of the servo motor for execution of positioning.
Motor speed 0 to permissible speed r/min The setting should be equal to or less than the instantaneous permissible
speed of the servo motor.
Acceleration
0 to 20000 ms Set the time until the rated speed of the servo motor is reached.
time constant
Deceleration
0 to 20000 ms Set the time until the servo motor running at rated speed comes to a stop.
time constant
This function is valid when the point table is selected using the input signal or
the remote input of CC-Link. It cannot be used when the point table No. is
selected using the remote register of CC-Link.
Set "0" in the auxiliary function to make the dwell invalid.
Dwell 0 to 20000 ms Set "1" in the auxiliary function and 0 in the dwell to perform continuous
operation.
When the dwell is set, the position command of the selected point table is
completed, and after the set dwell has elapsed, the position command of the
next point table is started.
This function is valid when the point table is selected using the input signal or
the remote input of CC-Link. It cannot be used when the point table No. is
selected using the remote register of CC-Link.
(1) When using this point table in the absolute value command system
0: Automatic operation is performed in accordance with a single point table
chosen.
1: Operation is performed in accordance with consecutive point tables without
a stop.
Auxiliary
0 to 3 (2) When using this point table in the incremental value command system
function
2: Automatic operation is performed in accordance with a single point table
chosen.
3: Operation is performed in accordance with consecutive point tables without
a stop.
When a different rotation direction is set, smoothing zero (command
output) is confirmed and the rotation direction is then reversed.
Setting "1" in point table No.255 results in an error.
For full information, refer to (4) in this section.

(b) Parameter setting

Set the following parameters to perform automatic operation.
1) Command mode selection (parameter No.PA01)
Select the absolute value command system.
Parameter No.PA01

0
Absolute value command system

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5. OPERATION

5 - 14
5. OPERATION

2) Rotation direction selection (parameter No.PA14)

Choose the servo motor rotation direction at the time when the forward rotation start (RYn1) is
switched on.

Servo motor rotation direction

Parameter No.PA14 setting
when forward rotation start (RYn1) is switched on
CCW rotation with position data
0
CW rotation with position data
CW rotation with position data
1
CCW rotation with position data

CCW

CW

3) Feed length multiplication selection (parameter No.PA05)

Set the unit multiplication factor (STM) of position data.

Parameter No.PA05 setting Feed unit [μm] Position data input range [mm]
0 1 999.999 to 999.999
1 10 9999.99 to 9999.99
2 100 99999.9 to 99999.9
3 1000 999999 to 999999

(c) Operation
Choosing the point table using RYnA to RYnE, RY(n 2)3 to RY(n 2)5 and turning RYn1 ON starts
positioning to the position data at the preset speed, acceleration time constant and deceleration time
constant. At this time, reverse rotation start (RYn2) is invalid.

Item Setting method Description

Automatic operation mode selection Automatic/manual selection (RYn6) Turn RYn6 ON.
Point table No. selection 1 (RYnA)
Point table No. selection 2 (RYnB)
Point table No. selection 3 (RYnC)
Point table No. selection 4 (RYnD)
Point table selection Refer to section 5.4.1(2).
Point table No. selection 5 (RYnE)
Point table No. selection 6 (RY(n 2)3)
Point table No. selection 7 (RY(n 2)4)
Point table No. selection 8 (RY(n 2)5)
Start Forward rotation start (RYn1) Turn RYn1 ON to start.

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5. OPERATION

(2) Incremental value command system

(a) Point table
Set the point table values using the set up software(MR Configurator), the or the remote register of CC-
Link.
Set the position data, motor speed, acceleration time constant, deceleration time constant, dwell and
auxiliary function to the point table. The following table gives a setting example.

Name Setting range Unit Description

Set the moving distance.
STM
Position data 0 to 999999 10 m The unit can be changed using feed length multiplication factor selection of
parameter No.PA05.
Set the command speed of the servo motor for execution of positioning.
Servo motor
0 to permissible speed r/min The setting should be equal to or less than the instantaneous permissible
speed
speed of the servo motor.
Acceleration
0 to 20000 ms Set the time until the rated speed of the servo motor is reached.
time constant
Deceleration
0 to 20000 ms Set the time until the servo motor running at rated speed comes to a stop.
time constant
This function is valid when the point table is selected using the input signal
or the remote input of CC-Link. It cannot be used when the point table No. is
selected using the remote register of CC-Link.
Set "0" in the auxiliary function to make the dwell invalid.
Dwell 0 to 20000 ms Set "1" in the auxiliary function and 0 in the dwell to perform continuous
operation.
When the dwell is set, the position command of the selected point table is
completed, and after the set dwell has elapsed, the position command of the
next point table is started.
This function is valid when the point table is selected using the input signal
or the remote input of CC-Link. It cannot be used when the point table No. is
selected using the remote register of CC-Link.
0: Automatic operation is performed in accordance with a single point table
chosen.
Auxiliary
0 1 1: Operation is performed in accordance with consecutive point tables
function
without a stop.
When a different rotation direction is set, smoothing zero (command
output) is confirmed and the rotation direction is then reversed.
Setting "1" in point table No.255 results in an error.
For full information, refer to (4) in this section.

(b) Parameter setting

Set the following parameters to perform automatic operation.

1) Command mode selection (parameter No.PA01)

Select the incremental value command system.
Parameter No.PA01

1
Incremental value command system

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5. OPERATION

2) Forward rotation direction selection (parameter No.PA14)

Choose the servo motor rotation direction at the time when the forward rotation start (RYn1) signal or
reverse rotation start (RYn2) signal is switched on.

Servo motor rotation direction

Parameter No.PA14 setting
Forward rotation start (RYn1) ON Reverse rotation start (RYn2) ON
0 CCW rotation (address incremented) CW rotation (address decremented)
1 CW rotation (address incremented) CCW rotation (address decremented)

RYn1: ON RYn2: ON
CCW CCW

CW CW
RYn2: ON RYn1: ON

Parameter No.PA14: 0 Parameter No.PA14: 1

3) Feed length multiplication selection (parameter No.PA05)

Set the unit multiplication factor (STM) of position data.

Parameter No.PA05 setting Feed unit [μm] Position data input range [mm]
0 1 0 to 999.999
1 10 0 to 9999.99
2 100 0 to 99999.9
3 1000 0 to 999999

(c) Operation
Choosing the point table using RYnA to RYnE, RY(n 2)3 to RY(n 2)5 and turning RYn1 ON starts a
motion in the forward rotation direction over the moving distance of the position data at the preset speed
and acceleration time constant.
Turning RYn2 ON starts a motion in the reverse rotation direction according to the values set to the
selected point table.

Item Setting method Description

Automatic operation mode
Automatic/manual selection (RYn6) Turn RYn6 ON.
selection
Point table No. selection 1 (RYnA)
Point table No. selection 2 (RYnB)
Point table No. selection 3 (RYnC)
Point table No. selection 4 (RYnD)
Point table selection Refer to section 5.4.1(2).
Point table No. selection 5 (RYnE)
Point table No. selection 6 (RY(n 2)3)
Point table No. selection 7 (RY(n 2)4)
Point table No. selection 8 (RY(n 2)5)
Turn RYn1 ON to start motion in forward
Forward rotation start (RYn1)
rotation direction.
Start
Turn RYn2 ON to start motion in reverse
Reverse rotation start (RYn2)
rotation direction.

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5. OPERATION

(3) Automatic operation timing chart

The timing chart is shown below.

Automatic/manual ON
selection (RYn6) OFF
ON
Servo-on (RYn0)
OFF

Point table No. 1 2

(Note 2)
Forward rotation start ON 4ms or more
(RYn1) OFF
(Note 2) 4ms or more
Reverse rotation start ON 6ms or more
(RYn2) (Note 1) OFF
3ms or less 6ms or more

Forward
rotation Point table No.1
Servo motor speed 0r/min
Reverse Point table No.2
rotation
ON
In position (RXn1)
OFF
ON
Rough match (RXn2)
OFF
Movement completion ON
(RXnC) OFF

Point table No. output

1 2
(RX(n+2)2 to RX(n+2)9)

ON
Ready (RXn0)
OFF
ON
Trouble (ALM)
OFF

Note 1. Reverse rotation start (RYn2) is invalid in the absolute value command system.
2. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.

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5. OPERATION

(4) Automatic continuous operation

POINT
This function is valid when the point table is selected using the input signal or
the remote input of CC-Link. It cannot be used when the point table No. is
selected using the remote register of CC-Link.

(a) What is automatic continuous operation?

By merely choosing one point table and making a start (RYn1 or RYn2), operation can be performed in
accordance with the point tables having consecutive numbers.
Automatic operation is available in two types: varied speed operation and automatic continuous
positioning operation.
Either type may be selected as follows.

1) In absolute value command specifying system

Point table setting
Auxiliary function
Dwell When position data is When position data is
absolute value incremental value
Automatic continuous Speed changing operation
operation Automatic continuous 0 1 3
positioning operation 1 or more 1 3

2) In incremental value command system

Point table setting
Dwell Auxiliary function
Automatic continuous Speed changing operation
operation Automatic continuous 0 1
positioning operation 1 or more 1

(b) Varied speed operation

Speed during positioning operation can be changed by setting the auxiliary function of the point table.
Use the number of point tables equal to the number of speeds to be set.
By setting "1" to the auxiliary function, operation is performed at the speed set in the next point table
during positioning. The position data valid at this time is the data selected at start and the acceleration
and deceleration time constants of the subsequent point tables are made invalid.
By setting "1" to the auxiliary function of up to point table No.254, operation can be performed at a
maximum of 255 speeds. Set "0" to the auxiliary function of the last point table.
When performing varied speed operation, always set "0" to the dwell. If "1" or more is set, automatic
continuous positioning operation is made valid.
The following table gives a setting example.

Point table No. Dwell [ms] (Note 1) Auxiliary function Variable speed operation
1 0 1
2 0 1 Consecutive point table data
3 0 0 (Note 2)
4 0 1
5 0 1
Consecutive point table data
6 0 1
7 0 0 (Note 2)
Note 1. Always set "0".
2. Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables.

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5. OPERATION

1) Absolute value command specifying system

This system is an auxiliary function for point tables to perform automatic operation by specifying the
absolute value command or incremental value command.
Positioning in single direction
The operation example given below assumes that the set values are as indicated in the following
table. Here, the point table No.1 uses the absolute value command system, the point table No.2 the
incremental value command system, the point table No.3 the absolute value system, and the point
table No.4 the incremental value command system.

Point table Position data Servo motor Acceleration time constant Deceleration time constant Dwell [ms] Auxiliary
STM
No. [ 10 m] speed [r/min] [ms] [ms] (Note 1) function
1 5.00 3000 100 150 0 1
2 3.00 2000 Invalid Invalid 0 3
3 10.00 1000 Invalid Invalid 0 1
4 6.00 500 Invalid Invalid 0 0 (Note 2)
Note 1. Always set "0".
2. Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables.
0: When point table is used in absolute value command system
1: When point table is used in incremental value command system

Acceleration time constant of

Deceleration time constant
point table No.1 (100)
of point table No.1 (150)

Speed
Forward Speed (1000)
Servo motor speed rotation (3000) Speed
(2000) Speed (500)
0r/min

3.00 6.00
Position address
0 5.00 8.00 10.00 16.00

Selected point table No. 1

Forward rotation start ON

(RYn1) OFF

Point table No. out put

1
(RX(n+2)2 to RX(n+2)9)

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5. OPERATION

Positioning that reverses the direction midway

The operation example given below assumes that the set values are as indicated in the following
table. Here, the point table No.1 uses the absolute value command system, the point table No.2 the
incremental value command system, and the point table No.3 the absolute value system.

Point table Position data Servo motor Acceleration time constant Deceleration time constant Dwell [ms] Auxiliary
STM
No. [ 10 m] speed [r/min] [ms] [ms] (Note 1) function
1 5.00 3000 100 150 0 1
2 7.00 2000 Invalid Invalid 0 1
3 8.00 1000 Invalid Invalid 0 0 (Note 2)
Note 1. Always set "0".
2. Always set "0" or "2" to the auxiliary function of the last point table among the consecutive point tables.
0: When point table is used in absolute value command system
1: When point table is used in incremental value command system

Acceleration time constant Deceleration time constant

of point table No.1 (100) of point table No.1 (150)

Speed
Forward (3000) Speed
rotation (2000)
Servo motor speed 0r/min
Reverse Speed (1000)
rotation Acceleration time constant
of point table No.1 (100)
7.00
Position address
0 5.00 12.00 8.00

Selected point table No. 1

Forward rotation start ON

(RYn1) OFF

Point table No. out put

1
(RX(n+2)2 to RX(n+2)9)

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5. OPERATION

2) Incremental value command system

The position data of the incremental value command system is the sum of the position data of the
consecutive point tables.
The operation example given below assumes that the set values are as indicated in the following
table.

Point table Position data Servo motor Acceleration time constant Deceleration time constant Dwell [ms] Auxiliary
STM
No. [ 10 m] speed [r/min] [ms] [ms] (Note 1) function
1 5.00 3000 100 150 0 1
2 6.00 2000 Invalid Invalid 0 1
3 3.00 1000 Invalid Invalid 0 0 (Note 2)
Note 1. Always set "0".
2. Always set "0" to the auxiliary function of the last point table among the consecutive point tables.

Acceleration time constant

Deceleration time constant
of point table No.1 (100)
of point table No.1 (150)

Forward Speed
Servo motor speed
rotation (3000) Speed
(2000) Speed
(1000)
0r/min

5.00 6.00 3.00

Position address
0 5.00 11.00 14.00

Selected point table No. 1

(Note) ON
Forward rotation start (RYn1)
OFF

Point table No. out put

1
(RX(n+2)2 to RX(n+2)9)

Note. Turning on Reverse rotation start (RYn2) starts positioning in the reverse rotation direction.

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5. OPERATION

(c) Temporary stop/restart

When RYn7 is turned ON during automatic operation, the motor is decelerated to a temporary stop at
the deceleration time constant in the point table being executed. When RYn7 is turned ON again, the
remaining distance is executed.
If the forward/reverse rotation start signal (RYn1 or RYn2) is ignored if it is switched on during a
temporary stop.
The remaining moving distance is cleared when the operation mode is changed from the automatic
mode to the manual mode during a temporary stop.
The temporary stop/restart input is ignored during zeroing and jog operation.
1) When the servo motor is rotating
Acceleration time constant Deceleration time constant
of point table No.n of point table No.n

Servo motor speed Forward Remaining

rotation distance
0r/min

Point table No.n

Forward rotation start (RYn1) ON

or reverse rotation start (RYn2) OFF
ON
Temporary stop/Restart (RYn7) OFF
Temporary stop (RXn7) ON
OFF
Rough match (RXn2) ON
OFF
In position (RXn1) ON
OFF
Movement completion (RXnC) ON
OFF
Point table No. out put
No.n
(RX(n+2)2 to RX(n+2)9)

2) During dwell

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5. OPERATION

Point table No.n Point table No.n 1

Dwell ta tb

Forward ta tb
Servo motor speed
rotation
0r/min

Point table No.n

Forward rotation start (RYn1) ON

or reverse rotation start (RYn2) OFF
ON
Temporary stop/Restart (RYn7) OFF
ON
Temporary stop (RXn7)
OFF
ON
Rough match (RXn2)
OFF
In position (RXn1) ON
OFF
Movement completion (RXnC) ON
OFF
Point table No. out put
No.n
(RX(n+2)2 to RX(n+2)9)

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5. OPERATION

5.4.3 Remote register-based position/speed setting

This operation can be used when 2 stations are occupied. This section explains operation to be performed
when the remote register is used to specify the position command data/speed command data.

(1) Absolute value command positioning in absolute value command system

The position data set in the absolute value command system are used as absolute values in positioning.
Set the input devices and parameters as indicated below.

Item Used device/parameter Description

Automatic operation mode Automatic/manual selection (RYn6) Turn RYn6 ON.
Remote register-based position/speed Position/speed specifying system selection
Turn RY(n 2)A ON.
setting (RY(n 2)A)
0 : Absolute value command
Command system Parameter No.PA01
system is selected.
2 : Remote register-based
position/speed specifying
system is selected. In the
Remote register-based position/speed
Parameter No.PC30 case, always set an
specifying system selection
acceleration/deceleration
time constant in the point
table No.1.
Position command data lower 16 bit Set the lower 16 bits of position data
(RWwn 4) to RWwn 4, and the upper 16 bits to
Position data
Position command data upper 16 bit RWwn 5.
(RWwn 5) Setting range: 999999 to 999999
Servo motor speed Speed command data (RWwn 6) Set the servo motor speed.

Set the position data to RWwn 4/RWwn 5, and the speed command data to RWwn 6, and store them
into the driver.
In the absolute value command system, Absolute value/incremental value selection (RY(n 2)B) can be
used to select whether the values set to the position data are absolute values or incremental values. The
position data set to RWwn 4/RWwn 5 are handled as absolute values when RY(n 2)B is turned OFF or
as incremental values when it is turned ON. During operation, how the position data will be handled
(absolute values or incremental values) depends on the status of RY(n 2)B when Forward rotation start
(RYn1) is turned ON.
Here, RY(n 2)B is turned OFF since the position data are handled as absolute values.

5 - 25
5. OPERATION

Automatic/manual selection ON
(RYn6) OFF
ON
Servo-on (RYn0)
OFF
Position/speed specifying ON
system selection (RY(n 2)A) OFF
Incremental value/absolute ON
value selection (RY(n 2)B) OFF
Position data Position data 1 Position data 2
(RWwn 4 RWwn 5)

Speed data (RWwn 6) Speed data 1 Speed data 2

(Note 2) ON
Position instruction execution
demand (RY(n 2)0) OFF
Position instruction execution ON
completion (RX(n 2)0) OFF
(Note 2) ON
Speed instruction execution
demand (RY(n 2)1) OFF
Speed instruction execution ON
completion (RX(n 2)1) OFF 6ms or more 6ms or more
ON (Note 1) (Note 1)
Forward rotation start (RYn1)
OFF
3ms or less

Forward Incremental
rotation value data 1
Servo motor speed 0r/min
Reverse Incremental
rotation value data 2

ON
In position (RXn1)
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF
ON
Ready (RD)
OFF
ON
Trouble (ALM)
OFF

Note 1. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.
2. For details of the operation timing of RY(n 2)0 and RY(n 2)1, refer to the section 3.6.2 (3).

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5. OPERATION

(2) Incremental value command positioning in absolute value command system

The position data set in the absolute value command system are used as incremental values in positioning.
Set the input devices and parameters as indicated below.

Item Used device/parameter Description

Automatic operation mode Automatic/manual selection (RYn6) Turn RYn6 ON.
Remote register-based position/speed Position/speed specifying system selection
Turn RY(n 2)A ON.
setting (RY(n 2)A)
0 : Absolute value command
Command system Parameter No.PA01
system is selected.
2 : Remote register-based
Remote register-based position/speed
Parameter No.PC30 position/speed specifying
specifying system selection
system is selected.
Position command data lower 16 bit Set the lower 16 bits of position data
(RWwn 4) to RWwn 4, and the upper 16 bits to
Position data
Position command data upper 16 bit RWwn 5.
(RWwn 5) Setting range: 999999 to 999999
Servo motor speed Speed command data (RWwn 6) Set the servo motor speed.

Here, Absolute value/incremental value selection RY(n 2)B is turned ON since the position data are
handled as incremental values.

5 - 27
5. OPERATION

Automatic/manual selection ON
(RYn6) OFF
ON
Servo-on (RYn0)
OFF
Position/speed specifying ON
system selection (RY(n 2)A) OFF
Incremental value/absolute ON
value selection (RY(n 2)B) OFF
Position data
(RWwn 4 RWwn 5) Position data 1 Position data 2

Speed data (RWwn 6) Speed data 1 Speed data 2

(Note 2) ON
Position instruction execution
demand (RY(n 2)0) OFF
Position instruction execution ON
completion (RX(n 2)0) OFF
(Note 2) ON
Speed instruction execution
demand (RY(n 2)1) OFF
Speed instruction execution ON
completion (RX(n 2)1) OFF 6ms or more 6ms or more
Forward rotation start ON (Note 1) (Note 1)
(RYn1) OFF
3ms or less

Forward Incremental
rotation value data 1
Servo motor speed 0r/min
Reverse Incremental
rotation value data 2

ON
In position (RXn1)
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF
ON
Ready (RD)
OFF
ON
Trouble (ALM)
OFF

Note 1. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.
2. For details of the operation timing of RY(n 2)0 and RY(n 2)1, refer to the section 3.6.2 (3).

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5. OPERATION

(3) Positioning in incremental value command system

Execute positioning in the incremental value command system. Set the input signals and parameters as
indicated below.

Item Used device/parameter Description

Automatic operation mode Automatic/manual selection (RYn6) Turn RYn6 ON.
Remote register-based position/speed Position/speed specifying system selection
Turn RY(n 2)A ON.
setting (RY(n 2)A)
1 : Incremental value
Command system Parameter No.PA01 command system is
selected.
2 : Remote register-based
position/speed specifying
system is selected. In the
Remote register-based position/speed
Parameter No.PC30 case, always set an
specifying system selection
acceleration/deceleration
time constant in the point
table No.1.
Position command data lower 16 bit Set the lower 16 bits of position data
(RWwn 4) to RWwn 4, and the upper 16 bits to
Position data
Position command data upper 16 bit RWwn 5.
(RWwn 5) Setting range: 0 to 999999
Servo motor speed Speed command data (RWwn 6) Set the servo motor speed.

Set " 1" in parameter No.PA01 to select the incremental value command system. In the incremental
value command system, the position data are handled as incremental values. Hence, Absolute
value/incremental value selection (RY(n 2)B) is invalid.

5 - 29
5. OPERATION

Automatic/manual selection ON
(RYn6) OFF
ON
Servo-on (RYn0)
OFF
Position/speed specifying ON
system selection (RY(n 2)A) OFF
Position data
(RWwn 4 RWwn 5) Position data 1 Position data 2

Speed data (RWwn 6) Speed data 1 Speed data 2

(Note 2)
Position instruction execution ON
demand (RY(n 2)0) OFF
Position instruction execution ON
completion (RX(n 2)0) OFF
(Note 2) ON
Speed instruction execution
demand (RY(n 2)1) OFF
Speed instruction execution ON
completion (RX(n 2)1) OFF 6ms or more
ON (Note 1)
Forward rotation start (RYn1)
OFF 6ms or more
Reverse rotation start ON (Note 1)
(RYn2) OFF
3ms or less

Forward Incremental
rotation value data 1
Servo motor speed 0r/min
Reverse Incremental
rotation value data 2

ON
In position (RXn1)
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF
ON
Ready (RD)
OFF
ON
Trouble (ALM)
OFF

Note 1. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.
2. For details of the operation timing of RY(n 2)0 and RY(n 2)1, refer to the section 3.6.2 (3).

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5. OPERATION

5.5 Manual operation mode

For machine adjustment, home position matching, etc., jog operation or a manual pulse generator may be
used to make a motion to any position.

5.5.1 JOG operation

(1) Setting
Set the input device and parameters as follows according to the purpose of use. In this case, the point table
No. selection 1 to 8 (RYnA to RYnE, RY(n 2)3 to RY(n 2)5) are invalid.

Item Used device/parameter Description

Manual operation mode selection Automatic/manual selection (RYn6) Turn RYn6 OFF.
Servo motor rotation direction Parameter No.PA14 Refer to (2) in this section.
Jog speed Parameter No.PC12 Set the speed of the servo motor.
Use the acceleration/deceleration
Acceleration/deceleration time constant Point table No.1
time constants in point table No.1.

(2) Servo motor rotation direction

Servo motor rotation direction
Parameter No.PA14 setting
Forward rotation start (RYn1) ON Reverse rotation start (RYn2) ON
0 CCW rotation CW rotation
1 CW rotation CCW rotation

RYn1: ON RYn2: ON
CCW CCW

CW CW
RYn2: ON RYn1: ON

Parameter No.PA14: 0 Parameter No.PA14: 1

(3) Operation
By turning RYn1 ON, operation is performed under the conditions of the jog speed set in the parameter and
the acceleration and deceleration time constants in set point table No.1. For the rotation direction, refer to
(2) in this section. By turning RYn2 ON, the servo motor rotates in the reverse direction to forward rotation
start (RYn1).

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5. OPERATION

(4) Timing chart

Automatic/manual selection ON
(RYn6) OFF
ON
Servo-on (RYn0)
OFF
100ms
ON
Forward rotation start (RYn1) Forward rotation jog
OFF
ON
Reverse rotation start (RYn2) Reverse rotation jog
OFF
Forward
rotation
Servo motor speed 0r/min
Reverse
rotation

ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF
ON
Ready (RD)
OFF
ON
Trouble (ALM)
OFF

5 - 32
5. OPERATION

5.6 Manual home position return mode

5.6.1 Outline of home position return
Home position return is performed to match the command coordinates with the machine coordinates. In the
incremental system, home position return is required every time input power is switched on. In the absolute
position detection system, once home position return is done at the time of installation, the current position is
retained if power is switched off. Hence, home position return is not required when power is switched on again.
This driver has the home position return methods given in this section. Choose the most appropriate method
for your machine structure and application.
This driver has the home position return automatic return function which executes home position return by
making an automatic return to a proper position if the machine has stopped beyond or at the proximity dog.
Manual motion by jog operation or the like is not required.

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5. OPERATION

(1) Home position return types

Choose the optimum home position return according to the machine type, etc.

Type Home position return method Features

General home position return method using a
proximity dog.
With deceleration started at the front end of a proximity
Repeatability of home position return is
dog, the position where the first Z-phase signal is given
Dog type home position excellent.
past the rear end of the dog or a motion has been
return The machine is less burdened.
made over the home position shift distance starting
Used when the width of the proximity dog can
from the Z-phase signal is defined as a home position.
be set greater than the deceleration distance of
the servo motor.
With deceleration started at the front end of a proximity
dog, the position where the first Z-phase signal is given Home position return method using a proximity
Count type home position after advancement over the preset moving distance dog.
return after the proximity dog or a motion has been made Used when it is desired to minimize the length
over the home position shift distance starting from the of the proximity dog.
Z-phase signal is defined as a home position.
Data setting type home
An arbitrary position is defined as a home position. No proximity dog required.
position return
Since the machine part collides with the
The position where the machine stops when its part is
Stopper type home machine be fully lowered.
pressed against a machine stopper is defined as a
position return The machine and stopper strength must be
home position.
increased.
Home position ignorance
The position where servo is switched on is defined as a
(Servo-on position as
home position.
home position)
The position where the axis, which had started
decelerating at the front end of a proximity dog, has
Dog type rear end
moved the after-proximity dog moving distance and The Z-phase signal is not needed.
reference
home position shift distance after it passed the rear
end is defined as a home position.
The position where the axis, which had started
decelerating at the front end of a proximity dog, has
Count type front end
moved the after-proximity dog moving distance and The Z-phase signal is not needed.
reference
home position shift distance is defined as a home
position.
The position where the first Z-phase signal is issued
Dog cradle type after detection of the proximity dog front end is defined
as a home position.
After the proximity dog front end is detected, the
current position moves away from the proximity dog in
the reverse direction. In this movement, the home
Dog type first Z-phase
position is defined to be where the first Z-phase signal
reference
is issued or the position that is the home position shift
distance away from where the first Z-phase signal is
issued.
Dog type front end
The home position is the front end of the proximity dog. The Z-phase signal is not needed.
reference
The home position is defined to be where the first Z-
Dogless Z-phase phase signal is issued or the position that is the home
reference position shift distance away from where the first Z-
phase signal is issued.

5 - 34
5. OPERATION

(2) Home position return parameter

When performing home position return, set each parameter as follows.

(a) Choose the home position return method with parameter No.PC02 (Home position return type).
Parameter No.PC02

0 0 0
Home position return method
0: Dog type
1: Count type
2: Data setting type
3: Stopper type
4: Home position ignorance (Servo-on position as home position)
5: Dog type rear end reference
6: Count type front end reference
7: Dog cradle type
8: Dog type first Z-phase reference
9: Dog type front end reference
A: Dogless Z-phase reference

(b) Choose the starting direction of home position return with parameter No.PC03 (Home position return
direction). Set "0" to start home position return in the direction in which the address is incremented from
the current position, or "1" to start home position return in the direction in which the address is
decremented.
Parameter No.PC03

0 0 0
Home position return direction
0: Address increment direction
1: Address decrement direction

(c) Choose the polarity at which the proximity dog is detected with parameter No.PD16 (Input polarity
setting). Set "0" to detect the dog when the proximity dog device (DOG) is OFF, or "1" to detect the dog
when the device is ON.
Parameter No.PD16
0 0 0
Proximity dog input polarity
0: OFF indicates detection of the dog
1: ON indicates detection of the dog

(3) Instructions
1) Before starting home position return, always make sure that the limit switch operates.

2) Confirm the home position return direction. Incorrect setting will cause the machine to run reversely.

3) Confirm the proximity dog input polarity. Not doing so may cause unexpected operation.

5 - 35
5. OPERATION

5.6.2 Dog type home position return

A home position return method using a proximity dog. With deceleration started at the front end of the proximity
dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been
made over the home position shift distance starting from the Z-phase signal is defined as a home position.

(1) Devices, parameters

Set the input devices and parameters as follows.

Item Device/Parameter used Description

Automatic/manual selection (RYn6) Turn RYn6 ON.
Manual home position return mode
Point table No. selection 1 to 8 RYnA to RYnE, RY(n 2)3 to RY(n 2)5
selection
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5) are turned off.
Remote register-based
position/speed setting Position/speed specifying system selection
Turn RY(n 2)A ON.
(Only when two stations are (RY(n 2)A)
occupied)
0 :Dog type home position return is
Dog type home position return Parameter No.PC02
selected.
Refer to section 5.6.1 (2) and choose home
Home position return direction Parameter No.PC03
position return direction.
Refer to section 5.6.1 (2) and choose dog
Dog input polarity Parameter No.PD16
input polarity.
Home position return speed Parameter No.PC04 Set speed until detection of dog.
Creep speed Parameter No.PC05 Set speed after detection of dog.
Set when shifting the home position starting
Home position shift distance Parameter No.PC06 at the first Z-phase signal after passage of
proximity dog rear end.
Home position return
Use the acceleration/deceleration time
acceleration/deceleration time Point table No.1
constants of point table No.1.
constants
Set the current position at home position
Home position return position data Parameter No.PC07
return completion.

(2) Length of proximity dog

To ensure that the Z-phase signal of the servo motor is generated during detection of the proximity dog
(DOG), the proximity dog should have the length which satisfies formulas (5.1) and (5.2).

V td .............................................................................. (5.1)
L1
60 2
L1 : Proximity dog length [mm]
V : Home position return speed [mm/min]
td : Deceleration time [s]

L2 2 S.................................................................................... (5.2)
L2 : Proximity dog length [mm]
S : Moving distance per servo motor revolution [mm]

5 - 36
5. OPERATION

(3) Timing chart

Automatic/manual selection ON
(RYn6) OFF

Selected point table No. 0

(Note)
ON 4ms or more 6ms or more
Forward rotation start
(RYn1) OFF
Reverse rotation start ON
(RYn2) OFF
Point table No.1
Point table No.1 deceleration time constant
acceleration time Home position return speed
constant parameter No.PC04 Home position shift distance
parameter No.PC06
Creep speed
Forward parameter No.PC05 Home position
Servo motor speed rotation
0r/min
3ms or less td
Home position address
parameter No.PC07
Proximity dog

ON
Z-phase
OFF
ON
Proximity dog (DOG)
OFF
ON
Rough match (RXn2)
OFF

Movement completion ON
(RXnC) OFF

Home position return ON

completion (RXn3/ZP) OFF

Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.

The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.

(4) Adjustment
In dog type home position return, adjust to ensure that the Z-phase signal is generated during dog detection.
Locate the rear end of the proximity dog (DOG) at approximately the center of two consecutive Z-phase
signals.
The position where the Z-phase signal is generated can be monitored in "Within one-revolution position" of
"Status display" of the set up software(MR Configurator).
0 131072 0

Servo motor
Z-phase Proximity
dog

Proximity dog ON
(DOG) OF

5 - 37
5. OPERATION

5.6.3 Count type home position return

In count type home position return, a motion is made over the distance set in parameter No.PC08 (moving
distance after proximity dog) after detection of the proximity dog front end. The position where the first Z-phase
signal is given after that is defined as a home position. Hence, if the proximity dog (DOG) is 10ms or longer,
there is no restriction on the dog length. This home position return method is used when the required proximity
dog length cannot be reserved to use dog type home position return or when the proximity dog (DOG) is
entered electrically from a PC or PLC...etc or the like.

(1) Devices, parameters

Set the input devices and parameters as follows.

Item Device/Parameter used Description

Automatic/manual selection (RYn6) Turn RYn6 ON.
Manual home position return mode
Point table No. selection 1 to 8 RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are
selection
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5) turned off.
Remote register-based
position/speed setting Position/speed specifying system selection
Turn RY(n 2)A ON.
(Only when two stations are (RY(n 2)A)
occupied)
1: Count type home position return is
Count type home position return Parameter No.PC02
selected.
Refer to section 5.6.1 (2) and choose home
Home position return direction Parameter No.PC03
position return direction.
Refer to section 5.6.1 (2) and choose dog
Dog input polarity Parameter No.PD16
input polarity.
Home position return speed Parameter No.PC04 Set speed until detection of dog.
Creep speed Parameter No.PC05 Set speed after detection of dog.
Set when shifting the home position, starting
at the first Z-phase signal given after passage
Home position shift distance Parameter No.PC06
of the proximity dog front end and movement
over the moving distance.
Set the moving distance after passage of
Moving distance after proximity dog Parameter No.PC08
proximity dog front end.
Home position return
Use the acceleration/deceleration time
acceleration/deceleration time Point table No.1
constants of point table No.1.
constants
Set the current position at home position
Home position return position data Parameter No.PC07
return completion.

5 - 38
5. OPERATION

(2) Timing chart

ON
Automatic/manual selection
(RYn6) OFF

Selected point table No. 0

(Note)
ON 4ms or more 6ms or more
Forward rotation start (RYn1)
OFF
ON
Reverse rotation start (RYn2)
OFF
Home position
Point table No.1 Home position return speed Point table No.1 shift distance
acceleration time parameter No.PC04 deceleration time constant parameter No.PC06
constant
Creep speed
parameter No.PC05 Home position
Forward
Servo motor speed rotation
0r/min
3ms or less

Moving distance after Home position address

proximity dog parameter No.PC07
Proximity dog
parameter No.PC08

ON
Z-phase
OFF
ON
Proximity dog (DOG)
OFF
ON
Rough match (RXn2)
OFF

Movement completion ON
(RXnC) OFF

Home position return ON

completion (RXn3/ZP) OFF

Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.

The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.

5 - 39
5. OPERATION

5.6.4 Data setting type home position return

Data setting type home position return is used when it is desired to determine any position as a home position.
JOG operation can be used for movement.

(1) Devices, parameters

Set the input devices and parameters as follows.

Item Device/Parameter used Description

Automatic/manual selection (RYn6) Turn RYn6 ON.
Manual home position return mode
Point table No. selection 1 to 8 RYnA to RYnE, RY(n 2)3 to
selection
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RY(n 2)5 are turned off.
Remote register-based
position/speed setting Position/speed specifying system selection
Turn RY(n 2)A ON.
(Only when two stations are (RY(n 2)A)
occupied)
Data setting type home position 2: Data setting type home
Parameter No.PC02
return position return is selected.
Set the current position at home
Home position return position data Parameter No.PC07
position return completion.

(2) Timing chart

Automatic/manual selection ON
(RYn6)
OFF

Selected point table No. 0

(Note)
ON 4ms or more 6ms or more
Forward rotation start (RYn1)
OFF
ON
Reverse rotation start (RYn2)
OFF
Home position address
parameter No.PC07
Forward
rotation
Servo motor speed 0r/min
3ms or less

ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF

Home position return ON

completion (RXn3/ZP) OFF

Movement to the home position Operation for home position return

Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.

The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.

5 - 40
5. OPERATION

5.6.5 Stopper type home position return

In stopper type home position return, a machine part is pressed against a stopper or the like by jog operation to
make a home position return and that position is defined as a home position.

(1) Devices, parameters

Set the input devices and parameters as follows.

Item Device/Parameter used Description

Automatic/manual selection (RYn6) Turn RYn6 ON.
Manual home position return
Point table No. selection 1 to 8 RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are
mode selection
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5) turned off.
Remote register-based
position/speed setting Position/speed specifying system selection
Turn RY(n 2)A ON.
(Only when two stations are (RY(n 2)A)
occupied)
Stopper type home position 3: Stopper type home position return is
Parameter No.PC02
return selected.
Refer to section 5.6.1 (2) and choose the home
Home position return direction Parameter No.PC03
position return direction.
Home position return speed Parameter No.PC04 Set the speed till contact with the stopper.
Time from when the part makes contact with the
stopper to when home position return data is
Stopper time Parameter No.PC09
obtained to output home position return
completion (ZP).
Stopper type home position Set the servo motor torque limit value for
Parameter No.PC10
return torque limit value execution of stopper type home position return.
Home position return Use the acceleration time constant of point table
Point table No.1
acceleration time constant No.1.
Home position return position Set the current position at home position return
Parameter No.PC07
data completion.

5 - 41
5. OPERATION

(2) Timing chart

Automatic/manual selection ON
(RYn6) OFF

Selected point table No. 0

(Note 1)
ON 6ms or more
Forward rotation start (RYn1) 4ms or more
OFF
ON
Reverse rotation start (RYn2)
OFF

Torque limit value Parameter No.PC35 (Note 3) Parameter No.PC10 Parameter No.PC35

Point table No.1 Home position address

Home position return speed parameter No.PC07
Forward acceleration time constant parameter No.PC04
rotation
Servo motor speed 0r/min
3ms or less

Stopper
Stopper time
parameter No.PC09

ON
Limiting torque (RYn4) (Note 2)
OFF
ON
Rough match (RYn2)
OFF
ON
Movement completion (RXnC)
OFF

Home position return ON

completion (RXn3/ZP) OFF

Note 1. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.
2. Turns ON when the torque reaches the value set to Forward rotation torque limit (parameter No.PA11), Reverse rotation
torque limit (parameter No.PA12) or Internal torque limit (parameter No.PC35).
3. The torque limit that is enabled at this point is as follows.

(Note)
Internal torque Torque limit to be
Limit value status
limit selection enabled
(RY(n 2)6)
0 Parameter No.PC10
Parameter No.PC35 Parameter No.PC10 Parameter No.PC10
1
Parameter No.PC35 Parameter No.PC10 Parameter No.PC35
Note. 0: OFF
1: ON

The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.

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5. OPERATION

5.6.6 Home position ignorance (servo-on position defined as home position)

The position where servo is switched on is defined as a home position.

POINT
When executing this home position return, changing to the home position
return mode is not necessary.

(1) Devices, parameter

Set the input devices and parameter as follows.

Item Device/Parameter used Description

Home position ignorance Parameter No.PC02 4: Home position ignorance is selected.
Set the current position at home position return
Home position return position data Parameter No.PC07
completion.

(2) Timing chart

ON
Servo-on (RYn0)
OFF
Home position address
parameter No.PC07

Servo motor speed 0r/min

ON
Rough match (RXn2)
OFF

Movement completion ON
(RXnC) OFF

Home position return ON

completion (RXn3/ZP) OFF
ON
Ready (RD)
OFF

The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.

5 - 43
5. OPERATION

5.6.7 Dog type rear end reference home position return

POINT
This home position return method depends on the timing of reading Proximity
dog (DOG) that has detected the rear end of a proximity dog. Hence, if a
home position return is made at the creep speed of 100r/min, an error of
400 pulses will occur in the home position. The error of the home position is
larger as the creep speed is higher.

The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the
after-proximity dog moving distance and home position shift distance after it passed the rear end is defined as
a home position. A home position return that does not depend on the Z-phase signal can be made.

(1) Devices, parameters

Set the input devices and parameters as indicated below.

Item Device/Parameter used Description

Automatic/manual selection (RYn6) Turn RYn6 ON.
Manual home position return mode
Point table No. selection 1 to 8 RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are
selection
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5) turned off.
Remote register-based
position/speed setting Position/speed specifying system selection
Turn RY(n 2)A ON.
(Only when two stations are (RY(n 2)A)
occupied)
Dog type rear end reference home 5: Select the dog type rear end
Parameter No.PC02
position return reference.
Refer to section 5.6.1 (2) and select the home
Home position return direction Parameter No.PC03
position return direction.
Refer to section 5.6.1 (2) and select the dog
Dog input polarity Parameter No.PD16
input polarity.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Creep speed Parameter No.PC05 Set the speed after the dog is detected.
Set when the home position is moved from
Home position shift distance Parameter No.PC06 where the axis has passed the proximity dog
rear end.
Set the moving distance after the axis has
Moving distance after proximity dog Parameter No.PC08
passed the proximity dog rear end.
Home position return acceleration/ Use the acceleration/deceleration time
Point table No.1
deceleration time constants constant of point table No.1.
Set the current position at home position return
Home position return position data Parameter No.PC07
completion.

5 - 44
5. OPERATION

(2) Timing chart

Automatic/manual selection ON
(RYn6) OFF

Selected point table No. 0

4ms or more (Note)
ON
Forward rotation start (RYn1)
OFF

6ms or more

ON
Reverse rotation start (RYn2)
OFF

Moving distance after proximity dog

Home position return speed
Home position shift distance

Forward Creep speed

Servo motor speed rotation
0r/min
3ms or less
Home position address
parameter No.PC07

Proximity dog

ON
Proximity dog (DOG)
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF

Home position return ON

completion (RXn3/ZP) OFF

Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.

The parameter No.PC17 (home position return position data) setting value is the positioning address after
the home position return is completed.

5 - 45
5. OPERATION

5.6.8 Count type front end reference home position return

POINT
This home position return method depends on the timing of reading Proximity
dog (DOG) that has detected the front end of a proximity dog. Hence, if a
home position return is made at the home position return speed of 100r/min,
an error of 400 pulses will occur in the home position. The error of the home
position is larger as the home position return speed is higher.

The position where the axis, which had started decelerating at the front end of a proximity dog, has moved the
after-proximity dog moving distance and home position shift distance is defined as a home position. A home
position return that does not depend on the Z-phase signal can be made. The home position may change if the
home position return speed varies.

(1) Devices, parameters

Set the input devices and parameters as indicated below.

Item Device/Parameter used Description

Automatic/manual selection (RYn6) Turn RYn6 ON.
Manual home position return mode
Point table No. selection 1 to 8 RYnA to RYnE, RY(n 2)3 to
selection
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RY(n 2)5 are turned off.
Remote register-based
position/speed setting Position/speed specifying system selection
Turn RY(n 2)A ON.
(Only when two stations are (RY(n 2)A)
occupied)
Count type dog front end reference 6: Select the count type dog
Parameter No.PC02
home position return front end reference.
Refer to section 5.6.1 (2) and select the
Home position return direction Parameter No.PC03
home position return direction.
Refer to section 5.6.1 (2) and select the
Dog input polarity Parameter No.PD16
dog input polarity.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Creep speed Parameter No.PC05 Set the speed after the dog is detected.
Set when the home position is moved
Home position shift distance Parameter No.PC06 from where the axis has passed the
proximity dog rear end.
Set the moving distance after the axis
Moving distance after proximity dog Parameter No.PC08
has passed the proximity dog rear end.
Home position return acceleration/ Use the acceleration/deceleration time
Point table No.1
deceleration time constants constant of point table No.1.
Set the current position at home
Home position return position data Parameter No.PC07
position return completion.

5 - 46
5. OPERATION

(2) Timing chart

Automatic/manual selection ON
(RYn6) OFF

Selected point table No. 0

4ms or more (Note)
ON
Forward rotation start (RYn1)
OFF
6ms or more

ON
Reverse rotation start (RYn2)
OFF

Moving distance after proximity dog

Home position return speed
Home position shift distance

Forward Creep speed

Servo motor speed rotation
0r/min
3ms or less
Home position address
parameter No.PC07
Proximity dog (DOG)

ON
Proximity dog (DOG)
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF

Home position return ON

completion (RXn3/ZP) OFF

Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.

The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.

5 - 47
5. OPERATION

5.6.9 Dog cradle type home position return

The position where the first Z-phase signal is issued after detection of the proximity dog front end can be
defined as a home position.

(1) Devices, parameters

Set the input devices and parameters as indicated below.

Item Device/Parameter used Description

Automatic/manual selection (RYn6) Turn RYn6 ON.
Manual home position return mode
Point table No. selection 1 to 8 RYnA to RYnE, RY(n 2)3 to
selection
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RY(n 2)5 are turned off.
Remote register-based
position/speed setting Position/speed specifying system selection
Turn RY(n 2)A ON.
(Only when two stations are (RY(n 2)A)
occupied)
Dog cradle type home position return Parameter No.PC02 7: Select the dog cradle type.
Refer to section 5.6.1 (2) and select the
Home position return direction Parameter No.PC03
home position return direction.
Refer to section 5.6.1 (2) and select the
Dog input polarity Parameter No.PD16
dog input polarity.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Creep speed Parameter No.PC05 Set the speed after the dog is detected.
Set when the home position is moved
Home position shift distance Parameter No.PC06
from the Z-phase signal position.
Home position return
Use the acceleration/deceleration time
acceleration/deceleration time Point table No.1
constant of point table No.1.
constants
Set the current position at home
Home position return position data Parameter No.PC07
position return completion.

5 - 48
5. OPERATION

(2) Timing chart

Automatic/manual selection ON
(RYn6) OFF

Selected point table No. 0

4ms or more (Note)
ON
Forward rotation start (RYn1)
OFF

6ms or more
ON
Reverse rotation start (RYn2)
OFF

Home position return speed Home position shift distance

Forward Creep speed

Servo motor speed rotation
0r/min
3ms or less
Reverse
rotation Home position address
parameter No.PC07

Proximity dog

ON
Z-phase
OFF
ON
Proximity dog (DOG)
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF

Home position return ON

completion (RXn3/ZP) OFF

Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.

The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.

5 - 49
5. OPERATION

5.6.10 Dog type first Z-phase reference home position return

After the proximity dog front end is detected, the current position moves in the reverse direction at creep speed.
After this moving away from the proximity dog, the home position is determined to be where the first Z-phase
pulse is issued.

(1) Devices, parameters

Set the input devices and parameters as indicated below.

Item Device/Parameter used Description

Automatic/manual selection (RYn6) Turn RYn6 ON.
Manual home position return mode
Point table No. selection 1 to 8 RYnA to RYnE, RY(n 2)3 to
selection
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RY(n 2)5 are turned off.
Remote register-based
position/speed setting Position/speed specifying system selection
Turn RY(n 2)A ON.
(Only when two stations are (RY(n 2)A)
occupied)
Dog cradle type home position return Parameter No.PC02 8: Select the dog cradle type.
Refer to section 5.6.1 (2) and select the
Home position return direction Parameter No.PC03
home position return direction.
Refer to section 5.6.1 (2) and select the
Dog input polarity Parameter No.PD16
dog input polarity.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Creep speed Parameter No.PC05 Set the speed after the dog is detected.
Set when the home position is moved
Home position shift distance Parameter No.PC06
from the Z-phase signal position.
Home position return
Use the acceleration/deceleration time
acceleration/deceleration time Point table No.1
constant of point table No.1.
constants
Set the current position at home
Home position return position data Parameter No.PC07
position return completion.

5 - 50
5. OPERATION

(2) Timing chart

Automatic/manual selection ON
(RYn6) OFF

Selected point table No. 0

4ms or more (Note)
ON
Forward rotation start (RYn1)
OFF

6ms or more
ON
Reverse rotation start (RYn2)
OFF

Home position return speed

Home position shift distance

Forward Home position address

rotation parameter No.PC07
Servo motor speed
0r/min
3ms or less
Reverse
rotation Creep speed

Proximity dog

ON
Z-phase
OFF
ON
Proximity dog (DOG)
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF

Home position return ON

completion (RXn3/ZP) OFF

Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.

The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.

5 - 51
5. OPERATION

5.6.11 Dog type front end reference home position return method
The home position is determined to be the position of the front end of the proximity dog.

(1) Devices, parameters

Set the input devices and parameters as indicated below.

Item Device/Parameter used Description

Automatic/manual selection (RYn6) Turn RYn6 ON.
Manual home position return mode
Point table No. selection 1 to 8 RYnA to RYnE, RY(n 2)3 to
selection
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RY(n 2)5 are turned off.
Remote register-based
position/speed setting Position/speed specifying system selection
Turn RY(n 2)A ON.
(Only when two stations are (RY(n 2)A)
occupied)
Dog cradle type home position return Parameter No.PC02 9: Select the dog cradle type.
Refer to section 5.6.1 (2) and select
Home position return direction Parameter No.PC03
the home position return direction.
Refer to section 5.6.1 (2) and select
Dog input polarity Parameter No.PD16
the dog input polarity.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Set the speed after the dog is
Creep speed Parameter No.PC05
detected.
Set when the home position is moved
Home position shift distance Parameter No.PC06
from the Z-phase signal position.
Home position return
Use the acceleration/deceleration time
acceleration/deceleration time Point table No.1
constant of point table No.1.
constants
Set the current position at home
Home position return position data Parameter No.PC07
position return completion.

5 - 52
5. OPERATION

(2) Timing chart

Automatic/manual selection ON
(RYn6) OFF

Selected point table No. 0

4ms or more (Note)
ON
Forward rotation start (RYn1)
OFF

6ms or more
ON
Reverse rotation start (RYn2)
OFF

Home position return speed

Forward Moving distance after proximity dog

Servo motor speed rotation Home position shift distance
0r/min
3ms or less
Reverse
rotation
Proximity dog

ON
Proximity dog (DOG)
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF

Home position return ON

completion (RXn3/ZP) OFF

Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.

The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.

5 - 53
5. OPERATION

5.6.12 Dogless Z-phase reference home position return method

The home position is determined to be where the first Z-phase pulse is issued after the home position return is
started.

(1) Devices, parameters

Set the input devices and parameters as indicated below.

Item Device/Parameter used Description

Automatic/manual selection (RYn6) Turn RYn6 ON.
Manual home position return mode
Point table No. selection 1 to 8 RYnA to RYnE, RY(n 2)3 to
selection
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5) RY(n 2)5 are turned off.
Remote register-based
position/speed setting Position/speed specifying system selection
Turn RY(n 2)A ON.
(Only when two stations are (RY(n 2)A)
occupied)
Dog cradle type home position return Parameter No.PC02 A: Select the dog cradle type.
Refer to section 5.6.1 (2) and select
Home position return direction Parameter No.PC03
the home position return direction.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Set the speed after the dog is
Creep speed Parameter No.PC05
detected.
Set when the home position is moved
Home position shift distance Parameter No.PC06
from the Z-phase signal position.
Home position return
Use the acceleration/deceleration time
acceleration/deceleration time Point table No.1
constant of point table No.1.
constants
Set the current position at home
Home position return position data Parameter No.PC07
position return completion.

5 - 54
5. OPERATION

(2) Timing chart

Automatic/manual selection ON
(RYn6) OFF

Selected point table No. 0

4ms or more (Note)
ON
Forward rotation start (RYn1)
OFF

6ms or more
ON
Reverse rotation start (RYn2)
OFF

Home position return speed

Forward
rotation Home position shift distance
Servo motor speed
0r/min
3ms or less
Reverse
rotation

Creep speed

ON
Z-phase
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF

Home position return ON

completion (RXn3/ZP) OFF

Note. Configure a sequence that changes the point table selection earlier, considering the delay time of CC-Link communication.

The parameter No.PC07 (home position return position data) setting value is the positioning address after
the home position return is completed.

5 - 55
5. OPERATION

5.6.13 Home position return automatic return function

If the current position is at or beyond the proximity dog in the home position return using the proximity dog, this
function starts home position return after making a return to the position where the home position return can be
made.

(1) When the current position is at the proximity dog

When the current position is at the proximity dog, an automatic return is made before home position return.
Home position return direction Proximity dog

Home position return

Makes an automatic return to a position start position
before the proximity dog, then executes
home position return at this position.

(2) When the current position is beyond the proximity dog

At a start, a motion is made in the home position return direction and an automatic return is made on
detection of the stroke end (LSP or LSN). The motion stops past the front end of the proximity dog, and
home position return is resumed at that position. If the proximity dog cannot be detected, the motion stops
on detection of the LSP or LSN switch and A90 occurs.
Stroke end
(LSP or LSN)
Home position return direction Proximity dog

Home position return

start position

Makes an automatic return to a position

before the proximity dog, then executes
home position return at this position.

Software limit cannot be used with these functions.

5 - 56
5. OPERATION

5.6.14 Automatic positioning function to the home position

POINT
You cannot perform automatic positioning from outside the position data
setting range to the home position. In this case, make a home position return
again using a manual home position return.

If this function is used when returning to the home position again after performing a manual home position
return after a power-on and deciding the home position, automatic positioning can be carried out to the home
position at high speed. In an absolute position detection system, manual home position return is not required
after power-on.
Please perform a manual home position return beforehand after a power-on.
Set the input signals and parameter as follows.

Item Device/Parameter used Description

Automatic/manual selection (RYn6) Turn RYn6 ON.
Manual home position return mode
Point table No. selection 1 to 8 RYnA to RYnE, RY(n 2)3 to RY(n 2)5 are
selection
(RYnA to RYnE, RY(n 2)3 to RY(n 2)5) turned off.
Home position return speed Parameter No.PC04 Set the speed till the dog is detected.
Home position return
Use the acceleration/deceleration time constant
acceleration/deceleration time Point table No.1
of point table No.1.
constants

Set up the home position return speed of the automatic positioning function to the home position by parameter
No.PC04. Use the data of point table No.1 to set the acceleration time constant and deceleration time constant.
When reverse rotation start (RYn2) is ON, it will position automatically at the home position.
ON
Forward rotation start (RYn1)
OFF
ON
Reverse rotation start (RYn2)
OFF

Home position return speed Deceleration time constant

parameter No.PC04 of point table No.1

Forward
rotation
Servo motor speed 0r/min
Acceleration time constant
of point table No.1
Home position

5 - 57
5. OPERATION

5.7 Roll feed display function in roll feed mode

With the roll feed display function, the driver can operate in the roll feed mode. The roll feed mode uses the
incremental system.

(1) Parameter settings

Digit to Setting
No. Name Setting item Description
be set value
0 Make sure to set the incremental
Absolute position
PA03 Operation system (initial system. The absolute position
detection system
value) detection system cannot be used.
Selection between current
PC28 Function selection C-7 position display and command 1 Select roll feed display.
position display

(2) Roll feed display function

At start up, the roll feed display function clears the status display of the current position and command
position to zero.

Forward
Servo motor speed rotation
0r/min

Display of current position

0 10.00 0 8.00
or command position Start Start

(3) Operation procedure

Changes are made only on the status display of the current position and commanded position. The same
operation procedure as that in each operation mode can be used.

Operation procedure Details

Automatic operation Automatic operation according to the point table Section 5.4.2
JOG operation Section 5.5.1
Manual operation
Manual pulse generator operation Section 5.5.2
Home position return mode Section 5.6

5 - 58
5. OPERATION

5.8 Absolute position detection system

If an absolute position erase alarm (A25) or an absolute position counter warning
CAUTION (AE3) has occurred, always perform home position setting again. Not doing so
may cause unexpected operation.

POINT
If the encoder cable is disconnected, absolute position data will be lost in the
following servo motor LE-□-□ series. . After disconnecting the encoder
cable, always execute home position setting and then positioning operation.
When the following parameters are changed, the home position is lost when
turning on the power after the change. Execute the home position return
again when turning on the power.
Parameter No.PA06 (Electronic gear numerator)
Parameter No.PA07 (Electronic gear denominator)
Parameter No.PA14 (Rotation direction selection)
Parameter No.PC07 (Home position return position data)

This driver contains a single-axis driver. Also, all servo motor encoders are compatible with an absolute
position detection system. Hence, an absolute position detection system can be configured up by merely
loading an absolute position data back-up battery and setting parameter values.

(1) Restrictions
An absolute position detection system cannot be built under the following conditions.

1) Stroke-less coordinate system, e.g. rotary shaft, infinite positioning.

2) Operation performed in incremental value command type positioning system.

(2) Specifications
Item Description
System Electronic battery backup system.
1 piece of lithium battery ( primary battery, nominal 3.6V)
Battery
Type: LEC-MR-J3BAT.
Maximum revolution range Home position 32767 rev.
(Note 1) Maximum speed at power failure 3000r/min
(Note 2) Battery backup time Approx. 10,000 hours (battery life with power off)
Battery storage period 5 years from date of manufacture.
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like.
2. Time to hold data by a battery with power off. It is recommended to replace the battery in three years
independently of whether power is kept on or off.

5 - 59
5. OPERATION

(3) Structure
Component Description
Driver
Use standard models.
Servo motor
Battery LEC-MR-J3BAT
Encoder cable Use a standard model. (Refer to section 13.1.)

(4) Outline of absolute position detection data communication

For normal operation, as shown below, the encoder consists of a detector designed to detect a position
within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it
battery-backed, independently of whether the general-purpose programming PC or PLC...etc power is on or
off. Therefore, once the home position is defined at the time of machine installation, home position return is
not needed when power is switched on thereafter.
If a power failure or a fault occurs, restoration is easy.
Driver
Servo amplifier

Home position return

Position control
data

Speed control
Point table No. selection, EEP-ROM memory
I/O circuit Current position
etc. LSO
1XO
1X
Position data, speed data Backup at LS
Detection of position
power off Speed detection
(current position read) within one revolution

MR-J3BAT
LEC-MR-BAT
Servo motor

1 pulse/rev. Cumulative revolution counter High-speed serial

communication
Within one-revolution counter

(5) Battery installation procedure

Before installing a battery, turn off the main circuit power while keeping the control
circuit power on. Wait for 15 minutes or more until the charge lamp turns off. Then,
WARNING confirm that the voltage between P( ) and N( ) is safe with a voltage tester and
others. Otherwise, an electric shock may occur. In addition, always confirm from
the front of the driver whether the charge lamp is off or not.

POINT

5 - 60
5. OPERATION

The internal circuits of the driver may be damaged by static electricity.

Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical
parts, directly by hand.
Before starting battery changing procedure, make sure that the main circuit
power is switched OFF with the control circuit power ON. When battery is
changed with the control power OFF, the absolute position data is lost.

5 - 61
5. OPERATION

(a) LECSC□-□

POINT
For the driver with a battery holder on the bottom, it is not possible to wire for
the earth with the battery installed. Insert the battery after executing the earth
wiring of the driver.

Insert connector into CN4.

(b) Parameter setting

Set parameter No.PA03 (Absolute position detection system) as indicated below to make the absolute
position detection system valid.
Parameter No.PA03
1

Selection of absolute position detection system

0: Incremental system
1: Absolute position detection system

5 - 62
5. OPERATION

MEMO

5 - 63
6. PARAMETERS

6. PARAMETERS ..............................................................................................................................................2
6.1 Basic setting parameters (No.PA ) .....................................................................................................2
6.1.1 Parameter list ....................................................................................................................................2
6.1.2 Parameter write inhibit.......................................................................................................................3
6.1.3 Selection of command system ..........................................................................................................4
6.1.4 Selection of regenerative option........................................................................................................4
6.1.5 Using absolute position detection system .........................................................................................5
6.1.6 Follow-up for absolute value command system in incremental system ............................................5
6.1.7 Feeding function selection.................................................................................................................6
6.1.8 Electronic gear ..................................................................................................................................7
6.1.9 Auto tuning ........................................................................................................................................8
6.1.10 In-position range..............................................................................................................................9
6.1.11 Torque limit....................................................................................................................................10
6.1.12 Selection of servo motor rotation direction....................................................................................11
6.1.13 Encoder output pulse ....................................................................................................................11
6.2 Gain/filter parameters (No.PB ) ......................................................................................................13
6.2.1 Parameter list ..................................................................................................................................13
6.2.2 Detail list ..........................................................................................................................................14
6.3 Extension setting parameters (No.PC ) ..........................................................................................21
6.3.1 Parameter list ..................................................................................................................................21
6.3.2 Detail list ..........................................................................................................................................22
6.3.3 S-pattern acceleration/deceleration ................................................................................................28
6.3.4 Alarm history clear...........................................................................................................................28
6.3.5 Rough match output ........................................................................................................................28
6.3.6 Software limit ...................................................................................................................................29
6.4 I/O setting parameters (No.PD ) .....................................................................................................30
6.4.1 Parameter list ..................................................................................................................................30
6.4.2 Detail list ..........................................................................................................................................31
6.4.3 Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid...........40
6.4.4 Stopping method when a software limit is detected ........................................................................41

6- 1
6. PARAMETERS

6. PARAMETERS
Never adjust or change the parameter values extremely as it will make operation
CAUTION instable.

POINT
For any parameter whose symbol is preceded by *, set the parameter value
and switch power off once, then switch it on again to make that parameter
setting valid.

In this driver, the parameters are classified into the following groups on a function basis.

Parameter group Main description

Basic setting parameters Make basic setting with these parameters. Generally, the operation is possible only with these
(No.PA ) parameter settings.
Gain/filter parameters Use these parameters when making gain adjustment manually.
(No.PB )
Extension setting parameters These parameters are inherent to the LECSC□-□ driver.
(No.PC )
I/O setting parameters Use these parameters when changing the I/O devices of the driver.
(No.PD )

Mainly setting the basic setting parameters (No.PA ) allows the setting of the basic parameters at the
time of introduction.

6.1 Basic setting parameters (No.PA )

6.1.1 Parameter list
No. Symbol Name Initial value Unit

PA01 *STY Control mode 0000h

PA02 *REG Regenerative option 0000h
PA03 *ABS Absolute position detection system 0000h
PA04 *AOP1 Function selection A-1 0000h
PA05 *FTY Feeding function selection 0000h
PA06 *CMX Electronic gear numerator 1
PA07 *CDV Electronic gear denominator 1
PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 12
PA10 INP In-position range 100 m
PA11 TLP Forward rotation torque limit 100.0 %
PA12 TLN Reverse rotation torque limit 100.0 %
PA13 For manufacturer setting 0002h
PA14 *POL Rotation direction selection 0
PA15 *ENR Encoder output pulses 4000 pulse/rev
PA16 For manufacturer setting 0000h
PA17 0000h
PA18 0000h
PA19 *BLK Parameter write inhibit 000Ch

6- 2
6. PARAMETERS

6.1.2 Parameter write inhibit

Parameter Initial
Unit Setting range
No. Symbol Name value
PA19 *BLK Parameter write inhibit 000Ch Refer to the text.

POINT
This parameter is made valid when power is switched off, then on after
setting.

In the factory setting, this driver allows changes to the basic setting parameter, gain/filter parameter and
extension setting parameter settings. With the setting of parameter No.PA19, write can be disabled to prevent
accidental changes.
The following table indicates the parameters which are enabled for reference and write by the setting of
parameter No.PA19. Operation can be performed for the parameters marked .

Basic setting Gain/Filter Extension setting I/O setting

Parameter No.PA19
Setting operation parameters parameters parameters parameters
setting
No.PA No.PB No.PC No.PD
Reference
0000h
Write
Reference
000Bh
Write
000Ch Reference
(initial value) Write
Reference
100Bh Parameter No.
Write
PA19 only
Reference
100Ch Parameter No.
Write
PA19 only

6- 3
6. PARAMETERS

6.1.3 Selection of command system

Parameter Initial
Unit Setting range
No. Symbol Name value
PA01 *STY Control mode 0000h Refer to the text.

POINT
This parameter is made valid when power is switched off, then on after
setting.

Select the command system.

Parameter No.PA01
0 0 0
Selection of command system
(Refer to section 5.4)
0: Absolute value command system
1: Incremental value command system

6.1.4 Selection of regenerative option

Parameter Initial
Unit Setting range
No. Symbol Name value
PA02 *REG Regenerative option 0000h Refer to the text.

POINT
This parameter is made valid when power is switched off, then on after
setting.
Wrong setting may cause the regenerative option to burn.
If the regenerative option selected is not for use with the driver, parameter
error (A37) occurs.

Set this parameter when using the regenerative option, brake unit, power regeneration converter, or power
regeneration common converter.
Parameter No.PA02
0 0
Selection
Selectionofofregenerative
regenerativeoption
option
00:
00：Regenerative
Regenerativeoption
optionisisnot
notused
used
For servo amplifier of 100W, regenerative resistor is not used.
・For 100W driver regenerative resistor is not used
For servo amplifier of 200 to 7kW, built-in regenerative resistor is used.
・For 200W
Supplied driver regenerative
regenerative resistors resistor is used option is used with
or regenerative
02：LEC-MR-RB032
the servo amplifier of 11k to 22kW.
01: LEC-MR-RB012
03：FR-BU2-(H) FR-RC-(H) FR-CV-(H)
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50(Cooling fan is required)
08: MR-RB31
09: MR-RB51(Cooling fan is required)
80: MR-RB1H-4
81: MR-RB3M-4(Cooling fan is required)
82: MR-RB3G-4(Cooling fan is required)
83: MR-RB5G-4(Cooling fan is required)
84: MR-RB34-4(Cooling fan is required)
85: MR-RB54-4(Cooling fan is required)
FA: When the supplied regenerative resistor is cooled by the cooling
fan to increase the ability with the servo amplifier of 11k to 22kW.

6- 4
6. PARAMETERS

6.1.5 Using absolute position detection system

Parameter Initial
Unit Setting range
No. Symbol Name value
PA03 *ABS Absolute position detection system 0000h Refer to the text.

POINT
This parameter is made valid when power is switched off, then on after
setting.

Set this parameter when using the absolute position detection system.
Parameter No.PA03

0 0 0
Selection of absolute position detection system (refer to section 5.7)
0: Used in incremental system
1: Used in absolute position detection system

6.1.6 Follow-up for absolute value command system in incremental system

Parameter Initial
Unit Setting range
No. Symbol Name value
PA04 *AOP1 Function selection A-1 0000h Refer to the text.

POINT
This parameter is made valid when power is switched off, then on after
setting.

If this parameter is made valid, the home position is not lost in the servo-off or forced stop state, and the
operation can be resumed when the servo-on (RYn0) or forced stop (EMG) is deactivated.
Parameter No.PA04
0 0 0
Servo-on (RYn0) -off, forced stop (EMG) -off
follow-up for absolute value command
in incremental system
0: Invalid
1: Valid
Normally, when this servo amplifier is used
in the absolute value command method of the
incremental system, placing it in a servo off or
forced stop status will erase the home position.
When "1" is set in this parameter, the home
position will not be erased if the servo amplifier is
placed in a servo-off or forced stop status or if the
alarm that can be deactivated by resetting occurs.
The operation can be resumed when the servo-on
(RYn0) or forced stop (EMG) is deactivated or an
alarm is deactivated by resetting (RES).

6- 5
6. PARAMETERS

6.1.7 Feeding function selection

Parameter Initial
Unit Setting range
No. Symbol Name value
PA05 *FTY Feeding function selection 0000h Refer to the text.

POINT
This parameter is made valid when power is switched off, then on after
setting.

Select the feed length multiplication and the manual pulse generator input multiplication.
Parameter No.PA05
0 0
Feed length Position data input range [mm]
Setting multiplication Feed unit
[ m] Absolute value Incremental value
value factor (STM)
command system command system
[times]
0 1 1 999.999 to 999.999 0 to 999.999
1 10 10 9999.99 to 9999.99 0 to 9999.99
2 100 100 99999.9 to 99999.9 0 to 99999.9
3 1000 1000 999999 to 999999 0 to 999999

Manual pulse generator multiplication factor

0: 1 time
1: 10 times
2: 100 times

6- 6
6. PARAMETERS

6.1.8 Electronic gear

Parameter Initial
Unit Setting range
No. Symbol Name value
PA06 *CMX Electronic gear numerator 1 0 to 65535
PA07 *CDV Electronic gear denominator 1 1 to 65535

CAUTION False setting will result in unexpected fast rotation, causing injury.

POINT
This parameter is made valid when power is switched off, then on after
setting.
1 CMX
The range of the electronic gear setting is 2000. If you set any
10 CDV
value outside this range, a parameter error (A37) occurs.
Setting "0" in parameter No.PA06 automatically sets the encoder resolution
pulse.

(1) Concept of electronic gear

Use the electronic gear (parameters No.PA06, PA07) to make adjustment so that the driver setting
matches the moving distance of the machine. Also, by changing the electronic gear value, the machine can
be moved at any multiplication ratio to the moving distance on the driver.
CMX Parameters No.PA06 Motor
distance

CMX + Deviation
Moving

CDV Parameters No.PA07 CDV - counter

Encoder feedback pulses

Electronic gear
Parameters No.PA06,PA07 Encoder

The following examples are used to explain how to calculate the electronic gear value.

POINT
The following specification symbols are needed for electronic gear
calculation.
Pb : Ball screw lead [mm]
n : Reduction ratio
Pt : Servo motor resolution [pulse/rev]
S : Travel per servo motor revolution [mm/rev]

(a) Ball screw setting example n

Machine specifications n=NL/NM=1/2
NL
Ball screw lead: Pb 10 [mm] Pb=10[mm]
Reduction ratio: n 1/2 NM
Servo motor 262144[pulse/rev]
Servo motor resolution: Pt 262144 [pulse/rev]

CMX pt pt 262144 262144 32768

CDV S n pb 1000 1/2 10 1000 5000 625

Hence, set 32768 to CMX and 625 to CDV.

6- 7
6. PARAMETERS

(b) Conveyor setting example r=160[mm]

Machine specifications

Pulley diameter: r 160 [mm] n Servo motor

262144[pulse/rev]
Reduction ratio: n 1/3 NL NM
Servo motor resolution: Pt 262144 [pulse/rev] n=NL/NM=1/3

CMX pt pt 262144 262144 32768

CDV S n r 1000 1/3 160 1000 167551.61 20944

Reduce CMX and CDV to the setting range or less, and round off the first decimal place.
Hence, set 32768 to CMX and 20944 to CDV.

6.1.9 Auto tuning

Parameter Initial
Unit Setting range
No. Symbol Name value
PA08 ATU Auto tuning mode 0001h Refer to the text.
PA09 RSP Auto tuning response 12 1 to 32

Make gain adjustment using auto tuning. Refer to section 8.2 for details.

(1) Auto tuning mode (parameter No.PA08)

Select the gain adjustment mode.
Parameter No.PA08
0 0 0
Gain adjustment mode setting
Setting Gain adjustment mode Automatically set parameter No. (Note)
0 Interpolation mode PB06 PB08 PB09 PB10
1 Auto tuning mode 1 PB06 PB07 PB08 PB09 PB10
2 Auto tuning mode 2 PB07 PB08 PB09 PB10
3 Manual mode

Note. The parameters have the following names.

Parameter No. Name

PB06 Ratio of load inertia moment to servo motor inertia moment
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation

6- 8
6. PARAMETERS

(2) Auto tuning response (parameter No.PA09)

If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g.
shorten the settling time, increase the set value.

Guideline for machine Guideline for machine

Setting Response Setting Response
resonance frequency [Hz] resonance frequency [Hz]
1 Low response 10.0 17 Low response 67.1
2 11.3 18 75.6
3 12.7 19 85.2
4 14.3 20 95.9
5 16.1 21 108.0
6 18.1 22 121.7
7 20.4 23 137.1
8 23.0 24 154.4
9 25.9 25 173.9
10 29.2 26 195.9
11 32.9 27 220.6
12 37.0 28 248.5
13 41.7 29 279.9
14 47.0 30 315.3
15 52.9 31 355.1
16 Middle response 59.6 32 Middle response 400.0

6.1.10 In-position range

Parameter Initial
Unit Setting range
No. Symbol Name value
PA10 INP In-position range 100 m 0 to 10000

Set the range, where In position (RXn1) and Movement completion (RXnC) are output, in the command pulse
unit before calculation of the electronic gear. With the setting of parameter No.PC24, the range can be
changed to the encoder output pulse unit.
Servo motor Droop pulse

Command pulse Command pulse

In-position range [ m]
Droop pulse

ON
In position (RXn1)
OFF

6- 9
6. PARAMETERS

6.1.11 Torque limit

Parameter Initial
Unit Setting range
No. Symbol Name value
PA11 TLP Forward rotation torque limit 100.0 % 0 to 100.0
PA12 TLN Reverse rotation torque limit 100.0 % 0 to 100.0

The torque generated by the servo motor can be limited.

(1) Forward rotation torque limit (parameter No.PA11)

Set this parameter on the assumption that the maximum torque is 100[%]. Set this parameter when limiting
the torque of the servo motor in the CCW driving mode or CW regeneration mode. Set this parameter to
"0.0" to generate no torque.

(2) Reverse rotation torque limit (parameter No.PA12)

Set this parameter on the assumption that the maximum torque is 100[%]. Set this parameter when limiting
the torque of the servo motor in the CW driving mode or CCW regeneration mode. Set this parameter to
"0.0" to generate no torque.

6 - 10
6. PARAMETERS

6.1.12 Selection of servo motor rotation direction

Parameter Initial
Unit Setting range
No. Symbol Name value
PA14 *POL Rotation direction selection 0 0 1

POINT
This parameter is made valid when power is switched off, then on after
setting.

Select servo motor rotation direction relative to the input pulse train.

Servo Motor Rotation Direction

Parameter No.PA14
Forward rotation start (Ryn1) Reverse rotation start (Ryn2)
Setting
ON ON
0 CCW CW
1 CW CCW

Forward rotation (CCW)

Reverse rotation (CW)

6.1.13 Encoder output pulse

Parameter Initial
Unit Setting range
No. Symbol Name value
pulse/
PA15 *ENR Encoder output pulse 4000 1 to 65535
rev

POINT
This parameter is made valid when power is switched off, then on after
setting.

Used to set the encoder pulses (A-phase, B-phase) output by the driver.
Set the value 4 times greater than the A-phase or B-phase pulses.
You can use parameter No.PC19 to choose the output pulse setting or output division ratio setting.
The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses.
The maximum output frequency is 4.6Mpps (after multiplication by 4). Use this parameter within this range.

6 - 11
6. PARAMETERS

(1) For output pulse designation

Set " 0 " (initial value) in parameter No.PC19.
Set the number of pulses per servo motor revolution.
Output pulse set value [pulses/rev]
For instance, set "5600" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated
below.

A B-phase output pulses 5600 1400[pulse]

4

(2) For output division ratio setting

Set " 1 " in parameter No.PC19.
The number of pulses per servo motor revolution is divided by the set value.

Output pulse Resolution per servo motor revolution

[pulses/rev]
Set value

For instance, set "8" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated below.

A B-phase output pulses 262144 1 8192[pulse]

8 4

(3) When outputting pulse train similar to command pulses

Set parameter No.PC19 to " 2 ". The feedback pulses from the servo motor encoder are processed
and output as shown below. The feedback pulses can be output in the same pulse unit as the command
pulses.
Motor

Feedback pulses

Encoder

Parameter No.PA06 PA07

CDV
A-phase/B-phase output pulses
CMX

6 - 12
6. PARAMETERS

6.2 Gain/filter parameters (No.PB )

6.2.1 Parameter list
No. Symbol Name Initial value Unit

PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h

PB02 VRFT Vibration suppression control tuning mode 0000h
(Advanced vibration suppression control)
PB03 For manufacturer setting 0000h
PB04 FFC Feed forward gain 0 %
PB05 For manufacturer setting 500
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 7.0 Multiplier
( 1)
PB07 PG1 Model loop gain 24 rad/s
PB08 PG2 Position loop gain 37 rad/s
PB09 VG2 Speed loop gain 823 rad/s
PB10 VIC Speed integral compensation 33.7 ms
PB11 VDC Speed differential compensation 980
PB12 For manufacturer setting 0
PB13 NH1 Machine resonance suppression filter 1 4500 Hz
PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression filter 2 4500 Hz
PB16 NHQ2 Notch shape selection 2 0000h
PB17 Automatic setting parameter
PB18 LPF Low-pass filter 3141 rad/s
PB19 VRF1 Vibration suppression control vibration frequency setting 100.0 Hz
PB20 VRF2 Vibration suppression control resonance frequency setting 100.0 Hz
PB21 For manufacturer setting 0.00
PB22 0.00
PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression control selection 0000h
PB25 For manufacturer setting 0000h
PB26 *CDP Gain changing selection 0000h
PB27 CDL Gain changing condition 10
PB28 CDT Gain changing time constant 1 ms
PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment 7.0 Multiplier
( 1)
PB30 PG2B Gain changing position loop gain 37 rad/s
PB31 VG2B Gain changing speed loop gain 823 rad/s
PB32 VICB Gain changing speed integral compensation 33.7 ms
PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 100.0 Hz
PB34 VRF2B Gain changing vibration suppression control resonance frequency setting 100.0 Hz
PB35 For manufacturer setting 0.00
PB36 0.00
PB37 100
PB38 0
PB39 0
PB40 0
PB41 1125
PB42 1125
PB43 0004h
PB44 0000h
PB45 0000h

6 - 13
6. PARAMETERS

6.2.2 Detail list

Setting
No. Symbol Name and function Initial value Unit
range
PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h
Select the setting method for filter tuning. Setting this parameter to " 1"
(filter tuning mode 1) automatically changes the machine resonance
suppression filter 1 (parameter No.PB13) and notch shape selection (parameter
No.PB14).
mechanical system

Machine resonance point

Response of

Frequency
Notch depth

Frequency
Notch frequency

0 0 0
Filter tuning mode selection

Setting Filter adjustment mode Automatically set parameter

0 Filter OFF (Note)
Parameter No.PB13
1 Filter tuning mode
Parameter No.PB14
2 Manual mode
Note. Parameter No.PB13 and PB14 are fixed to the initial values.

When this parameter is set to " 1", the tuning is completed after
positioning is done the predetermined number or times for the predetermined
period of time, and the setting changes to " 2". When the filter tuning is
not necessary, the setting changes to " 0". When this parameter is set to
" 0", the initial values are set to the machine resonance suppression filter
1 and notch shape selection. However, this does not occur when the servo off.

6 - 14
6. PARAMETERS

Setting
No. Symbol Name and function Initial value Unit
range
PB02 VRFT Vibration suppression control tuning mode (Advanced vibration suppression 0000h
control)
The vibration suppression is valid when the parameter No.PA08 (auto tuning)
setting is " 2" or " 3". When PA08 is " 1", vibration
suppression is always invalid.
Select the setting method for vibration suppression control tuning. Setting this
parameter to " 1" (vibration suppression control tuning mode)
automatically changes the vibration suppression control - vibration frequency
(parameter No.PB19) and vibration suppression control - resonance frequency
(parameter No.PB20) after positioning is done the predetermined number of
times.

Droop pulse Droop pulse

Automatic
Command adjustment Command
Machine side Machine side
position position

0 0 0
Vibration suppression control tuning mode

Vibration suppression Automatically set

Setting
control tuning mode parameter
Vibration suppression
0 (Note)
control OFF
Vibration suppression
control tuning mode Parameter No.PB19
1
(Advanced vibration Parameter No.PB20
suppression control)
2 Manual mode
Note. Parameter No.PB19 and PB20 are fixed to the initial values.

When this parameter is set to " 1", the tuning is completed after
positioning is done the predetermined number or times for the predetermined
period of time, and the setting changes to " 2". When the vibration
suppression control tuning is not necessary, the setting changes to " 0".
When this parameter is set to " 0", the initial values are set to the
vibration suppression control - vibration frequency and vibration suppression
control - resonance frequency. However, this does not occur when the servo off.
PB03 For manufacturer setting 0000h
Do not change this value by any means.
PB04 FFC Feed forward gain 0 % 0
Set the feed forward gain. When the setting is 100%, the droop pulses during to
operation at constant speed are nearly zero. However, sudden 100
acceleration/deceleration will increase the overshoot. As a guideline, when the
feed forward gain setting is 100%, set 1s or more as the
acceleration/deceleration time constant up to the rated speed.

6 - 15
6. PARAMETERS

Setting
No. Symbol Name and function Initial value Unit
range
PB05 For manufacturer setting 500
Do not change this value by any means.
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 7.0 Multiplier 0
Used to set the ratio of the load inertia moment to the servo motor shaft inertia ( 1) to
moment. When auto tuning mode 1 and interpolation mode is selected, the 300.0
result of auto tuning is automatically used.
(Refer to section 8.1.1)
In this case, it varis between 0 and 100.0.
PB07 PG1 Model loop gain 24 rad/s 1
Set the response gain up to the target position. to
Increase the gain to improve track ability in response to the command. 2000
When auto turning mode 1,2 is selected, the result of auto turning is
automatically used.
PB08 PG2 Position loop gain 37 rad/s 1
Used to set the gain of the position loop. to
Set this parameter to increase the position response to level load disturbance. 1000
Higher setting increases the response level but is liable to generate vibration
and/or noise.
When auto tuning mode 1,2 and interpolation mode is selected, the result of
auto tuning is automatically used.
PB09 VG2 Speed loop gain 823 rad/s 20
Set this parameter when vibration occurs on machines of low rigidity or large to
backlash. 50000
Higher setting increases the response level but is liable to generate vibration
and/or noise.
When auto tuning mode 1,2 manual mode and interpolation mode is selected,
the result of auto tuning is automatically used.
PB10 VIC Speed integral compensation 33.7 ms 0.1
Used to set the integral time constant of the speed loop. to
Lower setting increases the response level but is liable to generate vibration 1000.0
and/or noise.
When auto tuning mode 1,2 and interpolation mode is selected, the result of
auto tuning is automatically used.
PB11 VDC Speed differential compensation 980 0
Used to set the differential compensation. to
Made valid when the proportion control (RY(n 2)7) is switched on. 1000
PB12 For manufacturer setting 0
Do not change this value by any means.
PB13 NH1 Machine resonance suppression filter 1 4500 Hz 100
Set the notch frequency of the machine resonance suppression filter 1. to
Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically 4500
changes this parameter.
When the parameter No.PB01 setting is " 0", the setting of this parameter
is ignored.

6 - 16
6. PARAMETERS

Setting
No. Symbol Name and function Initial value Unit
range
PB14 NHQ1 Notch shape selection 1 0000h Refer to
Used to selection the machine resonance suppression filter 1. name and
function
0 0 column.

Notch depth selection

Setting value Depth Gain
0 Deep -40dB
1 -14dB
to
2 -8dB
3 Shallow -4dB

Notch width
Setting value Width
0 Standard 2
1 3
to
2 4
3 Wide 5

Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically

changes this parameter.
When the parameter No.PB01 setting is " 0", the setting of this parameter
is ignored.
PB15 NH2 Machine resonance suppression filter 2 4500 Hz 100
to
Set the notch frequency of the machine resonance suppression filter 2.
4500
Set parameter No.PB16 (notch shape selection 2) to " 1" to make this
parameter valid.
PB16 NHQ2 Notch shape selection 2 0000h Refer to
Select the shape of the machine resonance suppression filter 2. name and
function
0 column.

Machine resonance suppression filter 2 selection

0: Invalid
1: Valid

Notch depth selection

Setting value Depth Gain
0 Deep -40dB
1 -14dB
to
2 -8dB
3 Shallow -4dB

Notch width
Setting value Width
0 Standard 2
1 3
to
2 4
3 Wide 5

PB17 Automatic setting parameter

The value of this parameter is set according to a set value of parameter
No.PB06 (Ratio of load inertia moment to servo motor inertia moment).

6 - 17
6. PARAMETERS

Setting
No. Symbol Name and function Initial value Unit
range
PB18 LPF Low-pass filter 3141 rad/s 100
Set the low-pass filter. to
Setting parameter No.PB23 (low-pass filter selection) to " 0 " 18000
automatically changes this parameter.
When parameter No.PB23 is set to " 1 ", this parameter can be set
manually.
PB19 VRF1 Vibration suppression control vibration frequency setting 100.0 Hz 0.1
Set the vibration frequency for vibration suppression control to suppress low- to
frequency machine vibration, such as enclosure vibration. 100.0
Setting parameter No.PB02 (vibration suppression control tuning mode) to "
1" automatically changes this parameter. When parameter No.PB02 is set to
" 2", this parameter can be set manually.
PB20 VRF2 Vibration suppression control resonance frequency setting 100.0 Hz 0.1
Set the resonance frequency for vibration suppression control to suppress low- to
frequency machine vibration, such as enclosure vibration. 100.0
Setting parameter No.PB02 (vibration suppression control tuning mode) to "
1" automatically changes this parameter. When parameter No.PB02 is set to
" 2", this parameter can be set manually.
PB21 For manufacturer setting 0.00
PB22 Do not change this value by any means. 0.00
PB23 VFBF Low-pass filter selection 0000h Refer to
Select the low-pass filter. name and
function
0 0 0 column.

Low-pass filter selection

0: Automatic setting
1: Manual setting (parameter No.PB18 setting)

When automatic setting has been selected, select the filter that has the band
VG2 10
width close to the one calculated with [rad/s]
1 + GD2

PB24 *MVS Slight vibration suppression control selection 0000h Refer to

Select the slight vibration suppression control. name and
When parameter No.PA08 (auto tuning mode) is set to " 3", this function
parameter is made valid. column.

0 0 0
Slight vibration suppression control selection
0: Invalid
1: Valid

6 - 18
6. PARAMETERS

Setting
No. Symbol Name and function Initial value Unit
range
PB25 For manufacturer setting 0000h
Do not change this value by any means.
PB26 *CDP Gain changing selection 0000h Refer to
Select the gain changing condition. (Refer to section 9.6.) name and
function
0 0 column.

Gain changing selection

Under any of the following conditions, the gains
change on the basis of the parameter No.PB29 to
PB32 settings.
0: Invalid
1: Gain changing (RX(n+2)8) is ON
2: Command frequency (Parameter No.PB27 setting)
3: Droop pulse value (Parameter No.PB27 setting)
4: Servo motor speed (Parameter No.PB27 setting)

Gain changing condition

0: Valid at more than condition (Valid when gain
changing (RX(n+2)8) is ON)
1: Valid at less than condition (Valid when gain
changing (RX(n+2)8) is OFF)

PB27 CDL Gain changing condition 10 kpps 0

Used to set the value of gain changing condition (command frequency, droop pulse to
pulses, servo motor speed) selected in parameter No.PB26. The set value unit r/min 9999
changes with the changing condition item. (Refer to section 9.6.)
PB28 CDT Gain changing time constant 1 ms 0
Used to set the time constant at which the gains will change in response to the to
conditions set in parameters No.PB26 and PB27. (Refer to section 9.6.) 100
PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment 7.0 Multiplier 0
Used to set the ratio of load inertia moment to servo motor inertia moment when ( 1) to
gain changing is valid. 300.0
This parameter is made valid when the auto tuning is invalid (parameter No.
PA08: 3).
PB30 PG2B Gain changing position loop gain 37 rad/s 1
Set the position loop gain when the gain changing is valid. to
This parameter is made valid when the auto tuning is invalid (parameter No. 2000
PA08: 3).
PB31 VG2B Gain changing speed loop gain 823 rad/s 20
Set the speed loop gain when the gain changing is valid. to
This parameter is made valid when the auto tuning is invalid (parameter No. 20000
PA08: 3).
Note. The setting range of 50000 applies to the driver whose software version is
A3 or later. The setting range of the driver whose software version is older
than A3 is 20 to 20000. When the software version of set up software(MR
Configurator) is A3 or earlier, 20001 or more cannot be set. Use the
display/operation section of the driver to set 20001 or more.
PB32 VICB Gain changing speed integral compensation 33.7 ms 0.1
Set the speed integral compensation when the gain changing is valid. to
This parameter is made valid when the auto tuning is invalid (parameter No. 5000.0
PA08: 3).

6 - 19
6. PARAMETERS

Setting
No. Symbol Name and function Initial value Unit
range
PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 100.0 Hz 0.1
Set the vibration frequency for vibration suppression control when the gain to
changing is valid. This parameter is made valid when the parameter No.PB02 100.0
setting is " 2" and the parameter No.PB26 setting is " 1".
When using the vibration suppression control gain changing, always execute
the changing after the servo motor has stopped.
PB34 VRF2B Gain changing vibration suppression control resonance frequency setting 100.0 Hz 0.1
Set the resonance frequency for vibration suppression control when the gain to
changing is valid. This parameter is made valid when the parameter No.PB02 100.0
setting is " 2" and the parameter No.PB26 setting is " 1".
When using the vibration suppression control gain changing, always execute
the changing after the servo motor has stopped.
PB35 For manufacturer setting 0.00
PB36 Do not change this value by any means. 0.00
PB37 100
PB38 0
PB39 0
PB40 0
PB41 1125
PB42 1125
PB43 0004h
PB44 0000h
PB45 0000h

6 - 20
6. PARAMETERS

6.3 Extension setting parameters (No.PC )

6.3.1 Parameter list
No. Symbol Name and function Initial value Unit
PC01 For manufacturer setting 0000h
PC02 *ZTY Home position return type 0000h
PC03 *ZDIR Home position return direction 0001h
PC04 ZRF Home position return speed 500 r/min
PC05 CRF Creep speed 10 r/min
PC06 ZST Home position shift distance 0 m
STM
PC07 *ZPS Home position return position data 0 10 m
STM
PC08 DCT Moving distance after proximity dog 1000 10 m
PC09 ZTM Stopper type home position return stopper time 100 ms
PC10 ZTT Stopper type home position return torque limit value 15.0 %
STM
PC11 CRP Rough match output range 0 10 m
PC12 JOG Jog speed 100 r/min
PC13 *STC S-pattern acceleration/deceleration time constant 0 ms
PC14 *BKC Backlash compensation 0 pulse
PC15 For manufacturer setting 0000h
PC16 MBR Electromagnetic brake sequence output 100 ms
PC17 ZSP Zero speed 50 r/min
PC18 *BPS Alarm history clear 0000h
PC19 *ENRS Encoder output pulse selection 0000h
PC20 *SNO Station number setting 0 station
PC21 *SOP RS-422 communication function selection 0000h
PC22 *COP1 Function selection C-1 0000h
PC23 For manufacturer setting 0000h
PC24 *COP3 Function selection C-3 0000h
PC25 For manufacturer setting 0000h
PC26 *COP5 Function selection C-5 0000h
PC27 For manufacturer setting 0000h
PC28 *COP7 Function selection C-7 0000h
PC29 For manufacturer setting 0000h
PC30 *DSS Remote register-based position/speed specifying system selection 0000h
STM
PC31 LMPL Software limit 0 10 m
PC32 LMPH
STM
PC33 LMNL Software limit 0 10 m
PC34 LMNH
PC35 TL2 Internal torque limit 2 100.0 %
PC36 For manufacturer setting 0000h
STM
PC37 *LPPL Position range output address 0 10 m
PC38 *LPPH
STM
PC39 *LNPL Position range output address 0 10 m
PC40 *LNPH
PC41 For manufacturer setting 0000h
PC42 0000h
PC43 0000h
PC44 0000h
PC45 0000h
PC46 0000h
PC47 0000h
PC48 0000h

6 - 21
6. PARAMETERS

No. Symbol Name and function Initial value Unit

PC49 For manufacturer setting 0000h
PC50 0000h

6.3.2 Detail list

No. Symbol Name and function Initial value Unit Setting range
PC01 For manufacturer setting 0000h
Do not change this value by any means.
PC02 *ZTY Home position return type 0000h Refer to
Used to set the home position return system. (Refer to section 5.6.) name and
function
0 0 0 column.
Home position return system
0: Dog type
1: Count type
2: Data setting type
3: Stopper type
4: Home position ignorance
(Servo-on position as home position)
5: Dog type rear end reference
6: Count type front end reference
7: Dog cradle type
8: Dog type right-before Z-phase reference
9: Dog type front end reference
A: Dogless Z-phase reference

PC03 *ZDIR Home position return direction 0001h Refer to

Used to set the home position return direction. name and
function
0 0 0 column.

Home position return direction

0: Address increment direction
1: Address decrement direction

PC04 ZRF Home position return speed 500 r/min 0 to

Used to set the servo motor speed for home position return. permissible
(Refer to section 5.6.) speed
PC05 CRF Creep speed 10 r/min 0 to
Used to set the creep speed after proximity dog detection. permissible
(Refer to section 5.6.) speed
PC06 ZST Home position shift distance 0 m 0
Used to set the shift distance starting at the Z-phase pulse detection position to
inside the encoder. (Refer to section 5.6.) 65535
STM
PC07 *ZPS Home position return position data 0 10 m 32768
Used to set the current position on completion of home position return. to
(Refer to section 5.6.) 32767
STM
PC08 DCT Moving distance after proximity dog 1000 10 m 0
Used to set the moving distance after proximity dog in count type home to
position return. (Refer to section 5.6.) 65535
PC09 ZTM Stopper type home position return stopper time 100 ms 5
In stopper type home position return, used to set the time from when the to
machine part is pressed against the stopper and the torque limit set in 1000
parameter No.PC10 is reached to when the home position is set.
(Refer to section 5.6.5.)

6 - 22
6. PARAMETERS

No. Symbol Name and function Initial value Unit Setting range
PC10 ZTT Stopper type home position return torque limit value 15.0 % 1
Used to set the torque limit value relative to the max. torque in [%] in stopper to
type home position return. (Refer to section 5.6.5.) 100.0
STM
PC11 CRP Rough match output range 0 10 m 0
Used to set the command remaining distance range where the rough match to
(RXn2) is output. 65535
PC12 JOG Jog speed 100 r/min 0
Used to set the jog speed command. to permissible
speed
PC13 *STC S-pattern acceleration/deceleration time constant 0 ms 0
Set when inserting S-pattern time constant into the acceleration/deceleration to
time constant of the point table. (Refer to section 6.3.3.) 1000
This time constant is invalid for home position return.
PC14 *BKC Backlash compensation 0 pulse 0
Used to set the backlash compensation made when the command to
direction is reversed. 32000
This function compensates for the number of backlash pulses in the
opposite direction to the home position return direction.
For the home position ignorance (servo-on position as home position), this
function compensates for the number of backlash pulses in the opposite
direction to the first rotating direction after establishing the home position
by switching ON the servo-on (RYn0).
In the absolute position detection system, this function compensates for
the backlash pulse count in the direction opposite to the operating direction
at power-on.
PC15 For manufacturer setting 0000h
Do not change this value by any means.
PC16 MBR Electromagnetic brake sequence output 100 ms 0
Used to set the delay time (Tb) between when the electromagnetic brake to
interlock (MBR) switches off and when the base circuit is shut off. 1000
PC17 ZSP Zero speed 50 r/min 0
Used to set the output range of the zero speed (ZSP). to
Zero speed signal detection has hysteresis width of 20r/min. 10000
PC18 *BPS Alarm history clear 0000h Refer to
Used to clear the alarm history. name and
function
0 0 0 column.
Alarm history clear
0: Invalid
1: Valid
When alarm history clear is made valid,
the alarm history is cleared at next power-on.
After the alarm history is cleared, the setting
is automatically made invalid (reset to 0).

6 - 23
6. PARAMETERS

No. Symbol Name and function Initial value Unit Setting range
PC19 *ENRS Encoder output pulse selection 0000h Refer to
Use to select the, encoder output pulse direction and encoder output name and
pulse setting. function
column.
0 0
Encoder output pulse phase changing
Changes the phases of A, B-phase encoder pulses
output .

Servo motor rotation direction

Set value
CCW CW
A-phase A-phase
0
B-phase B-phase

A-phase A-phase
1
B-phase B-phase

Encoder output pulse setting selection (refer to parameter No.PA15).

0: Output pulse designation
1: Division ratio setting
2: Ratio is automatically set to command pulse unit
Setting "2" makes the parameter No.PA15 (encoder output pulse)
setting invalid.

PC20 *SNO Station number setting 0 station 0

Used to specify the station number for RS-422 serial communication and to
USB communication. 31
Always set one station to one axis of driver. If one station number is set
to two or more stations, normal communication cannot be made.
PC21 *SOP RS-422 communication function selection 0000h Refer to
Select the communication I/F and select the RS-422 communication name and
conditions. function
column.
0 0
RS-422 communication baud rate selection
0: 9600 [bps]
1: 19200 [bps]
2: 38400 [bps]
3: 57600 [bps]
4: 115200[bps]
RS-422 communication response delay time
0: Invalid
1: Valid, reply sent after delay time of 800 s or more

PC22 *COP1 Function selection C-1 0000h Refer to the

Select the encoder cable communication system selection. name and
function
0 0 0 field.

Encoder cable communication system selection

0: Two-wire type
1: Four-wire type
The
The following
following encoder
cables are cables are of
of 2-wire 4-wire type.
type.
MR-EKCBL30M-L
LE-CSE-□2□
MR-EKCBL30M-H
LE-CSE-□5□
MR-EKCBL40M-H
LE-CSE-□A□
MR-EKCBL50M-H
The other encoder cables are all of 2-wire type.
settinf will
Incorrect setting will result
result in
in an
an encoder
encoder alarm 1
alarm1(A16)
(A16) or encoder
or encoder alarm 2alarm2(A20)
(A20).

6 - 24
6. PARAMETERS

No. Symbol Name and function Initial value Unit Setting range
PC23 For manufacturer setting 0000h
Do not change this value by any means.
PC24 *COP3 Function selection C-3 0000h Refer to
Select the unit of the in-position range. name and
function
0 0 0 column.

In-position range unit selection

0: Command input unit
1: Servo motor encoder unit

PC25 For manufacturer setting 0000h

Do not change this value by any means.
PC26 *COP5 Function selection C-5 0000h Refer to
Select the stroke limit warning (A99). name and
function
0 0 0 column.

Stroke limit warning (A99) selection

0: Valid
1: Invalid
When this parameter is set to "1", A99 will not
occur if the forward rotation stroke end (LSP) or
reverse rotation stroke end (LSN) turns OFF.

PC27 For manufacturer setting 0000h

Do not change this value by any means.
PC28 *COP7 Function selection C-7 0000h Refer to
Select the display method of the current position and command position. name and
function
0 0 column.

Electronic gear fraction clear selection

0: Invalid
1: Valid
By setting it to "1", the fraction of the last command
by the electronic gear is cleared when starting
automatic operation.

Current position and command position display

selection

Setting Display Operation Status display

value method mode Current position Command position
0 Positioning Automatic The actual current The command current
display position where the position where the
machine home machine home
Manual position is assumed position is assumed
as 0 is displayed. as 0 is displayed.
1 Roll feed Automatic The actual current The count starts from
display position where the 0 when the start signal
automatic operation is turned on, and the
start position is command current
assumed as 0 is position to the target
displayed. position is displayed.
During a stop, the
command position of
the selected point
table is displayed.
Manual The command
position of the
selected point table is
displayed.

6 - 25
6. PARAMETERS

No. Symbol Name and function Initial value Unit Setting range
PC29 For manufacturer setting 0000h
Do not change this value by any means
PC30 *DSS Remote register-based position/speed specifying system selection 0000h Refer to
This parameter is made valid when Position/speed specification selection name and
(RY(n 2)A) is turned ON with 2 stations occupied. Select how to receive the function
position command and speed command. column.
When 1 station is occupied, selection of "0001" or "0002" will result in a
parameter error.

0 0 0

Set value Position command Speed command

0 Specify the point table No.
1 Specify the point table No.
Set the position data.
2 Set the servo motor speed. (Note)

Note. In the case, always set an acceleration/deceleration time constant in

the point table No.1.

STM
PC31 LMPL Software limit 0 10 m 999999
PC32 LMPH Used to set the address increment side software stroke limit. The software to
limit is made invalid if this value is the same as in "software limit ". 999999
(Refer to section 6.3.6.)
Set the same sign to parameters No.PC31 and No.PC32. Setting of different
signs will result in a parameter error.
Set address:
Upper 3 Lower 3
digits digits

Parameter No.PC31
Parameter No.PC32

The software limit is a set of upper digits and lower digits. To change the
value, set in the order of lower digits to upper digits.
STM
PC33 LMNL Software limit 0 10 m 999999
PC34 LMNH Used to set the address decrement side software stroke limit. The software to
limit is made invalid if this value is the same as in "software limit ". 999999
(Refer to section 6.3.6.)
Set the same sign to parameters No.PC33 and PC34. Setting of different
signs will result in a parameter error.
Set address:
Upper 3 Lower 3
digits digits
Parameter No.PC33
Parameter No.PC34

The software limit is a set of upper digits and lower digits. To change the
value, set in the order of lower digits to upper digits.
PC35 TL2 Internal torque limit 2 100.0 % 0
Set this parameter to limit servo motor torque on the assumption that the to
maximum torque is 100[%]. 100.0
When 0 is set, torque is not produced.
PC36 For manufacturer setting 0000h
Do not change this value by any means.

6 - 26
6. PARAMETERS

No. Symbol Name and function Initial value Unit Setting range
STM
PC37 *LPPL Position range output address 0 10 m 999999
PC38 *LPPH Used to set the address increment side position range output address. Set to
the same sign to parameters No.PC37 and PC38. Setting of different signs 999999
will result in a parameter error.
In parameters No.PC37 to PC40, set the range where position range (RXnE)
turns on.
Set address:
Upper 3 Lower 3
digits digits
Parameter No.PC37
Parameter No.PC38

Position range output address is a set of upper digits and lower digits. To
change the value, set in the order of lower digits to upper digits.
STM
PC39 *LNPL Position range output address 0 10 m 999999
PC40 *LNPH Used to set the address decrement side position range output address. Set to
the same sign to parameters No.PC39 and PC40. Setting of different signs 999999
will result in a parameter error.
Set address:
Upper 3 Lower 3
digits digits
Parameter No.PC39
Parameter No.PC40

Position range output address is a set of upper digits and lower digits.
To change the value, set in the order of lower digits to upper digits.
PC41 For manufacturer setting 0000h
PC42 Do not change this value by any means. 0000h
PC43 0000h
PC44 0000h
PC45 0000h
PC46 0000h
PC47 0000h
PC48 0000h
PC49 0000h
PC50 0000h

6 - 27
6. PARAMETERS

6.3.3 S-pattern acceleration/deceleration

In servo operation, linear acceleration/deceleration is usually made. By setting the S-pattern acceleration/
deceleration time constant (parameter No.PC13), a smooth start/stop can be made. When the S-pattern time
constant is set, smooth positioning is executed as shown below. Note that the time equivalent to the S-pattern
time constant setting increases until positioning (RXnC) is complete.
Acceleration time Deceleration time
constant constant
Rated
speed

Preset
speed

Servo motor
speed
0 [r/min]
Ta Tb Ts
Ta Ts Tb

Ta: Time until preset speed is reached

Tb: Time until stop
Ts: S-pattern acceleration/deceleration time constant
(parameter No.PC13)
Setting range 0 to 1000ms

6.3.4 Alarm history clear

The alarm history can be confirmed by using the set up software(MR Configurator). The driver stores one
current alarm and five past alarms from when its power is switched on first. To control alarms which will occur
during operation, clear the alarm history using parameter No.PC18 (alarm history clear) before starting
operation. Clearing the alarm history automatically returns to " 0".
This parameter is made valid by switching power off, then on after setting.
Parameter No.16

0 0 0
Alarm history clear
0: Invalid (not cleared)
1: Valid (cleared)

6.3.5 Rough match output

Rough match (RXn2) is output when the command remaining distance reaches the value set in parameter
No.PC11 (rough match output range). The setting range is 0 to 65535 [ 10STM m].
Command remaining distance ( 10STM m)
set in parameter No.PC11

Actual servo motor speed

Servo motor
Command pulse
speed

Rough match ON
(RXn2) OFF
ON
In position (RXnC)
OFF

6 - 28
6. PARAMETERS

6.3.6 Software limit

A limit stop using a software limit (parameter No.PC31 to PC34) is made as in stroke end operation. When a
motion goes beyond the setting range, the motor is stopped and servo-locked. This function is made valid at
power-on but made invalid during home position return. This function is made invalid when the software limit
setting is the same as the software limit setting. A parameter error (A37) will occur if the software limit
setting is less than the software limit setting.

Inhibited area
Movable area

Unmovable Movable

Current position
Software limit

6 - 29
6. PARAMETERS

6.4 I/O setting parameters (No.PD )

6.4.1 Parameter list
No. Symbol Name Initial value Unit
PD01 *DIA1 Input signal automatic ON selection 1 0000h
PD02 For manufacturer setting 0000h
PD03 *DIA3 Input signal automatic ON selection 3 0000h
PD04 *DIA4 Input signal automatic ON selection 4 0000h
PD05 For manufacturer setting 0000h
PD06 *DI2 Input signal device selection 2 (CN6-2) 002Bh
PD07 *DI3 Input signal device selection 3 (CN6-3) 000Ah
PD08 *DI4 Input signal device selection 4 (CN6-4) 000Bh
PD09 *DO1 Output signal device selection 1 (CN6-14) 0002h
PD10 *DO2 Output signal device selection 2 (CN6-15) 0003h
PD11 *DO3 Output signal device selection 3 (CN6-16) 0024h
PD12 DIN1 External DI function selection 1 0C00h
PD13 For manufacturer setting 0000h
PD14 DIN3 External DI function selection 3 0800h
PD15 For manufacturer setting 0000h
PD16 *DIAB Input polarity selection 0000h
PD17 For manufacturer setting 0000h
PD18 0000h
PD19 *DIF Response level setting 0002h
PD20 *DOP1 Function selection D-1 0010h
PD21 For manufacturer setting 0000h
PD22 *DOP3 Function selection D-3 0000h
PD23 For manufacturer setting 0000h
PD24 *DOP5 Function selection D-5 0000h
PD25 For manufacturer setting 0000h
PD26 0000h
PD27 0000h
PD28 0000h
PD29 0000h
PD30 0000h

6 - 30
6. PARAMETERS

6.4.2 Detail list

Initial Setting
No. Symbol Name and function Unit
value range
PD01 *DIA1 Input signal automatic ON selection 1 0000h Refer to
Select the input devices to be automatically turned ON. name and
part is for manufacturer setting. Do not set the value by any means. function
column.

Initial value
Device name
BIN HEX
0
0
0
Servo-on (SON) 0
0

Initial value
Device name
BIN HEX
Proportion control (PC) 0
0
0
0
0

Initial value
Device name
BIN HEX
0
0
Forward rotation
0 0
stroke end (LSP)
Reverse rotation
0
stroke end (LSN)

Initial value
Device name
BIN HEX
Forced stop (EMG) 0
0
0
0
0
BIN 0: Used in CC-Link or as external
input signal.
BIN 1: Automatic ON

For example, to turn ON SON, the setting is " 4".

PD02 For manufacturer setting 0000h
Do not change this value by any means.

6 - 31
6. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PD03 *DIA3 Input signal automatic ON selection 3 0000h Refer to
Select the input devices to be automatically turned ON. name and
part is for manufacturer setting. Do not set the value by any means. function
column.
0 0 0
Initial value
Device name
BIN HEX
Automatic/manual
0
selection (MD0)
0 0
0
0
BIN 0: Used in CC-Link or as external
input signal.
BIN 1: Automatic ON

PD04 *DIA4 Input signal automatic ON selection 4 0000h Refer to

Select the input devices to be automatically turned ON. name and
function
0 0 column.
Initial value
Device name
BIN HEX
Point table No.
0
selection 1 (DI0)
Point table No.
0
selection 2 (DI1)
0
Point table No. 0
selection 3 (DI2)
Point table No.
0
selection 4 (DI3)

Initial value
Device name
BIN HEX
Point table No.
0
selection 5 (DI4)
Point table No.
0
selection 6 (DI5)
0
Point table No. 0
selection 7 (DI6)
Point table No.
0
selection 8 (DI7)
BIN 0: Used in CC-Link or as external
input signal.
BIN 1: Automatic ON

PD05 For manufacturer setting 0000h

Do not change this value by any means.

6 - 32
6. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PD06 *DI2 Output signal device selection 2 (CN6-2) 002Bh Refer to
Any input device can be assigned to the CN6-2 pin. name and
function
0 0 column.

Select the input device of the CN6-2 pin

The devices that can be assigned are indicated in the following table.
Setting Input device
(Note) Name Abbreviation
00 No assignment function
02 Servo-on SON
03 Reset RES
04 Proportion control PC
06 Clear CR
07 Forward rotation start ST1
08 Reverse rotation start ST2
09 Internal torque limit selection TL1
0A Forward rotation stroke end LSP
0B Reverse rotation stroke end LSN
0D Gain changing CDP
20 Automatic/manual selection MD0
24 Manual pulse generator multiplication 1 TP0
25 Manual pulse generator multiplication 2 TP1
27 Temporary stop/restart TSTP
2B Proximity dog DOG
Note. The other setting values than shown in this table are for manufacturer
setting.
PD07 *DI3 Output signal device selection 3 (CN6-3) 000Ah Refer to
Any input device can be assigned to the CN6-3 pin. name and
The devices that can be assigned and the setting method are the same as in function
parameter No.PD06. column.

0 0
Select the input device of the CN6-3 pin

PD08 *DI4 Output signal device selection 4 (CN6-4) 000Bh Refer to

Any input device can be assigned to the CN6-4 pin. name and
The devices that can be assigned and the setting method are the same as in function
parameter No.PD06. column.

0 0
Select the input device of the CN6-4 pin

6 - 33
6. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PD09 *DO1 Output signal device selection 1 (CN6-14) 0002h Refer to
Any output signal can be assigned to the CN6-14 pin. name and
function
0 0 column.

Select the output device of the CN6-14 pin

The devices that can be assigned are indicated in the following table.
Setting Output device
(Note) Name Symbol
00 Always OFF
02 Ready RD
03 Trouble ALM
04 In position INP
05 Electromagnetic brake interlock MBR
06 Dynamic brake interlock DB
07 Limiting torque TLC
08 Warning WNG
09 Battery warning BWNG
0A Speed command reached SA
0C Zero speed ZSP
0F Variable gain selection CDPS
23 Rough match CPO
24 Home position return completion ZP
25 Position range POT
26 Temporary stop PUS
27 Movement completion MEND
38 Point table No. output 1 PT0
39 Point table No. output 2 PT1
3A Point table No. output 3 PT2
3B Point table No. output 4 PT3
3C Point table No. output 5 PT4
3D Point table No. output 6 PT5
3E Point table No. output 7 PT6
3F Point table No. output 8 PT7
Note. The other setting values than shown in this table are for manufacturer
setting.

PD10 *DO2 Output signal device selection 2 (CN6-15) 0003h Refer to

Any output signal can be assigned to the CN6-15 pin. name and
The devices that can be assigned and the setting method are the same as in function
parameter No.PD09. column.

0 0
Select the output device of the CN6-15 pin

6 - 34
6. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PD11 *DO3 Output signal device selection 3 (CN6-16) 0024h Refer to
Any output signal can be assigned to the CN6-16 pin. name and
The devices that can be assigned and the setting method are the same as in function
parameter No.PD09. column.

0 0
Select the output device of the CN6-16 pin

PD12 DIN1 External DI function selection 1 0C00h Refer to

This function sets any signal imported from the CN6 connector. name and
part is for manufacturer setting. Do not set the value by any means. function
column.

Initial value
Device name
BIN HEX
0
0
0
Servo-on (SON) 0
Reset (RES) 0

Initial value
Device name
BIN HEX
Proportion control (PC) 0
0
Clear (CR) 0 0
Forward rotation start
0
(ST1)

Initial value
Device name
BIN HEX
Reverse rotation start
0
(ST2)
Internal torque limit
(TL1) 0
C
Forward rotation
1
stroke end (LSP)
Reverse rotation
stroke end (LSN) 1

Initial value
Device name
BIN HEX
0
Gain changing (CDP) 0
0
0
0
BIN 0: Used in CC-Link
BIN 1: Used in CN6 external input signal

PD13 For manufacturer setting 0000h

Do not change this value by any means.

6 - 35
6. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PD14 DIN3 External DI function selection 3 0800h Refer to
This function sets any signal imported from the CN6 connector. name and
part is for manufacturer setting. Do not set the value by any means. function
column.
0
Initial value
Device name
BIN HEX
Automatic/manual
0
selection (MD0)
0 0
0
0

Initial value
Device name
BIN HEX
0
0
0 0
Temporary
0
stop/Restart (TSTP)

Initial value
Device name
BIN HEX
0
0
8
0
Proximity dog (DOG) 1
BIN 0: Used in CC-Link
BIN 1: Used in CN6 external input signal

PD15 For manufacturer setting 0000h

Do not change this value by any means.
PD16 *DIAB Input polarity selection 0000h Refer to
Used to set the proximity dog input polarity. (Refer to section 5.6.) name and
function
0 0 0 column.

Proximity dog input polarity

0: OFF indicates detection of the dog
1: ON indicates detection of the dog

PD17 For manufacturer setting 0000h

PD18 Do not change this value by any means. 0000h
PD19 *DIF Response level setting 0002h Refer to
Used to select the input. name and
function
column.

6 - 36
6. PARAMETERS

0 0 0
Input filter
If external input signal causes chattering due
to noise, etc., input filter is used to suppress it.
0: None
1: 0.88[ms]
2: 1.77[ms]
3: 2.66[ms]
4: 3.55[ms]
5: 4.44[ms]

6 - 37
6. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PD20 *DOP1 Function selection D-1 0010h Refer to
Select the stop processing at forward rotation stroke end (LSN)/reverse rotation name and
stroke end (LSN) OFF and the base circuit status at reset (RY(N 1)A or function
RY(n 3)A) ON. column.

0
Stopping method used when forward rotation
stroke end (LSP), reverse rotation stroke
end (LSN) device or software limit is valid
0: Sudden stop (home position erased)
1: Slow stop (home position erased)
2: Slow stop (Deceleration to a stop by deceleration time constant)
3: Sudden stop (Stop by remaining move distance clear)
Selection of base circuit status at reset (RY(n+1)A or RY(n+3)A)ON
0: Base circuit not switched off
1: Base circuit switched off
Stopping method used when software limit is valid
0: Sudden stop (home position erased)
1: Slow stop (home position erased)
2: Slow stop (Deceleration to a stop by deceleration time constant)
3: Sudden stop (Stop by remaining move distance clear)

As in the following parameter settings, when the home position is lost by the
forward rotation stroke end, reverse rotation stroke end, or the software limit
detection, the home position return completion (ZP) turns on by turning OFF/ON
the servo-on (RYn0). In this case, there is no need to perform the home position
return again.
1. In absolute position detection system
Parameter No.PA03: 1 (Select the absolute position detection system)
Parameter No.PA01: 0 (Select the absolute value command system)
2. In incremental system
Parameter No.PA03: 0 (Select the incremental system)
Parameter No.PA01: 0 (Select the absolute value command system)
Parameter No.PA04: 1 (Follow-up valid)
PD21 For manufacturer setting 0000h
Do not change this value by any means.
PD22 *DOP3 Function selection D-3 0000h Refer to
Set the clear (RYnF). name and
function
0 0 0 column.

Clear (RYnF) selection

0: Droop pulses are cleared on the leading
edge.
1: While on, droop pulses are always cleared.

PD23 For manufacturer setting 0000h

Do not change this value by any means.

6 - 38
6. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PD24 *DOP5 Function selection D-5 0000h
Select the output status of the warning (WNG).

0 0 0
Selection of output device at warning occurrence
Select the warning (RXnA) and trouble (RX(n+1)A or
RX(n+3)A) output status at warning occurrence.
Setting (Note) Device status
1
RXnA
Remote 0
output RX(n+1)A or 1
RX(n+3)A 0
0 ON
Output WNG OFF
device ON
ALM OFF Warning
occurred.
1
RXnA
Remote 0
output RX(n+1)A or 1
RX(n+3)A 0
ON
1 Output WNG OFF
device ON
ALM OFF
Warning
occurred.

Note. 0: OFF
1: ON

PD25 For manufacturer setting 0000h

PD26 Do not change this value by any means. 0000h
PD27 0000h
PD28 0000h
PD29 0000h
PD30 0000h

6 - 39
6. PARAMETERS

6.4.3 Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid
The setting of the first digit of parameter No.PD20 enables to select a stopping method of the servo motor
when the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) turns off.
Parameter No.PD20

Stopping method used when forward rotation stroke end (LSP) or

reverse rotation stroke end (LSN) is valid
0: Sudden stop (home position erased)
1: Slow stop (home position erased)
2: Slow stop (Deceleration to a stop by deceleration time constant)
3: Sudden stop (Stop by remaining move distance clear)

Setting
value of Operation status
Remarks
parameter
No.PD20 When rotating at constant speed When decelerating to stop

0 Without S-pattern Without S-pattern Clears droop pulses

acceleration/deceleration acceleration/deceleration
(Initial With S-pattern With S-pattern
and stops.
value)
acceleration/deceleration acceleration/deceleration Erases the home
position.
A difference occurs
Servo motor
0r/min
Servo motor
0r/min
between the command
speed speed
position and the current
LSP LSP position.
or ON or ON
LSN LSN
Execute a home
OFF OFF
position return again.
1 Without S-pattern Without S-pattern Moves for the amount
acceleration/deceleration acceleration/deceleration of droop pulse and
With S-pattern With S-pattern
acceleration/deceleration acceleration/deceleration stops.
Amount of Amount of Erases the home
droop pulse droop pulse
position.
A difference occurs
Servo motor Servo motor
speed 0r/min speed 0r/min between the command
position and the current
LSP LSP position.
or ON or ON
LSN OFF LSN OFF
Execute a home
position return again.
2 Without S-pattern Decelerates to stop at
acceleration/deceleration
With S-pattern Without S-pattern the deceleration time
acceleration/deceleration acceleration/deceleration constant. Continues to
Acceleration/ With S-pattern
Deceleration acceleration/deceleration rotate for the amount of
time constant
S-pattern
S-pattern
acceleration/
deceleration
acceleration/decelerati
time constant Servo motor on time constant delay.
Acceleration/ speed 0r/min
Servo motor
Deceleration
time constant
Keeps the home
0r/min Continues
speed decelerating position.
LSP to stop
Decelerates to stop or ON
LSP LSN OFF
or ON
LSN OFF

3 Without S-pattern Without S-pattern Moves for the amount

acceleration/deceleration acceleration/deceleration
With S-pattern With S-pattern of droop pulse and
acceleration/deceleration acceleration/deceleration stops. Continues to
S-pattern S-pattern
acceleration/ acceleration/ rotate for the amount of
deceleration deceleration
time constant time constant S-pattern
amount of amount of acceleration/decelerati
droop pulse droop pulse
Amount of droop Amount of
droop pulse
on time constant delay.
Servo motor pulse Servo motor
speed 0r/min speed 0r/min Keeps the home
position.
LSP LSP
or ON or ON
LSN OFF LSN OFF

6 - 40
6. PARAMETERS

6.4.4 Stopping method when a software limit is detected

A stopping method of the servo motor when a software limit (parameter No.PC31 to PC34) is detected can be
selected. The software limit imposes a limit on the command position, which is controlled in the driver.
Therefore, actual stop position does not reach to the software limit set position.
Parameter No.PD20

Stopping method used when software limit is detected

0: Sudden stop (home position erased)
1: Slow stop (home position erased)
2: Slow stop (Deceleration to a stop by deceleration time constant)
3: Sudden stop (Stop by remaining move distance clear)

Setting
value of Operation status
Remarks
parameter
No.PD20 When rotating at constant speed When decelerating to stop

0 Clears droop pulses

Without S-pattern Without S-pattern
(Initial acceleration/deceleration acceleration/deceleration and stops.
With S-pattern With S-pattern
value) acceleration/deceleration acceleration/deceleration Erases the home
position.
A difference occurs
Servo motor Servo motor between the command
speed 0r/min speed 0r/min
position and the current
position.
Software limit detected Software limit detected Execute a home
position return again.
1 Moves for the amount
Without S-pattern Without S-pattern of droop pulse and
acceleration/deceleration acceleration/deceleration
With S-pattern With S-pattern stops.
acceleration/deceleration acceleration/deceleration Erases the home
Amount of Amount of
droop pulse droop pulse position.
A difference occurs
Servo motor Servo motor between the command
speed 0r/min speed 0r/min
position and the current
position.
Software limit detected Software limit detected
Execute a home
position return again.
2 Without S-pattern Decelerates to stop at
acceleration/deceleration
With S-pattern Without S-pattern the deceleration time
acceleration/deceleration acceleration/deceleration
With S-pattern constant. Continues to
Acceleration/
Deceleration acceleration/deceleration
time constant rotate for the amount of
S-pattern S-pattern
acceleration/
deceleration acceleration/decelerati
time constant
Servo motor
Acceleration/ speed 0r/min on time constant delay.
Deceleration
Servo motor time constant Continues
speed 0r/min decelerating Keeps the home
to stop
Decelerates to stop position.
Software limit detected
Software limit detected

6 - 41
6. PARAMETERS

3 Without S-pattern Without S-pattern Moves for the amount

acceleration/deceleration acceleration/deceleration
With S-pattern With S-pattern of droop pulse and
acceleration/deceleration acceleration/deceleration
S-pattern S-pattern stops. Continues to
acceleration/ acceleration/
deceleration deceleration rotate for the amount of
time constant time constant
S-pattern
amount of amount of
droop pulse droop pulse acceleration/decelerati
Amount of droop Amount of
Servo motor pulse Servo motor droop pulse
speed 0r/min speed 0r/min on time constant delay.
Keeps the home
position.
Software limit detected Software limit detected

6 - 42
6. PARAMETERS

MEMO

6 - 43
7. Set up software(MR Configurator)

7. Set up software(MR Configurator).................................................................................................................2

7.1 Specifications ...........................................................................................................................................2
7.2 System configuration ...............................................................................................................................3
7.3 Station selection.......................................................................................................................................5
7.4 Parameters...............................................................................................................................................6
7.5 Point table ................................................................................................................................................8
7.6 Device assignment method....................................................................................................................10
7.7 Test operation ........................................................................................................................................14
7.7.1 Jog operation...................................................................................................................................14
7.7.2 Positioning operation.......................................................................................................................16
7.7.3 Motor-less operation........................................................................................................................19
7.7.4 Output signal (DO) forced output ....................................................................................................20
7.7.5 Single-step feed ..............................................................................................................................21
7.8 Alarm......................................................................................................................................................24
7.8.1 Alarm display ...................................................................................................................................24
7.8.2 Batch display of data at alarm occurrence ......................................................................................25
7.8.3 Alarm history....................................................................................................................................27

7- 1
7. MR Configurator

7. Set up software(MR Configurator)

The set up software (MR Configurator :MRZJW3-SETUP□□□E) uses the communication function of the
driver to perform parameter setting changes, graph display, test operation, etc. on a personal computer.
When setup software (MR Configurator) is used, the selection of the model of LECSC□-□ is needed.
Please select 'MR-J3-T' by "Model selection" - "System settings" - "Setup" - "Project name".

7.1 Specifications
Item Description
Compatibility with a The set up software(MR Configurator) software version compatible with the controller is C4 or later.
driver
Baud rate [bps] 115200, 57600, 38400, 19200, 9600
Monitor Display, I/O interface display, high speed monitor, trend graph
Alarm Display, history, amplifier data
Diagnostic No motor rotation, system information, tuning data, absolute encoder data, Axis name setting.
Parameters Parameter list, device setting, turning, change list, detailed information
Jog operation, positioning operation, motor-less operation, Do forced output, program operation,
Test operation
single-step feed, parameter copy.
Advanced function Machine analyzer, gain search, machine simulation, Robust disturbance compensation.
Point data Point table
File operation Data read, save, delete, print
Others Automatic demo, help display

7- 2
7. MR Configurator

7.2 System configuration

(1) Components
To use this software, the following components are required in addition to the controller and servo motor.

Equipment (Note 1) Description

R R
IBM PC/AT compatible where the English version of Windows 98, Windows Me,
R R R
Windows 2000 Professional, Windows XP Professional, Windows XP Home Edition,
OS R R R
Windows Vista Home Basic, Windows Vista Home Premium, Windows Vista Business,
R R
Windows Vista Ultimate, Windows Vista Enterprise operates
R R R
Pentium 133MHz or more (Windows 98, Windows 2000 Professional)
R R
Pentium 150MHz or more (Windows Me)
R R R
Processor Pentium 300MHz or more (Windows XP Professional, Windows XP Home Edition)
R R
(Note 2, 3) 32-bit (x86) processor of 1GHz or higher (Windows Vista Home Basic, Windows Vista Home
R R R
Personal computer Premium, Windows Vista Business, Windows Vista Ultimate, Windows Vista Enterprise)
R
24MB or more (Windows 98)
R R
32MB or more (Windows Me, Windows 2000 Professional)
R R
128MB or more (Windows XP Professional, Windows XP Home Edition)
Memory R
512MB or more (Windows Vista Home Basic)
R R R
1GB or more (Windows Vista Home Premium, Windows Vista Business, Windows Vista
R
Ultimate, Windows Vista Enterprise)
Hard Disk 130MB or more of free space
Browser Internet Explorer 4.0 or more
One whose resolution is 800 600 or more and that can provide a high color (16 bit) display.
Display
Connectable with the above personal computer.
Keyboard Connectable with the above personal computer.
Mouse Connectable with the above personal computer.
Printer Connectable with the above personal computer.
USB cable LEC-MR-J3USBCBL3M
RS-422/232C conversion cable DSV-CABV (Diatrend) is recommended.
Note 1. Windows and Windows Vista are the registered trademarks of Microsoft Corporation in the United States and other
countries.
Pentium is the registered trademarks of Intel Corporation.
2. On some personal computers, set up software(MR Configurator) may not run properly.
3. 64-bit Windows XP and 64-bit Windows Vista are not supported.

7- 3
7. MR Configurator

(2) Connection with controller

(a) For use of USB
Personal computer

Servo amplifier USB cable

Controller USB cable
LEC-MR-J3USBCBL3M To USB
MR-J3USBCBL3M
(option） connector
(Option)
CN5

(b) For use of RS-422

Personal computer
Controller
Servo amplifier
RS-422/232C conversion cable
DSV-CABV To RS-232C
(Diatrend) connector
CN3

(c) For use of RS-422 to make multidrop connection

Controller
Servo amplifier Controller
Servo amplifier Controller
Servo amplifier

CN3 CN3 CN3

Personal computer

RS-422/232C (Note 2) (Note 2) (Note 2)

conversion cable
DSV-CABV
(Diatrend) (Note 1)

To RS-232C
connector (Note 3)

Note 1. Refer to section 141 for cable wiring.

2. The BMJ-8 (Hakko Electric Machine Works) is recommended as the branch connector.
3. The final axis must be terminated between RDP (pin No. 3) and RDN (pin No.6) on the receiving side (controller) with a 150
resistor.

7- 4
7. MR Configurator

7.3 Station selection

Click "Setup" on the menu bar and click "System settings" on the menu.

When the above choices are made, the following window appears.

a)

(1) Station number selection

Choose the station number in the combo box ( a) ).

POINT
This setting should be the same as the station number which has been set in
the parameter in the controller used for communication.

(2) Closing of the station selection window

Click the "OK" button to close the window.

7- 5
7. MR Configurator

7.4 Parameters
Click "Parameters" on the menu bar and click "Parameter list" on the menu.

When the above choices are made, the following window appears.
g) h) i) j) k) l)

c) a) b) d) e) f)

(1) Parameter value write ( a) )

Click the parameter whose setting was changed and press the "Write" button to write the new parameter
setting to the controller.

(2) Parameter value verify ( b) )

Click the "Verify" button to verify all parameter values being displayed and the parameter values of the
controller.

(3) Parameter value batch-read ( c) )

Click the "Read All" button to read and display all parameter values from the controller.

7- 6
7. MR Configurator

(4) Parameter value batch-write ( d) )

Click the "Write All" button to write all parameter values to the controller.

(5) Parameter default value indication ( e) )

Click the "Set to default" button to show the initial value of each parameter.

(6) Basic settings for parameters ( g) )

Used to make the basic settings such as control mode selection and absolute position detection system
selection.

(7) Basic setting parameters ( h) )

Used to make the basic settings for the controller. Select a parameter to be changed the setting, enter a
new value to "Set value" and click "Enter".

(8) Gain/Filter parameters ( i) )

Used to adjust the gain manually. Select a parameter to be changed, enter a new value to "Set value" and
click "Enter".

(9) Extension setting parameters ( j) )

Used to make the setting unique to LECSC□-□ controller. Select a parameter to be changed, enter a new
value to "Set value" and click "Enter".

(10) I/O setting parameters ( k) )

Used to change the I/O device of the controller. Select a parameter to be changed, enter a new value to
"Set value" and click "Enter".

(11) Parameter block ( l) )

Used to set the availability of parameter write.

(12) Parameter data file read

Used to read and display the parameter values stored in the file. Use the "Project" menu on the menu
bar to read.

(13) Parameter value storage

Used to store all parameter values being displayed on the window into the specified file. Use the
"Project" menu on the menu bar to store.

(14) Parameter data list print

Used to print all parameter values being displayed on the window. Use the "Project" menu on the menu
bar to print.

(15) Parameter list window closing ( f) )

Click the "Close" button to close the window. If the "Close" button is clicked without (1) parameter value
write or (4) parameter value batch-write being performed, the parameter value changed is made invalid.

7- 7
7. MR Configurator

7.5 Point table

POINT
The value of the parameter No. PA05 set on the parameter setting screen is
not engaged with the STM (feed length multiplication) value on the point table
list screen. Set the STM (feed length multiplication) value to the same as set
in the parameter No. PA05 on the point table list screen.

Click "Point-data" on the menu bar and click "Point table" on the menu.

When the above choices are made, the following window appears.

g)

f)

e)

c) a) b) d) h)

(1) Point table data write ( a) )

Click the point table data changed and press the "Write" button to write the new point table data to the
controller.

(2) Point table data verify ( b) )

Click the "Verify" button to verify all data being displayed and the data of the controller.

(3) Point table data batch-read ( c) )

Click the "Read All" button to read and display all point table data from the controller.

(4) Point table data batch-write ( d) )

Click the "Write All" button to write all point table data to the controller.

7- 8
7. MR Configurator

(5) Point table data insertion ( e) )

Click the "Insert" button to insert one block of data into the position before the point table No. chosen. The
blocks after the chosen point table No. are shifted down one by one.

(6) Point table data deletion ( f) )

Click the "Delete" button to delete all data in the point table No. chosen. The blocks after the chosen point
table No. are shifted up one by one.

(7) Point table data change ( g) )

Click the data to be changed, enter a new value into the "Enter" input field, and press the enter key or Enter
Data button.

(8) Point table data file read

Used to read and display the point table data stored in the file. Use the "Project" menu on the menu bar to
read.

(9) Point table data storage

Used to store all point table data being displayed on the window into the specified file. Use the "Project"
menu on the menu bar to store.

(10) Point table data list print

Used to print all point table data being displayed on the window. Use the "Project" menu on the menu bar
to print.

(11) Point table data list window closing ( h) )

Click the "Close" button to close the window.

7- 9
7. MR Configurator

7.6 Device assignment method

POINT
To use a device as an external I/O signal, the settings for the parameter No.
PD12 and PD14 are required after the device is assigned according to the
device setting described below.

(1) How to open the setting screen

Click "Parameters" on the menu bar and click "Device setting" in the menu.

Making selection displays the following window.

7 - 10
7. MR Configurator

(2) Screen explanation

(a) DIDO device setting window screen
This is the device assignment screen of the controller displays the pin assignment status of the
controller.

a)

b)
d)

c)

1) Read of function assignment ( a) )

Click the "Read" button reads and displays all functions assigned to the pins from the controller.

2) Write of function assignment ( b) )

Click the "Write" button writes all pins that are assigned the functions to the controller.

3) Verify of function assignment ( c) )

Click the "Verify" button verifies the function assignment in the controller with the device information
on the screen.

4) Initial setting of function assignment ( d) )

Click the "Set to Default" button initializes the function assignment.

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7. MR Configurator

(b) DIDO function display window screen

This screen is used to select the device assigned to the pins.
The functions displayed below * and * are assignable.

a)
b)

Move the pointer to the place of the function to be assigned. Drag and drop it as-is to the pin you want
to assign in the DIDO device setting window.

1) Assignment checking, automatic ON setting ( a) )

Press this button to display the screen that shows the assignment list and enables auto ON setting.
Refer to (2)(c) in this section for more information.

2) Quitting
Click "Close" button to exit from the window. ( b) )

7 - 12
7. MR Configurator

(c) Function device assignment checking auto ON setting display

Click the "Assignment check / auto ON setting" button in the DIDO function display window displays the
following window.

a)
b)
c)
d)

e)

The assigned functions are indicated by.

The functions assigned by auto ON are grayed. When you want to set auto ON to the function that is
enabled for auto ON, click the corresponding cell. Clicking it again disables auto ON.

1) Auto ON read of function assignment ( a) )

Click "Read" button reads the functions set for auto ON from the interface unit and extension IO unit.

2) Auto ON write of function assignment ( b) )

Click "Write" button writes the functions currently set for auto ON to the interface unit and extension
IO unit.

3) Auto ON verify of function assignment ( c) )

Click "Verify" button verifies the current auto ON setting in the interface unit and extension IO unit
with the auto ON setting on the screen.

4) Auto ON initial setting of function assignment ( d) )

Click "Set to Default" button initializes the auto ON setting.

5) Quitting the function device assignment checking/auto ON setting window ( e) )

Click "Close" button exits from the window.

7 - 13
7. MR Configurator

7.7 Test operation

When confirming the machine operation in the test operation mode, use the
machine after checking that the safety mechanism such as the forced stop (EMG)
CAUTION operates.
If any operational fault has occurred, stop operation using the forced stop (EMG).

7.7.1 Jog operation

POINT
For the program operation, refer to the manual of set up software(MR
Configurator).
The servo motor will not operate if the forced stop (EMG), forward rotation
stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make
automatic ON setting to turn on these devices or make device setting to
assign them as external input signals and turn on across these signals and
SG. (Refer to section 7.6.)
When an alarm occurs, the JOG operation is automatically canceled.

Click "Test" on the menu bar and choose "Jog" on the menu.

Clicking displays the confirmation window for switching to the test operation mode.

Click the "OK" button to display the setting screen of the Jog operation.
During the servo on, the confirmation window indicating that the next operation is in the stop status is displayed.

Turn the servo off, confirm that the operation is in the stop status, and click the "OK" button to display the
setting screen for the Jog operation.

7 - 14
7. MR Configurator

a) c)

d)
b)
e)

g) h)

f)

(1) Servo motor speed setting ( a) )

Enter a new value into the "Motor speed" input field and press the enter key.

(2) Acceleration/deceleration time constant setting ( b) )

Enter a new value into the "Accel/decel time" input field and press the enter key.

(3) Start button operation selection

Check the check box for operating the servo motor only while pressing the button. Uncheck the check box
for stopping the operation by pressing the "Stop" or "Software forced stop" button.

(4) Servo motor start ( c), d) )

(a) When stopping the operation by pressing the "Stop" or "Software forced stop" button
Click the "Forward" button to rotate the servo motor in the CCW rotation direction.
Click the "Reverse" button to rotate the servo motor in the CW rotation direction.
(b) When operating the servo motor only while pressing the button
While pressing the "Forward" button, the servo motor rotates in the CCW rotation direction.
While pressing the "Reverse" button, the servo motor rotates in the CW rotation direction.

(5) Servo motor stop ( e) )

(a) When stopping the operation by pressing the "Stop" or "Software forced stop" button
Click the "Stop" button to stop the rotation of the servo motor.
(b) When operating the servo motor only while pressing the button
Release the "Forward" or "Reverse" button to stop the rotation of the servo motor.

(6) LSP/LSN (stroke end) automatic ON setting ( g) )

Put a check mark in the check box to automatically turn ON LSP/LSN. After selecting the check box, the
LSP and the LSN of external signal are ignored.

(7) Servo motor software forced stop ( h) )

Click the "Software forced stop" button to stop the servo motor rotation immediately. When the "Software
forced stop" button is enabled, the "Forward" and "Reverse" buttons cannot be used. Click the "Software
forced stop" button again to make the "Forward" and "Reverse" buttons enabled.

(8) Jog operation window closing ( f) )

Click the "Close" button to cancel the jog operation mode and close the window.

(9) Switching to CC-Link operation mode

To switch from the test operation mode to the CC-Link operation mode, turn OFF the power of the controller.

7 - 15
7. MR Configurator

7.7.2 Positioning operation

POINT
The servo motor will not operate if the forced stop (EMG), forward rotation
stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make
automatic ON setting to turn on these devices or make device setting to
assign them as external input signals and turn on across these signals and
DOCOM. (Refer to section 7.6.)
When an alarm occurs, the positioning operation is automatically canceled.

Click "Test" on the menu bar and click "Positioning" on the menu.

Clicking displays the confirmation window for switching to the test operation mode.

Click the "OK" button to display the setting screen of the Positioning operation.
During the servo on, the confirmation window indicating that the next operation is in the stop status is displayed.

After confirming that the operation is in the stop status, click the "OK" button to display the setting screen for
the positioning operation.

7 - 16
7. MR Configurator

a)
d)
b) e)
f)
c)
g)
i) h)
j)
k) l)
m)

(1) Servo motor speed setting ( a) )

Enter a new value into the "Motor speed" input field and press the enter key.

(2) Acceleration/deceleration time constant setting ( b) )

Enter a new value into the "Accel/decel time" input field and press the enter key.

(3) Moving distance setting ( c) )

Enter a new value into the "Move distance" input field and press the enter key.

(4) Servo motor start ( d), e) )

Click the "Forward" button to rotate the servo motor in the forward rotation direction.
Click the "Reverse" button to rotate the servo motor in the reverse rotation direction.

(5) Temporary stop of servo motor ( f) )

Click the "Pause" button to stop the servo motor temporarily.

(6) Servo motor restart ( g) )

Click the "Restart" button during the temporary stop to restart the rotations for the remaining move distance.
Enter a new value into the "Motor speed" input field and press the enter key.

(7) Move distance clear ( h) )

Click the "Remaining distance clear" during the temporary stop to clear the remaining move distance.

(8) LSP/LSN (stroke end) automatic ON setting ( i) )

Put a check mark in the check box to automatically turn ON LSP/LSN. After selecting the check box, the
LSP and the LSN of external signal are ignored.

(9) Automatic ON setting for the movement to the Z-phase signal ( j) )

To move to the first Z-phase signal of the move distance + move direction, put a check mark in the check
box.

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7. MR Configurator

(10) Pulse move distance unit selection (k)

Select with the option buttons whether the moving distance set is in the command input pulse unit or in the
encoder pulse unit.

(11) Servo motor software forced stop (1))

Click the "Software forced stop" button to stop the servo motor rotation immediately. When the "Software
forced stop" button is enabled, the "Forward" and "Reverse" buttons cannot be used. Click the "Software
forced stop" button again to make the "Forward" and "Reverse" buttons enabled.

(12) Positioning operation window closing ( m) )

Click the "Close" button to cancel the positioning operation mode and close the window.

(13) Switching to CC-Link operation mode

To switch from the test operation mode to the CC-Link operation mode, turn OFF the power of the controller.

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7. MR Configurator

7.7.3 Motor-less operation

POINT
When this operation is used in an absolute position detection system, the
home position cannot be restored properly.

Without a servo motor being connected, the output signals are provided and the controller display shows the
status as if a servo motor is actually running in response to the external I/O signals.
The sequence of the host programmable controller (PC) can be checked without connection of a servo motor.

Click "Test" on the menu bar and click "Operation w/o Motor" on the menu.

When the above choices are made, the following window appears.

a) b)

(1) Execution of motor-less operation ( a) )

Click "Start" to perform motor-less operation.

(2) Termination of motor-less operation ( b) )

Click "Close" to close the window.
Note that just clicking the "Close" button does not cancel motor-less operation. To cancel motor-less
operation, turn ON the power of the controller and switch to the CC-Link operation mode once.

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7. MR Configurator

7.7.4 Output signal (DO) forced output

POINT
When an alarm occurs, the DO forced output is automatically canceled.

Each controller output signal is forcibly switched on/off independently of the output condition of the output
signal.
Click "Test" on the menu bar and click "Forced output" on the menu.

Clicking displays the confirmation window for switching to the test operation mode.

Click the "OK" button to display the setting screen of the DO forced output.
During the servo on, the confirmation window indicating that the next operation is in the stop status is displayed.

After confirming that the operation is in the stop status, click the "OK" button to display the setting screen for
the DO forced output.

When the above choices are made, the following window appears.

a)
b)

c)

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7. MR Configurator

(1) Signal ON/OFF setting ( a), b) )

Choose the signal name or pin number and click the "ON" or "OFF" button to write the corresponding signal
status to the controller.

(2) DO forced output window closing ( c) )

Click the "Close" button to cancel the DO forced output mode and close the window.

(3) Switching to CC-Link operation mode

To switch from the test operation mode to the CC-Link operation mode, turn OFF the power of the controller.

7.7.5 Single-step feed

POINT
The servo motor will not operate if the forced stop (EMG), forward rotation
stroke end (LSP) and reverse rotation stroke end (LSN) are off. Make
automatic ON setting to turn on these devices or make device setting to
assign them as external input signals and turn on across these signals and
SG. (Refer to section 7.6.)
When an alarm occurs, the 1-step feed is automatically canceled.

Operation is performed in accordance with the preset point table No.

Click "Test" on the menu bar and click "Single-step Feed" on the menu.

Clicking displays the confirmation window for switching to the test operation mode.

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7. MR Configurator

Click the "OK" button to display the setting screen of the Single-step feed.
During the servo on, the confirmation window indicating that the next operation is in the stop status is displayed.

After confirming that the operation is in the stop status, click the "OK" button.

a) b)

c)

d)

e)

f)

g)

(1) Point table No. setting ( a) )

Enter the point table No. into the "Point table No." input field and press the enter key.

(2) Servo motor start ( b) )

Click the "Start" button to rotate the servo motor.

(3) Temporary stop of servo motor ( c) )

Press the "Pause" button to stop the servo motor temporarily.

(4) Servo motor stop ( c) )

Click the "Pause" button again during a temporary stop of the servo motor to clear the remaining moving
distance.

(5) Servo motor restart ( d) )

Click the "Restart" button during the temporary stop to restart the rotations for the remaining move distance.

(6) Move distance clear ( e) )

Click the "Remaining distance clear" during the temporary stop to clear the remaining move distance.

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7. MR Configurator

(7) Servo motor software forced stop ( f) )

Click the "Software forced stop" button to stop the servo motor rotation immediately. When the "Software
forced stop" button is enabled, the "Start" button cannot be used. Click the "Software forced stop" button
again to make the "Start" button enabled.

(8) Single-step feed window closing ( g) )

Click the "Close" button to cancel the single-step feed mode and close the window.

(9) Switching to CC-Link operation mode

To switch from the test operation mode to the CC-Link operation mode, turn OFF the power of the controller.

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7. MR Configurator

7.8 Alarm

7.8.1 Alarm display

POINT
If a menu is clicked or any other operation is performed during alarm
occurrence, the following message window appears. The example given here
is the window that indicates an occurrence of Encoder error 1 (A16).

The current alarm can be displayed.

To display the current alarm, click "Alarm" on the menu bar and click "Display" on the menu.

When the above choices are made, the following window appears.

a) b)

7 - 24
7. MR Configurator

(1) Current alarm display

The window shows the alarm number, name, cause and occurrence time.
The following example is the window that indicates an occurrence of Encoder error 1 (A16).

(2) Alarm reset ( a) )

Click the "Reset alarm" button to reset the current alarm and clear alarms on the window. The alarm at this
time is stored as the latest alarm.

(3) Closing the current alarm window ( b) )

Click the "Close" button to close the window.

7.8.2 Batch display of data at alarm occurrence

Monitor data during alarm occurrence is displayed.
To display monitor data, click "Alarm" on the menu bar and click "Amplifier data" on the menu.

When the above choices are made, the following window appears.

7 - 25
7. MR Configurator

Click the "Read" button to read the monitor data at error occurrence from the controller. Read results are
displayed as follows.

7 - 26
7. MR Configurator

7.8.3 Alarm history

Click "Alarm" on the menu bar and click "History" on the menu.

When the above choices are made, the following window appears.

a) b)

(1) Alarm history display

The most recent six alarms are displayed. The smaller numbers indicate newer alarms.

(2) Alarm history clear ( a) )

Click the "Clear" button to clear the alarm history stored in the controller.

(3) Closing of alarm history window ( b) )

Click the "Close" button to close the window.

7 - 27
8 GENERAL GAIN ADJUSTMENT

8. GENERAL GAIN ADJUSTMENT ..............................................................................................................2

8.1 Different adjustment methods...............................................................................................................2
8.1.1 Adjustment on a single driver.........................................................................................................2
8.1.2 Adjustment using set up software(MR Configurator) ...................................................................3
8.2 Auto tuning .............................................................................................................................................4
8.2.1 Auto tuning mode.............................................................................................................................4
8.2.2 Auto tuning mode operation............................................................................................................5
8.2.3 Adjustment procedure by auto tuning............................................................................................6
8.2.4 Response level setting in auto tuning mode...................................................................................7
8.3 Manual mode 1 (simple manual adjustment) .......................................................................................8
8.4 Interpolation mode ...............................................................................................................................12

8- 1
８. GENERAL GAIN ADJUSTMENT

8. GENERAL GAIN ADJUSTMENT

8.1 Different adjustment methods

8.1.1 Adjustment on a single driver
The gain adjustment in this section can be made on a single driver. For gain adjustment, first execute auto
tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in this
order.

(1) Gain adjustment mode explanation

Parameter No. Estimation of load inertia Automatically set
Gain adjustment mode Manually set parameters
PA08 setting moment ratio parameters
Auto tuning mode 1 0001 Always estimated GD2 (parameter No.PB06) Response level setting of
(initial value) PG2 (parameter No.PB08) parameter No.2
PG1 (parameter No.PB07)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
Auto tuning mode 2 0002 Fixed to parameter No. PG2 (parameter No.PB08) GD2 (parameter No.PB06)
PB06 value PG1 (parameter No.PB07) Response level setting of
VG2 (parameter No.PB09) parameter No.PA09
VIC (parameter No.PB10)
Manual mode 0003 PG1 (parameter No.PB07)
GD2 (parameter No.PB06)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
Interpolation mode 0000 Always estimated GD2 (parameter No.PB06) PG1 (parameter No.PB07)
PG2 (parameter No.PB08)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)

8- 2
８. GENERAL GAIN ADJUSTMENT

(2) Adjustment sequence and mode usage

START
Usage
Interpolation Yes Used when you want to match
made for 2 or more
axes? the position gain (PG1)
No Interpolation mode between 2 or more axes.
Normally not used for other
Operation purposes.
Allows adjustment by merely
Auto tuning mode 1
changing the response level
setting.
Operation
First use this mode to make
adjustment.
Yes No
OK? OK? Used when the conditions of
auto tuning mode 1 are not
No Yes met and the load inertia
Auto tuning mode 2 moment ratio could not be
estimated properly, for
Operation example.

Yes
OK?
You can adjust all gains
No manually when you want to do
Manual mode fast settling or the like.

END

8.1.2 Adjustment using set up software(MR Configurator)

This section gives the functions and adjustment that may be performed by using the driver with the set up
software(MR Configurator) which operates on a personal computer.

Function Description Adjustment

Machine analyzer With the machine and servo motor coupled, You can grasp the machine resonance frequency and
the characteristic of the mechanical system determine the notch frequency of the machine resonance
can be measured by giving a random suppression filter.
vibration command from the personal You can automatically set the optimum gains in response
computer to the servo and measuring the to the machine characteristic. This simple adjustment is
machine response. suitable for a machine which has large machine resonance
and does not require much settling time.
Gain search Executing gain search under to-and-fro You can automatically set gains which make positioning
positioning command measures settling settling time shortest.
characteristic while simultaneously changing
gains, and automatically searches for gains
which make settling time shortest.
Machine simulation Response at positioning settling of a You can optimize gain adjustment and command pattern
machine can be simulated from machine on personal computer.
analyzer results on personal computer.

8- 3
８. GENERAL GAIN ADJUSTMENT

8.2 Auto tuning

8.2.1 Auto tuning mode
The driver has a real-time auto tuning function which estimates the machine characteristic (load inertia moment
ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease
of gain adjustment of the driver.

(1) Auto tuning mode 1

The driver is factory-set to the auto tuning mode 1.
In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.

Parameter No. Abbreviation Name

PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

POINT
The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or
less.
Speed is 150r/min or higher.
The ratio of load inertia moment to servo motor inertia moment is 100 times or
less.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque
during acceleration/deceleration or on a machine which is extremely loose,
auto tuning may not function properly, either. In such cases, use the auto
tuning mode 2 or manual mode to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since
the load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment
ratio (parameter No.PB06).
The following parameters are automatically adjusted in the auto tuning mode 2.

Parameter No. Abbreviation Name

PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

8- 4
８. GENERAL GAIN ADJUSTMENT

8.2.2 Auto tuning mode operation

The block diagram of real-time auto tuning is shown below.

Load inertia
Automatic setting moment

Encoder
Command Loop gains Current Servo
PG1,VG1 control motor
PG2,VG2,VIC
Current feedback

Set 0 or 1 to turn on. Real-time auto Position/speed

tuning section feedback
Load inertia
Gain
moment ratio
table Switch estimation section Speed feedback

Parameter No.PA08 Parameter No.PA09 Parameter No.PB06

Load inertia moment
0 0 0 ratio estimation value

Gain adjustment mode Response

selection setting

When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always
estimates the load inertia moment ratio from the current and speed of the servo motor. The results of
estimation are written to parameter No.PB06 (the ratio of load inertia moment to servo motor). These results
can be confirmed on the status display screen of the set up software(MR Configurator) section.
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, chose
the "auto tuning mode 2" (parameter No.PA08: 0002) to stop the estimation of the load inertia moment ratio
(Switch in above diagram turned off), and set the load inertia moment ratio (parameter No.34) manually.
From the preset load inertia moment ratio (parameter No.PB06) value and response level (parameter
No.PA09), the optimum loop gains are automatically set on the basis of the internal gain tale.
The auto tuning results are saved in the EEP-ROM of the driver every 60 minutes since power-on. At power-on,
auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used as an initial value.

POINT
If sudden disturbance torque is imposed during operation, the estimation of
the inertia moment ratio may malfunction temporarily. In such a case, choose
the "auto tuning mode 2" (parameter No.PA08: 0002) and set the correct load
inertia moment ratio in parameter No.PB06.
When any of the auto tuning mode 1 and auto tuning mode settings is
changed to the manual mode 2 setting, the current loop gains and load inertia
moment ratio estimation value are saved in the EEP-ROM.

8- 5
８. GENERAL GAIN ADJUSTMENT

8.2.3 Adjustment procedure by auto tuning

Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically
sets the optimum gains that match the machine. Merely changing the response level setting value as required
completes the adjustment. The adjustment procedure is as follows.

Auto tuning adjustment

Acceleration/deceleration repeated

Yes Load inertia moment ratio

estimation value stable?

No

Auto tuning
conditions not satisfied. No
(Estimation of load inertia
moment ratio is difficult)

Yes
Choose the auto tuning mode 2
(parameter No.PA08 : 0002) and
set the load inertia moment ratio
(parameter No.PB06) manually.

Adjust response level setting

so that desired response is
achieved on vibration-free level.

Acceleration/deceleration repeated

Requested No
performance satisfied?

Yes

END
To manual mode

8- 6
８. GENERAL GAIN ADJUSTMENT

8.2.4 Response level setting in auto tuning mode

Set the response (The first digit of parameter No.PA09) of the whole servo system. As the response level
setting is increased, the track ability and settling time for a command decreases, but a too high response level
will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100Hz, filter tuning mode (parameter No.PB01) or machine resonance suppression filter (parameter
No.PB13 to PB16) may be used to suppress machine resonance. Suppressing machine resonance may allow
the response level setting to increase. Refer to section 9.3 for filter tuning mode and machine resonance
suppression filter.

Setting of parameter No.PA09

Machine characteristic
Response level setting Machine resonance
Machine rigidity Guideline of corresponding machine
frequency guideline
1 Low 10.0
2 11.3
3 12.7
4 14.3
5 16.1
6 18.1
7 20.4
8 23.0
9 25.9
10 29.2
11 32.9
Large conveyor
12 37.0
13 41.7
14 47.0 Arm robot
15 52.9
16 Middle 59.6 General machine
17 67.1 tool conveyor

18 75.6 Precision
working
19 85.2
machine
20 95.9
Inserter
21 108.0
Mounter
22 121.7 Bonder
23 137.1
24 154.4
25 173.9
26 195.9
27 220.6
28 248.5
29 279.9
30 315.3
31 355.1
32 High 400.0

8- 7
８. GENERAL GAIN ADJUSTMENT

8.3 Manual mode 1 (simple manual adjustment)

If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three
parameters.

POINT
If machine resonance occurs, filter tuning mode (parameter No.PB01) or
machine resonance suppression filter (parameter No.PB13 to PB16) may be
used to suppress machine resonance. (Refer to section 9.1.)

(1) For speed control

(a) Parameters
The following parameters are used for gain adjustment.

Parameter No. Abbreviation Name

PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
PB07 PG1 Model loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

(b) Adjustment procedure

Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 8.2.3.
2 Change the setting of auto tuning to the manual mode (Parameter
No.PA08: 0003).
3 Set an estimated value to the ratio of load inertia moment to servo motor
inertia moment. (If the estimate value with auto tuning is correct, setting
change is not required.)
4 Set a slightly smaller value to the model loop gain
Set a slightly larger value to the speed integral compensation.
5 Increase the speed loop gain within the vibration- and unusual noise-free Increase the speed loop gain.
range, and return slightly if vibration takes place.
6 Decrease the speed integral compensation within the vibration-free range, Decrease the time constant of the speed
and return slightly if vibration takes place. integral compensation.
7 Increase the model loop gain, and return slightly if overshooting takes Increase the model loop gain.
place.
8 If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance.
the like and the desired response cannot be achieved, response may be Refer to section 9.2, 9.3.
increased by suppressing resonance with filter tuning mode or machine
resonance suppression filter and then executing steps 2 and 3.
9 While checking the settling characteristic and rotational status, fine-adjust Fine adjustment
each gain.

8- 8
８. GENERAL GAIN ADJUSTMENT

(c) Adjustment description

1) Speed loop gain (parameter No.PB09)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The
actual response frequency of the speed loop is as indicated in the following expression.

Speed loop response Speed loop gain setting

frequency(Hz) (1 ratio of load inertia moment to servo motor inertia moment) 2

2) Speed integral compensation (VIC: parameter No.PB10)

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or
the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless
the setting is increased to some degree. The guideline is as indicated in the following expression.

Speed integral compensation 2000 to 3000

setting(ms) Speed loop gain setting/ (1 ratio of load inertia moment to
servo motor inertia moment setting 0.1)

3) Model loop gain (PG1: Parameter No.PB07)

This parameter determines the response level to a position command. Increasing the model loop
gain improves track ability to a position command, but a too high value will make overshooting liable
to occur at the time of setting.

Model loop gain Speed loop gain setting 1 1

guideline to
(1 ratio of load inertia moment to servo mortar inertia moment) 4 8

8- 9
８. GENERAL GAIN ADJUSTMENT

(2) For position control

(a) Parameters
The following parameters are used for gain adjustment.

Parameter No. Abbreviation Name

PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

(b) Adjustment procedure

Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 8.2.3.
2 Change the setting of auto tuning to the manual mode (Parameter
No.PA08: 0003).
3 Set an estimated value to the ratio of load inertia moment to servo motor
inertia moment. (If the estimate value with auto tuning is correct, setting
change is not required.)
4 Set a slightly smaller value to the model loop gain and the position loop
gain.
Set a slightly larger value to the speed integral compensation.
5 Increase the speed loop gain within the vibration- and unusual noise-free Increase the speed loop gain.
range, and return slightly if vibration takes place.
6 Decrease the speed integral compensation within the vibration-free range, Decrease the time constant of the speed
and return slightly if vibration takes place. integral compensation.
7 Increase the position loop gain, and return slightly if vibration takes place. Increase the position loop gain.
8 Increase the model loop gain, and return slightly if overshooting takes Increase the position loop gain.
place.
9 If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance.
the like and the desired response cannot be achieved, response may be Refer to section 9.2 9.3.
increased by suppressing resonance with filter tuning mode or machine
resonance suppression filter and then executing steps 3 to 5.
10 While checking the settling characteristic and rotational status, fine-adjust Fine adjustment.
each gain.

8 - 10
８. GENERAL GAIN ADJUSTMENT

(c) Adjustment description

1) Speed loop gain (VG2: parameter No.PB09)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The actual
response frequency of the speed loop is as indicated in the following expression.

Speed loop response Speed loop gain 2 setting

frequency(Hz) (1 ratio of load inertia moment to servo motor inertia moment) 2

2) Speed integral compensation (VIC: parameter No.PB10)

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or
the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless
the setting is increased to some degree. The guideline is as indicated in the following expression.

Speed integral 2000 to 3000

compensation setting(ms) Speed loop gain 2 setting/ (1 ratio of load inertia moment to
servo motor inertia moment 2 setting)

3) Model loop gain (PG1: Parameter No.PB07)

This parameter determines the response level to a position command. Increasing the model loop
gain improves track ability to a position command, but a too high value will make overshooting liable
to occur at the time of setting.

Model control gain Speed loop gain setting 1 1

guideline to
(1 ratio of load inertia moment to servo mortar inertia moment) 4 8

4) Model loop gain (PG1: parameter No.PB07)

This parameter determines the response level to a position command. Increasing model loop gain
improves track ability to a position command but a too high value will make overshooting liable to
occur at the time of settling.

Model loop gain

guideline
Speed loop gain 2 setting
(1 ratio of load inertia moment to servo motor inertia moment)
( 14 to 18 )

8 - 11
８. GENERAL GAIN ADJUSTMENT

8.4 Interpolation mode

The interpolation mode is used to match the position loop gains of the axes when performing the interpolation
operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model
loop gain that determines command track ability. Other parameters for gain adjustment are set automatically.

(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.

Parameter No. Abbreviation Name

PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

(b) Manually adjusted parameters

The following parameters are adjustable manually.

Parameter No. Abbreviation Name

PB07 PG1 Model loop gain

(2) Adjustment procedure

Step Operation Description
1 Set to the auto tuning mode. Select the auto tuning mode 1.
During operation, increase the response level setting (parameter No.PA09), and
2 Adjustment in auto tuning mode 1.
return the setting if vibration occurs.
3 Check the values of model loop gain. Check the upper setting limits.
4 Set the interpolation mode (parameter No.PA08: 0000). Select the interpolation mode.
Set the model loop gain of all the axes to be interpolated to the same value. At that
5 Set position loop gain.
time, adjust to the setting value of the axis, which has the smallest model loop gain.
Looking at the interpolation characteristic and rotation status, fine-adjust the gains
6 Fine adjustment.
and response level setting.

(3) Adjustment description

(a) Model loop gain (parameter No.PB07)
This parameter determines the response level of the position control loop. Increasing model loop gain
improves track ability to a position command but a too high value will make overshooting liable to occur
at the time of settling. The droop pulse value is determined by the following expression.

Rotation speed (r/min)

262144(pulse)
60
Droop pulse value (pulse)
Model loop gain setting

8 - 12
9. SPECIAL ADJUSTMENT FUNCTIONS

9. SPECIAL ADJUSTMENT FUNCTIONS ........................................................................................................2

9.1 Function block diagram............................................................................................................................2
9.2 Adaptive filter ........................................................................................................................................2
9.3 Machine resonance suppression filter .....................................................................................................5
9.4 Advanced vibration suppression control ..................................................................................................7
9.5 Low-pass filter ........................................................................................................................................12
9.6 Gain changing function ..........................................................................................................................12
9.6.1 Applications .....................................................................................................................................12
9.6.2 Function block diagram ...................................................................................................................13
9.6.3 Parameters ......................................................................................................................................14
9.6.4 Gain changing operation .................................................................................................................16

9- 1
9. SPECIAL ADJUSTMENT FUNCTIONS

9. SPECIAL ADJUSTMENT FUNCTIONS

POINT
The functions given in this chapter need not be used generally. Use them if
you are not satisfied with the machine status after making adjustment in the
methods in chapter 8.

If a mechanical system has a natural resonance point, increasing the servo system response level may cause
the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the
mechanical system.

9.1 Function block diagram

Speed Parameter Parameter Parameter Current
control No.PB01 No.PB16 No.PB23 command
Low-pass Servo
filter motor
Machine resonance
suppression filter
Machine resonance Encoder
Adaptive tuning suppression filter 2
1

Manual setting

9.2 Adaptive filter

(1) Function
Adaptive filter (adaptive tuning) is a function in which the driver detects machine vibration for a
predetermined period of time and sets the filter characteristics automatically to suppress mechanical
system vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be
conscious of the resonance frequency of a mechanical system.
Machine resonance point Machine resonance point
Mechanical Mechanical
system system
response response
level Frequency level Frequency

Notch Notch
depth depth

Frequency Frequency
Notch frequency Notch frequency

When machine resonance is large and frequency is low When machine resonance is small and frequency is high

POINT
The machine resonance frequency which adaptive tuning mode can respond
to is about 100 to 2.25kHz. Adaptive vibration suppression control has no
effect on the resonance frequency outside this range.
Adaptive vibration suppression control may provide no effect on a mechanical
system which has complex resonance characteristics.

9- 2
9. SPECIAL ADJUSTMENT FUNCTIONS

(2) Parameters
The operation of adaptive tuning mode (parameter No.PB01).
Parameter No.PB01
0 0 0
Filter tuning mode selection

Setting Filter adjustment mode Automatically set parameter

0 Filter OFF (Note)
Parameter No.PB13
1 Filter tuning mode
Parameter No.PB14
2 Manual mode
Note. Parameter No.PB19 and PB20 are fixed to the initial values.

9- 3
9. SPECIAL ADJUSTMENT FUNCTIONS

(3) Adaptive tuning mode procedure

Adaptive tuning adjustment

Operation

Yes
Is the target response
reached?

No

Increase the response setting.

No
Has vibration or unusual noise
occurred?

Yes

Execute or re-execute adaptive

tuning. (Set parameter No.PB01 to
"0001".)

Tuning ends automatically after the If assumption fails after tuning is executed at
predetermined period of time. a large vibration or oscillation, decrease the
(Parameter No.PB01 turns to "0002" response setting temporarily down to the
or "0000".) vibration level and execute again.

Yes
Has vibration or unusual noise
been resolved?
No

Decrease the response until vibration Using the machine analyzer, set the Factor
or unusual noise is resolved. filter manually. The response has increased to the
machine limit.
The machine is too complicated to
provide the optimum filter.

End

9- 4
9. SPECIAL ADJUSTMENT FUNCTIONS

POINT
"Filter OFF" enables a return to the factory-set initial value.
When adaptive tuning is executed, vibration sound increases as an excitation
signal is forcibly applied for several seconds.
When adaptive tuning is executed, machine resonance is detected for a
maximum of 10 seconds and a filter is generated. After filter generation, the
adaptive tuning mode automatically shifts to the manual mode.
Adaptive tuning generates the optimum filter with the currently set control
gains. If vibration occurs when the response setting is increased, execute
adaptive tuning again.
During adaptive tuning, a filter having the best notch depth at the set control
gain is generated. To allow a filter margin against machine resonance,
increase the notch depth in the manual mode.

9.3 Machine resonance suppression filter

(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the
specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing
frequency (notch frequency), gain decreasing depth and width.

Mechanical Machine resonance point

system
response
level
Frequency

Notch width
Notch
depth Notch depth
Frequency
Notch frequency

You can use the machine resonance suppression filter 1 (parameter No.PB13, PB14) and machine
resonance suppression filter 2 (parameter No.PB15, PB16) to suppress the vibration of two resonance
frequencies. Execution of adaptive tuning in the filter tuning mode automatically adjusts the machine
resonance suppression filter. When adaptive tuning is ON, the adaptive tuning mode shifts to the manual
mode after the predetermined period of time. The manual mode enables manual setting using the machine
resonance suppression filter 1.
Machine resonance point

Mechanical
system
response
level
Frequency

Notch
depth

Frequency
Parameter No.PB01, Parameter No.PB15,
PB13, PB14 PB16
9- 5
9. SPECIAL ADJUSTMENT FUNCTIONS

(2) Parameters
(a) Machine resonance suppression filter 1 (parameter No.PB13, PB14)
Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1
(parameter No.PB13, PB14)
When you have made adaptive filter tuning mode (parameter No.PB01) "manual mode", set up the
machine resonance suppression filter 1 becomes effective.

POINT
The machine resonance suppression filter is a delay factor for the servo
system. Hence, vibration may increase if you set a wrong resonance
frequency or a too deep notch.
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency is
set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine
analyzer on the set up software(MR Configurator). This allows the required
notch frequency and depth to be determined.

9- 6
9. SPECIAL ADJUSTMENT FUNCTIONS

9.4 Advanced vibration suppression control

(1) Operation
Vibration suppression control is used to further suppress machine side vibration, such as workpiece end
vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not
shake.
Position

Position
Motor side Motor side
Machine side Machine side
t t
Vibration suppression control OFF Vibration suppression control ON
(Nomal control)

When the advanced vibration suppression control (vibration suppression control tuning mode parameter
No.PB02) is executed, the vibration frequency at machine side can automatically be estimated to suppress
machine side vibration.
In the vibration suppression control tuning mode, this mode shifts to the manual mode after operation is
performed the predetermined number of times. The manual mode enables manual setting using the
vibration suppression control vibration frequency setting (parameter No.PB19) and vibration suppression
control resonance frequency setting (parameter No.PB20).

(2) Parameter
Select the operation of the vibration suppression control tuning mode (parameter No.PB02).
Parameter No.PB02
0 0 0
Vibration suppression control
tuning mode

Setting Vibration suppression control tuning mode Automatically set parameter

0 Vibration suppression control OFF (Note)
Vibration suppression control tuning mode Parameter No.PB19
1
(Advanced vibration suppression control) Parameter No.PB20
2 Manual mode
Note. Parameter No.PB19 and PB20 are fixed to the initial values.

POINT

9- 7
9. SPECIAL ADJUSTMENT FUNCTIONS

The function is made valid when the auto tuning mode (parameter No.PA08)
is the auto tuning mode 2 ("0002") or manual mode ("0003").
The machine resonance frequency supported in the vibration suppression
control tuning mode is 1.0Hz to 100.0Hz. The function is not effective for
vibration outside this range.
Stop the motor before changing the vibration suppression control-related
parameters (parameter No.PB02, PB19, PB20, PB33, PB34). A failure to do
so will cause a shock.
For positioning operation during execution of vibration suppression control
tuning, provide a stop time to ensure a stop after full vibration damping.
Vibration suppression control tuning may not make normal estimation if the
residual vibration at the motor side is small.
Vibration suppression control tuning sets the optimum parameter with the
currently set control gains. When the response setting is increased, set
vibration suppression control tuning again.

9- 8
9. SPECIAL ADJUSTMENT FUNCTIONS

(3) Vibration suppression control tuning mode procedure

Vibration suppression control
tuning adjustment

Operation

Yes
Is the target response
reached?

No

Increase the response setting.

Has vibration of workpiece No

end/device increased?

Yes

Stop operation.

Execute or re-execute vibration

suppression control tuning. (Set
parameter No.PB02 to "0001".)

Resume operation.

Tuning ends automatically after

operation is performed the
predetermined number of times.
(Parameter No.PB02 turns to "0002"
or "0000".)

Yes
Has vibration of workpiece
end/device been resolved?

No

Using the machine analyzer or from Factor

Decrease the response until vibration machine side vibration waveform, Estimation cannot be made as
of workpiece end/device is resolved. set the vibration suppression control machine side vibration has not been
manually. transmitted to the motor side.
The response of the model loop gain
has increased to the machine side
vibration frequency (vibration
suppression control limit).
End

9- 9
9. SPECIAL ADJUSTMENT FUNCTIONS

(4) Vibration suppression control manual mode

Measure work side vibration and device shake with the machine analyzer or external measuring instrument,
and set the vibration suppression control vibration frequency (parameter No.PB19) and vibration
suppression control resonance frequency (parameter No.PB20) to set vibration suppression control
manually.

(a) When a vibration peak can be confirmed using set up software(MR Configurator), machine analyzer or
external FFT equipment

Gain characteristic

1Hz 100Hz
Resonance of more
Vibration suppression control Vibration suppression than 100Hz is not the
vibration frequency control resonance target of control.
(Anti-resonance frequency) frequency
Parameter No.PB19 Parameter No.PB20
Phase
-90deg.

(b) When vibration can be confirmed using monitor signal or external sensor

Motor side vibration

External acceleration pick signal, etc.
(Droop pulses)

Position command frequency

t t

Vibration suppression control

Vibration cycle [Hz] vibration frequency Vibration cycle [Hz]
Vibration suppression control
resonance frequency
Set the same value.

9 - 10
9. SPECIAL ADJUSTMENT FUNCTIONS

POINT
When machine side vibration does not show up in motor side vibration, the
setting of the motor side vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be
confirmed using the machine analyzer or external FFT device, do not set the
same value but set different values to improve the vibration suppression
performance.
A vibration suppression control effect is not produced if the relationship
between the model loop gain (parameter No.PB07) value and vibration
frequency is as indicated below. Make setting after decreasing PG1, e.g.
reduce the response setting.

1
(1.5 PG1) vibration frequency
2

9 - 11
9. SPECIAL ADJUSTMENT FUNCTIONS

9.5 Low-pass filter

(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of the
servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque
command. The filter frequency of this low-pass filter is automatically adjusted to the value in the following
expression.
VG2
Filter frequency(rad/s) 10
1 + GD2

When parameter No.PB23 is set to " 1 ", manual setting can be made with parameter No.PB18.

(2) Parameter
Set the operation of the low-pass filter selection (parameter No.PB23.)
Parameter No.PB23

Low-pass filter selection

0: Automatic setting (initial value)
1: Manual setting (parameter No.PB18 setting)

9.6 Gain changing function

This function can change the gains. You can change between gains during rotation and gains during stop or
can use an input device to change gains during operation.

9.6.1 Applications
This function is used when.

(1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.

(2) You want to increase the gains during settling to shorten the stop settling time.

(3) You want to change the gains using an input device to ensure stability of the servo system since the load
inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).

9 - 12
9. SPECIAL ADJUSTMENT FUNCTIONS

9.6.2 Function block diagram

The valid loop gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions
selected by gain changing selection CDP (parameter No.PB26) and gain changing condition CDS (parameter
No.PB27).
CDP
Parameter No.PB26

Input device CDP

Command pulse
frequency

Droop pulses

Changing
Model speed

Comparator
CDS
Parameter No.PB27

GD2
Parameter No.PB06
Valid
GD2B GD2 value
Parameter No.PB29

PG2
Parameter No.PB08
Valid
PG2B PG2 value
Parameter No.PB30

VG2
Parameter No.PB09
Valid
VG2B VG2 value
Parameter No.PB31

VIC
Parameter No.PB10
Valid
VICB VIC value
Parameter No.PB32

VRF1
Parameter No.PB19
Valid
VRF1B VRF1 value
Parameter No.PB33

VRF2
Parameter No.PB20
Valid
VRF2B VRF2 value
Parameter No.PB34

9 - 13
9. SPECIAL ADJUSTMENT FUNCTIONS

9.6.3 Parameters
When using the gain changing function, always set " 3" in parameter No.PA08 (auto tuning) to choose the
manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning
mode.

Parameter
Abbreviation Name Unit Description
No.
Ratio of load inertia moment to Multi- Control parameters before changing.
PB06 GD2 servo motor inertia moment plier
( 1)
Model loop gain Position and speed gains of a model used to set the response
PB07 PG1 rad/s
level to a command. Always valid.
PB08 PG2 Position loop gain rad/s
PB09 VG2 Speed loop gain rad/s
PB10 VIC Speed integral compensation ms
Gain changing ratio of load inertia Multi- Used to set the ratio of load inertia moment to servo motor
PB29 GD2B moment to servo motor inertia plier inertia moment after changing.
moment ( 1)
PB30 PG2B Gain changing position loop gain rad/s Used to set the value of the after-changing position loop gain.
PB31 VG2B Gain changing speed loop gain rad/s Used to set the value of the after-changing speed loop gain.
Gain changing speed integral Used to set the value of the after-changing speed integral
PB32 VICB ms
compensation compensation.
PB26 CDP Gain changing selection Used to select the changing condition.
Gain changing condition kpps Used to set the changing condition values.
PB27 CDS pulse
r/min
Gain changing time constant You can set the filter time constant for a gain change at
PB28 CDT ms
changing.
Gain changing vibration Used to set the value of the after-changing vibration
PB33 VRF1B suppression control vibration Hz suppression control vibration frequency setting.
frequency setting
Gain changing vibration Used to set the value of the after-changing vibration
PB34 VRF2B suppression control resonance Hz suppression control resonance frequency setting.
frequency setting

9 - 14
9. SPECIAL ADJUSTMENT FUNCTIONS

(1) Parameters No.PB06 to PB10

These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load inertia moment to servo motor inertia moment, position loop gain, speed loop gain and speed
integral compensation to be changed.

(2) Gain changing ratio of load inertia moment to servo motor inertia moment (GD2B: parameter No.PB29)
Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia moment
ratio does not change, set it to the same value as ratio of load inertia moment to servo motor inertia
moment (parameter No.PB06).

(3) Gain changing position loop gain (parameter No.PB30), Gain changing speed loop gain (parameter
No.PB31), Gain changing speed integral compensation (parameter No.PB32)
Set the values of after-changing position loop gain, speed loop gain and speed integral compensation.

(4) Gain changing selection (parameter No.PB26)

Used to set the gain changing condition. Choose the changing condition in the first digit and second digit. If
you set "1" in the first digit here, you can use the gain changing (RY(n 2)) input device for gain changing.

0 0
Gain changing selection
Under any of the following conditions, the gains
change on the basis of the parameter No.PB29 to
PB32 settings.
0: Invalid
1: Gain changing (RY(n+2)) is ON
2: Command frequency (Parameter No.PB27 setting)
3: Droop pulse value (Parameter No.PB27 setting)
4: Servo motor speed (Parameter No.PB27 setting)

Gain changing condition

0: Valid at more than condition (Valid when gain changing (RY(n+2) is ON)
1: Valid at less than condition (Valid when gain changing (RY(n+2) is OFF)

(5) Gain changing condition (parameter No.PB27)

When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing
selection (parameter No.PB26), set the gain changing level.
The setting unit is as follows.

Gain changing condition Unit

Command frequency kpps
Droop pulses pulse
Servo motor speed r/min

(6) Gain changing time constant (parameter No.PB28)

You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain changing, for example.

9 - 15
9. SPECIAL ADJUSTMENT FUNCTIONS

9.6.4 Gain changing operation

This operation will be described by way of setting examples.

(1) When you choose changing by input device

(a) Setting
Parameter
Abbreviation Name Setting Unit
No.
PB07 PG1 Model loop gain 100 rad/s
Ratio of load inertia moment to servo motor Multiplier
PB06 GD2 4.0
inertia moment ( 1)
PB08 PG2 Position loop gain 120 rad/s
PB09 VG2 Speed loop gain 3000 rad/s
PB10 VIC Speed integral compensation 20 ms
Gain changing ratio of load inertia moment to Multiplier
PB29 GD2B 10.0
servo motor inertia moment ( 1)
PB30 PG2B Gain changing position loop gain 84 rad/s
PB31 VG2B Gain changing speed loop gain 4000 rad/s
PB32 VICB Gain changing speed integral compensation 50 ms
0001
PB26 CDP Gain changing selection
(Changed by ON/OFF of Input device)
PB28 CDT Gain changing time constant 100 ms
Used to set the value of the after-changing
Gain changing vibration suppression control
PB33 VRF1B vibration suppression control vibration Hz
vibration frequency setting
frequency setting.
Used to set the value of the after-changing
Gain changing vibration suppression control
PB34 VRF2B vibration suppression control resonance Hz
resonance frequency setting
frequency setting.

(b) Changing operation

Gain changing OFF ON OFF
(RY(n+2))
After-changing gain

Change of Before-changing gain

each gain CDT 100ms

Model loop gain 1 100

Ratio of load inertia moment
4.0 10.0 4.0
to servo motor inertia moment
Position loop gain 120 84 120
Speed loop gain 3000 4000 3000
Speed integral compensation 20 50 20

9 - 16
9. SPECIAL ADJUSTMENT FUNCTIONS

(2) When you choose changing by droop pulses

(a) Setting
Parameter
Abbreviation Name Setting Unit
No.
PB07 PG1 Model loop gain 100 rad/s
Ratio of load inertia moment to servo motor Multiplier
PB06 GD2 4.0
inertia moment ( 1)
PB08 PG2 Position loop gain 120 rad/s
PB09 VG2 Speed loop gain 3000 rad/s
PB10 VIC Speed integral compensation 20 ms
Gain changing ratio of load inertia moment to Multiplier
PB29 GD2B 10.0
servo motor inertia moment ( 1)
PB30 PG2B Gain changing position loop gain 84 rad/s
PB31 VG2B Gain changing speed loop gain 4000 rad/s
PB32 VICB Gain changing speed integral compensation 50 ms
0003
PB26 CDP Gain changing selection
(Changed by droop pulses)
PB27 CDS Gain changing condition 50 pulse
PB28 CDT Gain changing time constant 100 ms

(b) Changing operation

Command pulse
Droop pulses

CDS
Droop pulses [pulses] 0
CDS

After-changing gain

Before-changing gain
Change of each gain
CDT 100ms

Model loop gain 100

Ratio of load inertia moment
4.0 10.0 4.0 10.0
to servo motor inertia moment
Position loop gain 120 84 120 84
Speed loop gain 3000 4000 3000 4000
Speed integral compensation 20 50 20 50

9 - 17
9. SPECIAL ADJUSTMENT FUNCTIONS

MEMO

9 - 18
10. TROUBLESHOOTING

10. TROUBLESHOOTING ................................................................................................................................2

10.1 Trouble at start-up..................................................................................................................................2
10.2 Operation at error occurrence................................................................................................................3
10.3 CC-Link communication error ................................................................................................................3
10.4 When alarm or warning has occurred....................................................................................................4
10.4.1 Alarms and warning list ...................................................................................................................4
10.4.2 Remedies for alarms .......................................................................................................................5
10.4.3 Remedies for warnings..................................................................................................................12
10.5 Point table error....................................................................................................................................14

10 - 1
10. TROUBLESHOOTING

10. TROUBLESHOOTING
10.1 Trouble at start-up
Excessive adjustment or change of parameter setting must not be made as it will
CAUTION make operation instable.

POINT
Using the set up software(MR Configurator), you can refer to unrotated servo
motor reasons, etc.

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.

No. Start-up sequence Fault Investigation Possible cause Reference

1 Power on LED is not lit. Not improved if connectors 1. Power supply voltage fault
LED flickers. CN2, CN3 and CN6 are 2. Driver is faulty.
disconnected.
Improved when connectors Power supply of CN6 cabling is
CN6 is disconnected. shorted.
Improved when connector 1. Power supply of encoder
CN2 is disconnected. cabling is shorted.
2. Encoder is faulty.
Improved when connector Power supply of CN3 cabling is
CN3 is disconnected. shorted.
Alarm occurs. Refer to section 14.4 and remove cause. Section 10.4
2 Switch on servo-on Alarm occurs. Refer to section 14.4 and remove cause. Section 10.4
(RYn0) signal. Servo motor shaft is 1. Check the display to see if 1. Servo-on (RYn0) is not input.
not servo-locked the driver is ready to (Wiring mistake)
(is free). operate. 2. 24VDC power is not supplied
2. Check the external I/O to DICOM.
signal indication to see if
the servo-on (RYn0) signal
is ON.
3 Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 8
(speed fluctuations) following procedure.
are large at low 1. Increase the auto tuning
speed. response level.
2. Repeat acceleration and
deceleration several times
to complete auto tuning.
Large load inertia If the servo motor may be run Gain adjustment fault Chapter 8
moment causes the with safety, repeat
servo motor shaft to acceleration and deceleration
oscillate side to side. several times to complete
auto tuning.
4 Cyclic operation Position shift occurs Confirm the cumulative Pulse counting error, etc.
command pulses, cumulative due to noise.
feedback pulses and actual
servo motor position.

10 - 2
10. TROUBLESHOOTING

10.2 Operation at error occurrence

An error occurring during operation will result in any of the statuses indicated in the following table.

Operation mode
Error location Description
Test operation CC-Link operation
Servo side alarm Servo operation Stop Stop
occurrence CC-Link data communication Continued Continued
Option unit Servo operation Stop Stop
communication error CC-Link data communication Stop Stop
CC-Link Servo operation Stop Stop
communication error CC-Link data communication Stop Stop
Programmable driver Servo operation Continued Stop
error/STOP CC-Link data communication Stop Stop
Servo side warning Servo operation Stop Continued
occurrence CC-Link data communication Continued Continued

10.3 CC-Link communication error

This section gives the definitions of the indications given in the communication alarm display section.
The driver has four LED indications.

L.RUN : Lit at normal receive of refresh data. Extinguished when data is not received for a given period of time.
SD : Lit when send data is "0".
RD : Lit when the carrier of receive data is detected.
L.ERR : Lit when the data addressed to the host is in CRC or abort error.

(Note) Communication alarm display LED

Operation
L.RUN SD RD L.ERR
Normal communication is made, but a CRC error sometimes occurs due to noise.
Normal communication
Hardware fault
Hardware fault
Receive data results in CRC error, disabling a response.
Data does not reach the host.
Hardware fault
Hardware fault
Polling response is made, but refresh receive is in CRC error.
Hardware fault
Hardware fault
Hardware fault
Data addressed to the host resulted in CRC error.
Data does not reach the host, or the data addressed to the host cannot be received due to
noise.
Hardware fault
Baud rate setting illegal
Station number setting illegal
Baud rate or station number setting changed midway (ERROR flickers for about 4s)
Data cannot be received due to power-off, power supply failure, open cable, etc.
WDT error occurrence (hardware fault)
Note. : Lit : Extinguished : Flicker

10 - 3
10. TROUBLESHOOTING

10.4 When alarm or warning has occurred

POINT
Configure up a circuit which will detect the trouble (ALM) signal and turn off the
servo-on (RYn0) at occurrence of an alarm.
10.4.1 Alarms and warning list
When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning
has occurred, refer to section 10.4.2 or 10.4.3 and take the appropriate action. When an alarm occurs, ALM
turns off.
After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm
deactivation column.
Alarm deactivation Display Name
(Note3) Home positioning incomplete
(Note2) A90
MR warning
Display Name Power Alarm
Configurator A92 Open battery cable warning
OFF ON reset
parameter A96 Home position setting error
(RES)
unit A98 Software limit warning
A10 Undervoltage A99 Stroke limit warning
A12 Memory error 1 (RAM) A9D CC-Link warning 1
A13 Clock error A9E CC-Link warning 2

Warnings
Memory error 2 A9F Battery warning
A15
(EEP-ROM) AE0 Excessive regeneration warning
Encoder error 1 AE1 Overload warning 1
A16
(At power on) AE3 Absolute position counter warning
A17 Board error AE6 Servo emergency stop warning
Memory error 3 Cooling fan speed reduction
A19 AE8
(Flash-ROM) warning
A1A Motor combination error AE9 Main circuit off warning
A20 Encoder error 2 AEC Overload warning 2
A24 Main circuit error AED Output watt excess warning
A25 Absolute position erase
Alarms

(Note 1) (Note 1) (Note 1)

A30 Regenerative error

A31 Overspeed
A32 Overcurrent
A33 Overvoltage
A35 Command pulse frequency alarm
A37 Parameter error
(Note 1) (Note 1) (Note 1)
A45 Main circuit device overheat

(Note 1) (Note 1) (Note 1)

A46 Servo motor overheat

A47 Cooling fan alarm

(Note 1) (Note 1) (Note 1)
A50 Overload 1

(Note 1) (Note 1) (Note 1)

A51 Overload 2

A52 Error excessive

A61 Operation alarm
A8A Serial communication time-out
A8D CC-Link alarm
A8E Serial communication error
888 Watchdog
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. Turns on RY(n+1)A or RY(n+3)A.
3. Clicking the "Alarm reset" button on the "Alarm display" screen of set up software(MR Configurator) allows an alarm to be
deactivated.Pressing the "STOP RESET" key of the parameter unit allows an alarm to be deactivated.

10 - 4
10. TROUBLESHOOTING

10.4.2 Remedies for alarms

When any alarm has occurred, eliminate its cause, ensure safety, then reset the
alarm, and restart operation. Otherwise, injury may occur.
CAUTION If an absolute position erase (A25) occurred, always make home position setting
again. Not doing so may cause unexpected operation.
As soon as an alarm occurs, turn off Servo-on (RYn0) and power off.

POINT
When any of the following alarms has occurred, do not deactivate the alarm
and resume operation repeatedly. To do so will cause the driver/servo motor to
fail. Remove the cause of occurrence, and leave a cooling time of more than 30
minutes before resuming operation.
Regenerative error (A30)
Overload 1 (A50)
Overload 2 (A51)
For the alarm deactivation method, refer to section 10.4.1.

When an alarm occurs, the trouble (ALM) switches off and the dynamic brake is operated to stop the servo
motor. At this time, the display indicates the alarm No.
The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. Use the set
up software(MR Configurator) to refer to a factor of alarm occurrence.

Display Name Definition Cause Action

A10 Undervoltage Power supply 1. Power supply voltage is low. Check the power supply.
voltage dropped. 2. There was an instantaneous control
LECSC2-□: power failure of 60ms or longer.
160VAC or less 3. Shortage of power supply capacity
LECSC1-□: caused the power supply voltage to
83VAC or less drop at start, etc.
4. The bus voltage dropped to the
following value or less.
LECSC2-□ 200VDC
LECSC1-□: 158VDC
5. Faulty parts in the driver. Change the driver.
Checking method
Alarm (A10) occurs if power is
switched on after disconnection
of all cables but the control
circuit power supply cables.

A12 Memory error 1 RAM, memory fault Faulty parts in the driver. Change the driver.
(RAM) Checking method
A13 Clock error Printed board fault Alarm (any of A12 and A13)
occurs if power is switched on
after disconnection of all cables
but the control circuit power
supply cables.

10 - 5
10. TROUBLESHOOTING

Display Name Definition Cause Action

A15 Memory error 2 EEP-ROM fault 1. Faulty parts in the driver Change the driver.
(EEP-ROM) Checking method
Alarm (A15) occurs if power is
switched on after disconnection
of all cables but the control circuit
power supply cables.

2. The number of write times to EEP-

ROM exceeded 100,000.
A16 Encoder error 1 Communication error 1. Encoder connector (CN2) Connect correctly.
(At power on) occurred between disconnected.
encoder and driver. 2. Encoder fault Change the servo motor.
3. Encoder cable faulty Repair or change the cable.
(Wire breakage or shorted)
4. Encoder cable type (2-wire, 4-wire) Correct the setting in the fourth digit of
selection was wrong in parameter parameter No.PC22.
setting.
A17 Board error CPU/parts fault Faulty parts in the driver Change the driver.
A19 Memory error 3 ROM memory fault Checking method
(Flash ROM) Alarm (A17 or A19) occurs if
power is switched on after
disconnection of all cables but the
control circuit power supply cable.

A1A Motor Wrong combination Wrong combination of driver and servo Use correct combination.
combination of driver and servo motor connected.
error motor.
A20 Encoder error 2 Communication error 1. Encoder connector (CN2) Connect correctly.
occurred between disconnected.
encoder and driver. 2. Encoder cable faulty Repair or change the cable.
(Wire breakage or shorted)
3. Encoder fault Change the servo motor.
A24 Main circuit error Ground fault 1. Power input wires and servo motor Connect correctly.
occurred at the servo power wires are in contact.
motor power (U,V 2. Sheathes of servo motor power Change the cable.
and W phases) of cables deteriorated, resulting in
the driver. ground fault.
3. Main circuit of driver failed. Change the driver.
Checking method
Alarm (A24) occurs if the servo is
switched on after disconnecting
the U, V, W power cables from
the servo amplifier.

A25 Absolute Absolute position 1. Voltage drop in encoder After leaving the alarm occurring for a few
position erase data in error (Battery disconnected.) minutes, switch power off, then on again.
Always make home position setting again.
2. Battery voltage low Change the battery.
3. Battery cable or battery is faulty. Always make home position setting again.
Power was switched 4. Home position not set. After leaving the alarm occurring for a few
on for the first time in minutes, switch power off, then on again.
the absolute position Always make home position setting again.
detection system.

10 - 6
10. TROUBLESHOOTING

Display Name Definition Cause Action

A30 Regenerative Permissible 1. Wrong setting of parameter No. Set correctly.
error regenerative power PA02
of the built-in 2. Built-in regenerative resistor or Connect correctly
regenerative resistor regenerative option is not
or regenerative connected.
option is exceeded. 3. High-duty operation or continuous 1. Reduce the frequency of positioning.
regenerative operation caused the 2. Use the regenerative option of larger
permissible regenerative power of capacity.
the regenerative option to be 3. Reduce the load.
exceeded.
Checking method
Call the status display and check
the regenerative load ratio.

4. Power supply voltage is abnormal. Check the power supply

LECSC2-□:260VAC or more
LECSC1-□:More than 135VAC
5. Built-in regenerative resistor or Change the driver or regenerative option.
regenerative option faulty.
Regenerative 6. Regenerative transistor faulty. Change the driver.
transistor fault Checking method
1) The regenerative option has
overheated abnormally.
2) The alarm occurs even after
removal of the built-in
regenerative resistor or
regenerative option.

A31 Overspeed Speed has 1. Input command pulse frequency Set command pulses correctly.
exceeded the exceeded the permissible
instantaneous instantaneous speed frequency.
permissible speed. 2. Small acceleration/deceleration time Increase acceleration/deceleration time
constant caused overshoot to be constant.
large.
3. Servo system is instable to cause 1. Re-set servo gain to proper value.
overshoot. 2. If servo gain cannot be set to proper
value.
1) Reduce load inertia moment ratio; or
2) Reexamine acceleration/
deceleration time constant.
4. Electronic gear ratio is large Set correctly.
(parameters No.PA06, PA07)
5. Encoder faulty. Change the servo motor.

10 - 7
10. TROUBLESHOOTING

Display Name Definition Cause Action

A32 Overcurrent Current that flew is 1. Short occurred in servo motor power Correct the wiring.
higher than the (U, V, W).
permissible current 2. Transistor (IPM, IGBT) of the driver Change the driver.
of the driver. (If the faulty.
alarm (A32) occurs Checking method
again when turning Alarm (A32) occurs if power is
ON the servo after switched on after U,V and W are
resetting the alarm disconnected.
by turning OFF/ON
the power when the 3. Ground fault occurred in servo motor Correct the wiring.
alarm (A32) first power (U, V, W).
occurred, the 4. External noise caused the Take noise suppression measures.
transistor (IPM, overcurrent detection circuit to
IGBT) of the driver misoperate.
may be at fault. In
the case, do not
repeat to turn
OFF/ON the power.
Check the transistor
with the checking
method of “Cause
2”.)
A33 Overvoltage The following shows 1. Regenerative option is not used. Use the regenerative option.
the input value of 2. Though the regenerative option is Set correctly.
converter bus used, the parameter No.PA02
voltage. setting is " 00 (not used)".
LECSC□-□: 3. Lead of built-in regenerative resistor 1. Change the lead.
400VDC or more or regenerative option is open or 2. Connect correctly.
disconnected.
4. Regenerative transistor faulty. Change the driver
5. Wire breakage of built-in 1. For wire breakage of built-in regenerative
regenerative resistor or regenerative resistor, change the driver.
option. 2. For wire breakage of regenerative option,
change the regenerative option.
6. Capacity of built-in regenerative Add regenerative option or increase
resistor or regenerative option is capacity.
insufficient.
7. Power supply voltage high. Check the power supply.
8. Ground fault occurred in servo motor Correct the wiring.
power (U, V, W).
A35 Command pulse Input pulse 1. Pulse frequency of the manual pulse Change the pulse frequency to a proper
frequency error frequency of the generator is too high. value.
command pulse is 2. Noise entered the pulses of the Take action against noise.
too high. manual pulse generator.
3. Manual pulse generator failure. Change the manual pulse generator.

10 - 8
10. TROUBLESHOOTING

Display Name Definition Cause Action

A37 Parameter error Parameter setting is 1. Driver fault caused the parameter Change the driver.
wrong. setting to be rewritten.
2. Regenerative option not used with Set parameter No.PA02 correctly.
driver was selected in parameter
No.PA02.
3. Value outside setting range has Set parameters No.PA06, PA07 correctly.
been set in electronic gear.
4. Opposite sign has been set in Set parameters No.PC31 to PC34 correctly.
software limit increasing side
(parameters No.PC31, PC32).
Similarly, opposite sign has been set
in software limit decreasing side
(parameters No.PC33, PC34).
5. Opposite sign has been set in Set parameters No.PC37 to PC40 correctly.
position range output address
increasing side (parameters No.
PC37, PC38). Similarly, opposite
sign has been set in position range
output address decreasing side
(parameters No.PC39, PC40).
6. The number of write times to EEP- Change the driver.
ROM exceeded 100,000 due to
parameter write, etc.
7. The torque limit switching dog These home position return types cannot be
system or torque limit switching data used. Set the parameter No.PC02 correctly.
set system is selected for home
position return in the point table
positioning operation. (Parameter
No.PC02)
Point table setting is 8. Setting value is out of the setting Set it correctly.
wrong. range.
A45 Main circuit Main circuit device 1. Driver faulty. Change the driver.
device overheat overheat.
2. The power supply was turned on The drive method is reviewed.
and off continuously by overloaded
status.
3. Ambient temperature of servo Check environment so that ambient
motor is over 55 (131 ). temperature is 0 to 55 (32 to 131 ).
4. Used beyond the specifications of Use within the range of specifications.
close mounting.
A46 Servo motor Servo motor 1. Ambient temperature of servo Check environment so that ambient
overheat temperature rise motor is over 40 (104 ). temperature is 0 to 40 (32 to 104 ).
actuated the thermal 2. Servo motor is overloaded. 1. Reduce load.
sensor. 2. Check operation pattern.
3. Use servo motor that provides larger
output.
3. Thermal sensor in encoder is Change the servo motor.
faulty.
A47 Cooling fan The cooling fan of 1. Cooling fan life expiration (Refer to Change the cooling fan of the driver.
alarm the driver stopped, section 2.5.)
or its speed 2. Foreign matter caught in the Remove the foreign matter.
decreased to or cooling fan stopped rotation.
below the alarm 3. The power supply of the cooling Change the driver.
level. fan failed.

10 - 9
10. TROUBLESHOOTING

Display Name Definition Cause Action

A50 Overload 1 Load exceeded 1. Driver is used in excess of its 1. Reduce load.
overload protection continuous output current. 2. Check operation pattern.
characteristic of 3. Use servo motor that provides larger
driver. output.
2. Servo system is instable and 1. Repeat acceleration/deceleration to
hunting. execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
3. Machine struck something. 1. Check operation pattern.
2. Install limit switches.
4. Wrong connection of servo motor. Connect correctly.
Driver's output terminals U, V, W
do not match servo motor's input
terminals U, V, W.
5. Encoder faulty. Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do not
vary in proportion to the rotary angle
of the shaft but the indication skips
or returns midway.

6. After Overload 2 (A51) occurred, 1. Reduce load.

turn OFF/ON the power supply to 2. Check operation pattern.
clear the alarm. Then the overload 3. Use servo motor that provides larger
operation is repeated. output.
A51 Overload 2 Machine collision or 1. Machine struck something. 1. Check operation pattern.
the like caused max. 2. Install limit switches.
For the time of the 2. Wrong connection of servo motor. Connect correctly.
alarm occurrence, Driver's output terminals U, V, W
refer to the section do not match servo motor's input
12.1. terminals U, V, W.
3. Servo system is instable and 1. Repeat acceleration/deceleration to
hunting. execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
4. Encoder faulty. Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do not
vary in proportion to the rotary angle
of the shaft but the indication skips
or returns midway.

10 - 10
10. TROUBLESHOOTING

Display Name Definition Cause Action

A52 Error excessive The difference 1. Acceleration/deceleration time Increase the acceleration/deceleration time
between the model constant is too small. constant.
position and the 2. Forward rotation torque limit Increase the torque limit value.
actual servo motor (parameter No.PA11) or reverse
position exceeds rotation torque limit (parameter
three rotations. No.PA12) are too small.
(Refer to the function 3. Motor cannot be started due to 1. Check the power supply capacity.
block diagram in torque shortage caused by power 2. Use servo motor which provides larger
section 1.1.2.) supply voltage drop. output.
4. Position loop gain (parameter Increase set value and adjust to ensure
No.PB08) value is small. proper operation.
5. Servo motor shaft was rotated by 1. When torque is limited, increase the limit
external force. value.
2. Reduce load.
3. Use servo motor that provides larger
output.
6. Machine struck something. 1. Check operation pattern.
2. Install limit switches.
7. Encoder faulty. Change the servo motor.
8. Wrong connection of servo motor. Connect correctly.
Driver’s output terminals U, V, W do
not match servo motor’s input
terminals U, V, W.
A61 Operation alarm Setting mistake of "1" or "3" is set for the auxiliary Set "0" or "2" for the value of auxiliary
auxiliary function. function of point table No.255. function.
A8A Serial Communication 1. Communication cable breakage. Repair or change the communication cable.
communication stopped for longer 2. Communication cycle longer than Shorten the communication cycle.
time-out error than the specified regulated time.
time. 3. Wrong protocol. Correct protocol.
A8D CC-Link alarm Normal 1. The station number switch Set the station number to within the range 1
communication with (STATION NO.) setting is 0 or not to 64, and switch power on.
the master station less than 65.
cannot be made. 2. The baud rate switch (MODE) Set the baud rate switch (MODE) to within
setting is outside the range 0 to 4. the range 0 to 4.
3. The transmission status is Reexamine the wiring.
abnormal.
4. CC-Link twisted cable wiring 1. Repair or change the CC-Link twisted
incorrect. cable.
5. CC-Link twisted cable faulty. 2. Connect the cable or connector correctly.
6. The CC-Link connector has come
off.
7. The terminating resistor is not Connect the terminating resistor correctly.
connected.
8. Noise entered the CC-Link twisted
cable.
9. The programmable driver CC-Link
unit was reset.
A8E Serial Serial communication 1. Communication cable fault Repair or change the cable.
communication error occurred (Open cable or short circuit).
error between driver and 2. Communication device (e.g. Change the communication device (e.g.
communication personal computer) faulty. personal computer).
device (e.g. personal
computer).

10 - 11
10. TROUBLESHOOTING

Display Name Definition Cause Action

(Note) Watchdog CPU, parts faulty. Fault of parts in driver. Change the driver.
888 Checking method
Alarm (888) occurs if power is
switched on after disconnection of
all cables but the control circuit
power supply cable.

Note. At power-on, "888" appears instantaneously, but it is not an error.

10.4.3 Remedies for warnings

If an absolute position counter warning (AE3) occurred, always make home
CAUTION position setting again. Not doing so may cause unexpected operation.

POINT
When any of the following alarms has occurred, do not resume operation by
switching power of the driver OFF/ON repeatedly. The driver and servo motor
may become faulty. If the power of the driver is switched OFF/ON during the
alarms, allow more than 30 minutes for cooling before resuming operation.
Excessive regenerative warning (AE0)
Overload warning 1 (AE1)

If AE6 occur, the servo off status is established. If any other warning occurs, operation can be continued but an
alarm may take place or proper operation may not be performed.
Remove the cause of warning according to this section. Use the set up software(MR Configurator) to refer to a
factor of warning occurrence.
Display Name Definition Cause Action
A90 Home position Positioning operation 1. Positioning operation was performed Perform home position return.
In incremental system

return incomplete was performed without home position return.

without home
position return.
Home position return 2. Home position return speed could not be Check home position return
ended abnormally. decreased to creep speed. speed/creep speed/moving
3. Limit switch was actuated during home distance after proximity dog.
position return starting at other than
position beyond dog.
Positioning operation 1. Positioning operation was performed Perform home position setting.
was performed without home position setting.
without home
In absolute position detection system

position setting.
Home position 2. Home position setting speed could not be Check home position setting
setting ended decreased to creep speed. speed/creep speed/moving
abnormally. 3. Limit switch was actuated during home distance after proximity dog.
position setting starting at other than
position beyond dog.

Operation was 4. Voltage drop in encoder After leaving the alarm occurring
performed without (Battery disconnected.) for a few minutes, switch power
making home off, then on again. Always make
position setting while home position setting again.
an absolute position 5. Battery voltage low Change the battery.
erase (A25) is being 6. Battery cable or battery is faulty. Always make home position
occurred. setting again.

10 - 12
10. TROUBLESHOOTING

Display Name Definition Cause Action

A92 Open battery cable Absolute position 1. Battery cable is open. Repair cable or changed.
warning detection system battery 2. Battery voltage supplied from the driver to Change the battery.
voltage is low. the encoder fell to about 3V or less.
(Detected with the encoder)
A96 Home position Home position setting 1. Droop pulses remaining are greater than Remove the cause of droop pulse
setting warning could not be made. the in-position range setting. occurrence
2. Command pulse entered after clearing of Do not enter command pulse
droop pulses. after clearing of droop pulses.
3. Creep speed high. Reduce creep speed.
A98 Software limit Software limit set in 1. Software limit was set within actual Set parameter No.PC31 to PC34
warning parameter is reached. operation range. correctly.
2. Point table of position data in excess of Set point table correctly.
software limit was executed.
3. Software limit was reached during JOG Perform operation within software
operation or manual pulse generator limit range.
operation.
A99 Stroke limit The limit switch become The stroke end (LSP or LSN) of the Reexamine the operation pattern
warning valid. direction which gave instructions was turned to turn LSP/LSN ON.
off.
A9D CC-Link warning 1 The station number switch 1. The station number switch position was Return to the setting at power-on.
or baud rate switch changed from the setting at power-on.
position was changed 2. The baud rate switch position was
from the setting at power- changed from the setting at power-on.
on. 3. The occupied station count switch
position was changed from the setting at
power-on.
A9E CC-Link warning 2 Communication error of 1. The transmission status is abnormal. Take measures against noise.
cable. 2. CC-Link twisted cable wiring incorrect. 1. Change the CC-Link twisted
3. CC-Link twisted cable faulty. cable.
4. The CC-Link connector has come off. 2. Connect the cable or connector
correctly.
5. The terminating resistor is not connected. Connect the terminating resistor
6. Noise entered the CC-Link twisted cable. correctly.
A9F Battery warning Voltage of battery for Battery voltage fell to 3.2V or less. Change the battery.
absolute position (Detected with the driver)
detection system reduced.
AE0 Excessive There is a possibility that Regenerative power increased to 85% or 1. Reduce frequency of
regenerative regenerative power may more of permissible regenerative power of positioning.
warning exceed permissible built-in regenerative resistor or regenerative 2. Change the regenerative
regenerative power of option. option for the one with larger
built-in regenerative Checking method capacity.
resistor or regenerative Call the status display and check 3. Reduce load.
option. regenerative load ratio.

AE1 Overload warning There is a possibility that Load increased to 85% or more of overload Refer to A50, A51.
1 overload alarm 1 or 2 may alarm 1 or 2 occurrence level.
occur. Cause, checking method
Refer to A50, A51.

AE3 Absolute position Absolute position encoder 1. Noise entered the encoder. Take noise suppression
counter warning pulses faulty. measures.
2. Encoder faulty. Change the servo motor.
The multi-revolution 3. The movement amount from the home Make home position setting
counter value of the position exceeded a 32767 rotation or again.
absolute position encoder 37268 rotation in succession.
exceeded the maximum
revolution range.
AE6 Servo forced stop EMG is off. External forced stop was made valid. (EMG Ensure safety and deactivate
warning was turned off.) forced stop.

10 - 13
10. TROUBLESHOOTING

Display Name Definition Cause Action

AE8 Cooling fan speed The speed of the driver Cooling fan life expiration (Refer to section Change the cooling fan of the
reduction warning decreased to or below the 2.5.) driver.
warning level.

The power supply of the cooling fan is Change the driver.

broken.

AE9 Main circuit off Servo-on (SON) was Switch on main circuit power.
warning switched on with main
circuit power off.
AEC Overload warning Operation, in which a During a stop, the status in which a current 1. Reduce the positioning
2 current exceeding the flew intensively in any of the U, V and W frequency at the specific
rating flew intensively in phases of the servo motor occurred positioning address.
any of the U, V and W repeatedly, exceeding the warning level. 2. Reduce the load.
phases of the servo 3. Replace the driver/
motor, was repeated. servo motor with the one of
larger capacity.
AED Output watt excess The status, in which the Continuous operation was performed with 1. Reduce the servo motor
warning output wattage (speed the output wattage (speed torque) of the speed.
torque) of the servo motor servo motor exceeding 150% of the rated 2. Reduce the load.
exceeded the rated output.
output, continued steadily.

10.5 Point table error

When a point table error occurs, the parameter error (A37) occurs. After the parameter No. of parameter error
(A37), the point table error details are displayed.
AL37 #00
PB10 PB11
PB12 PB16
Pos001

Point table error details

For the point table No.1 position data error

Point table No. with error

Error item
Pos: position data
Spd: speed
Acc: acceleration time constant
Dec: deceleration time constant
Dwl: dwell
Aux: auxiliary function

10 - 14
10. TROUBLESHOOTING

MEMO

10 - 15
11. OUTLINE DRAWINGS

11. OUTLINE DRAWINGS ................................................................................................................................2

11.1 Driver......................................................................................................................................................2
11.2 Connector...............................................................................................................................................4

11 - 1
11. OUTLINE DRAWINGS

11. OUTLINE DRAWINGS

11.1 Driver
(1) LECSC□-S5
LECSC□-S7
[Unit: mm]

40
Rating plate 6 mounting hole
4 6 Approx. 80 135

(Note)
CNP1

CNP2 CN1

CNP3

6
Approx. 68
Approx. 25.5
WithMR-J3BAT
With LEC-MR-J3

Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models.
For a single-phase、 100 to 120VAC power supply, refer to the terminal signal layout.
Mass: 0.8 [kg] (1.76 [lb])

Terminal signal layout Approx.

For 3-phase or 40
For 1-phase 1-phase PE terminal
100 to 120VAC 200 to 230VAC 6
L1 L1
L2
L2 L3
CNP1 CNP1 Screw size: M4 2-M5 screw
N N
Tightening torque: 1.2 [N m] (10.6 [lb in])
P1 P1
P2 P2

P P
C C
CNP2 D CNP2 D
L11 L11
L21 L21

U U
CNP3 V CNP3 V Mounting hole process drawing
W W Mounting screw
Screw size: M5
Tightening torque: 3.24[N m] (28.7[lb in])

11 - 2
11. OUTLINE DRAWINGS

(2) LECSC□-S8
[Unit: mm]

40
Rating plate
5 6 mounting hole 6 Approx. 80 170

(Note)
CNP1

CN1
CNP2

CNP3

6
Approx. 68
Approx. 25.5

With MR-J3BAT

Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models.
For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout.
Mass: 1.0 [kg] (2.21 [lb])
Terminal signal layout Approx.
For 3-phase or 40
For 1-phase 1-phase PE terminal
100 to 120VAC 200 to 230VAC
6

L1 L1
L2
L2 L3 2-M5 screw
CNP1 CNP1 Screw size: M4
N N
Tightening torque: 1.2 [N m] (10.6 [lb in])
P1 P1
P2 P2

P P
C C
CNP2 D CNP2 D
L11 L11
L21 L21 Mounting hole process drawing

U U Mounting screw
Screw size: M5
CNP3 V CNP3 V Tightening torque: 3.24[N m] (28.7[lb in])
W W

11 - 3
11. OUTLINE DRAWINGS

11.2 Connector
(1) Miniature delta ribbon (MDR) system (3M)
(a) One-touch lock type
[Unit: mm]

D
A C
Logo etc, are indicated here.
39.0
23.8

B 12.7

Each type of dimension

Connector Shell kit
A B C D E
10150-3000PE 10350-52F0-008 41.1 52.4 18.0 14.0 17.0

(b) Jack screw M2.6 type

This is not available as option.
[Unit: mm]

E
D

A C F
Logo etc, are indicated here.
39.0
23.85.2

B
12.7

Each type of dimension

Connector Shell kit
A B C D E F
10150-3000PE 10350-52A0-008 41.1 52.4 18.0 14.0 17.0 46.5

11 - 4
11. OUTLINE DRAWINGS

(2) SCR connector system (3M)

Receptacle : 36210-0100PL
Shell kit : 36310-3200-008
39.5
34.8

11.0
22.4

11 - 5
11. OUTLINE DRAWINGS

MEMO

11 - 6
12. CHARACTERISTICS

12. CHARACTERISTICS...................................................................................................................................2
12.1 Overload protection characteristics........................................................................................................2
12.2 Power supply equipment capacity and generated loss .........................................................................3
12.3 Dynamic brake characteristics ...............................................................................................................5
12.3.1 Dynamic brake operation ................................................................................................................5
12.3.2 The dynamic brake at the load inertia moment ...............................................................................6
12.4 Cable flexing life.....................................................................................................................................7
12.5 Inrush currents at power-on of main circuit and control circuit ..............................................................7

12 - 1
12 CHARACTERISTICS

12. CHARACTERISTICS
12.1 Overload protection characteristics
An electronic thermal relay is built in the driver to protect the servo motor and driver from overloads. Overload
1 alarm (A50) occurs if overload operation performed is above the electronic thermal relay protection curve
shown in any of Figs 12.1. Overload 2 alarm (A51) occurs if the maximum current flew continuously for several
seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or
broken line in the graph.
In a machine like the one for vertical lift application where unbalanced torque will be produced, it is
recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque.
When you carry out adhesion mounting of the driver, make circumference temperature into 0 to 45 (32 to
113 ), or use it at 75% or smaller effective load ratio.
1000 1000

During operation During operation

100 100
Operation time[s]

Operation time[s]

10 During servo lock 10 During servo lock

1 1

0.1 0.1
0 50 100 150 200 250 300 0 50 100 150 200 250 300

(Note) Load ratio [%] (Note) Load ratio [%]

LECSC□-S5 LECSC□-S7, LECSC□-S8

Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor
stop status (servo lock status) or in a 30r/min or less low-speed operation status, the driver may fail even when the electronic
thermal relay protection is not activated.

Fig 12.1 Electronic thermal relay protection characteristics

12 - 2
12 CHARACTERISTICS

12.2 Power supply equipment capacity and generated loss

(1) Amount of heat generated by the driver
Table 13.1 indicates drivers' power supply capacities and losses generated under rated load. For thermal
design of an enclosure, use the values in Table 13.1 in consideration for the worst operating conditions.
The actual amount of generated heat will be intermediate between values at rated torque and servo off
according to the duty used during operation. When the servo motor is run at less than the maximum speed,
the power supply capacity will be smaller than the value in the table, but the driver's generated heat will not
change.

Table 12.1 Power supply capacity and generated heat per driver at rated output
(Note 1) (Note 2) Area required for
Driver Servo motor Power supply Driver-generated heat [W] heat dissipation
capacity [kVA] At rated torque With servo off [m2]
LE-S5-□
LECSC□-S5 0.3 25 15 0.5
LE-S6-□
LECSC□-S7 LE-S7-□ 0.5 25 15 0.5
LECSC□-S8 LE-S8-□ 0.9 35 15 0.7

Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value is applicable when the
power factor improving AC reactor or power factor improving DC reactor is not used.
2. Heat generated during regeneration is not included in the driver-generated heat. To calculate heat generated by the
regenerative option, refer to section 12.2.
3. For 400V class, the value is within the ( ).
4. The drivers, which support these servo motors, have "-LR" at the end of their model names.

12 - 3
12 CHARACTERISTICS

(2) Heat dissipation area for enclosed driver

The enclosed control box (hereafter called the control box) which will contain the driver should be designed
to ensure that its temperature rise is within 10 ( 50 ) at the ambient temperature of 40 (104 ).
(With a 5 (41 ) safety margin, the system should operate within a maximum 55 (131 ) limit.) The
necessary enclosure heat dissipation area can be calculated by Equation 13.1.

P ............................................................................................................................................. (13.1)
A
K T

where, A : Heat dissipation area [m2]

P : Loss generated in the control box [W]
T : Difference between internal and ambient temperatures [ ]
K : Heat dissipation coefficient [5 to 6]

When calculating the heat dissipation area with Equation 13.1, assume that P is the sum of all losses
generated in the enclosure. Refer to Table 13.1 for heat generated by the driver. "A" indicates the effective
area for heat dissipation, but if the enclosure is directly installed on an insulated wall, that extra amount
must be added to the enclosure's surface area.
The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the
enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement
of the equipment in the enclosure and the use of a cooling fan should be considered.
Table 12.1 lists the enclosure dissipation area for each driver when the driver is operated at the ambient
temperature of 40 (104 ) under rated load.

(Outside) (Inside)

Air flow

Fig. 12.2 Temperature distribution in enclosure

When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because the
temperature slope inside and outside the enclosure will be steeper.

12 - 4
12 CHARACTERISTICS

12.3 Dynamic brake characteristics

12.3.1 Dynamic brake operation
(1) Calculation of coasting distance
Fig. 13.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated.
Use Equation 12.2 to calculate an approximate coasting distance to a stop. The dynamic brake time
constant varies with the servo motor and machine operation speeds. (Refer to (2)(a), (b) in this section.)
ON
Forced stop(EMG)
OFF

Time constant
V0
Machine speed

te Time

Fig. 12.3 Dynamic brake operation diagram

V0 JL ....................................................................................................................... (13.2)
Lmax te 1
60 JM

Lmax : Maximum coasting distance .................................................................................................... [mm][in]

Vo : Machine rapid feed rate ..............................................................................................[mm/min][in/min]
JM : Servo motor inertial moment..................................................................................... [kg cm2][oz in2]
JL : Load inertia moment converted into equivalent value on servo motor shaft ............ [kg cm2][oz in2]
: Brake time constant .......................................................................................................................... [s]
te : Delay time of control section............................................................................................................. [s]
For 7kW or less servo, there is internal relay delay time of about 30ms. For 11k to 22kW servo,
there is delay time of about 100ms caused by a delay of the external relay and a delay of the
magnetic contactor built in the external dynamic brake.

12 - 5
12 CHARACTERISTICS

(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant for the equations (13.2).
(a) 200V class servo motor
25
Time constant [ms]

73
20

15 23

10 053
13
5
43
0
0 1000 2000 3000 4000 5000 6000
Speed [r/min]

LE-□-□series

12.3.2 The dynamic brake at the load inertia moment

Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load inertia
moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load
inertia moment may exceed the value, contact Mitsubishi.
The values of the load inertia moment ratio in the table are the values at the maximum rotation speed of the
servo motor.

Servo motor
Driver
LE-□-□
LECSC□-□ 30

12 - 6
12 CHARACTERISTICS

12.4 Cable flexing life

The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values.
1 108 a
5 107

1 107 a : Long flex life encoder cable

5 106 Long flex life motor power cable
Long flex life motor brake cable

1 106 b : Standard encoder cable

5 105 Standard motor power cable
Standard motor brake cable
Flexing life [times]

1 105
5 104

1 104
b
5 103

1 103
4 7 10 20 40 70 100 200

Flexing radius [mm]

12.5 Inrush currents at power-on of main circuit and control circuit

The following table indicates the inrush currents (reference data) that will flow when the maximum permissible
voltage (200V class: 253VAC, 400V class: 528VAC) is applied at the power supply capacity of 2500kVA and
the wiring length of 1m.

Inrush currents (A0-p)

Driver
Main circuit power supply (L1, L2, L3) Control circuit power supply (L11, L21)
LECSC1-□ 38A (Attenuated to approx. 14A in 10ms) 20 to 30A
LECSC2-□ 30A (Attenuated to approx. 5A in 10ms) (Attenuated to approx. 0A in 1 to 2ms)

Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic contactors.
(Refer to section 13.10.)
When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped by an
inrush current.

12 - 7
13. OPTIONS AND AUXILIARY EQUIPMENT

13. OPTIONS AND AUXILIARY EQUIPMENT ................................................................................................. 2

13.1 Cable/connector sets ............................................................................................................................. 2
13.1.1 Combinations of cable/connector sets ............................................................................................ 3
13.1.2 Encoder cable/connector sets ......................................................................................................... 5
13.1.3 Motor cables .................................................................................................................................... 7
13.1.4 Lock cables...................................................................................................................................... 9
13.2 Regenerative options ........................................................................................................................... 10
13.3 Battery LEC-MR-J3BAT....................................................................................................................... 13
13.4 Selection example of wires .................................................................................................................. 14
13.5 No-fuse breakers, fuses, magnetic contactors .................................................................................... 18
13.6 Noise reduction techniques.................................................................................................................. 19
13.7 Leakage current breaker...................................................................................................................... 27
13.8 EMC filter (recommended)................................................................................................................... 29

13 - 1
13. OPTIONS AND AUXILIARY EQUIPMENT

13. OPTIONS AND AUXILIARY EQUIPMENT

Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
WARNING voltage between P( ) and N( ) is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, always confirm from the front
of the driver whether the charge lamp is off or not.

Use the specified auxiliary equipment and options. Unspecified ones may lead to a
CAUTION fault or fire.

13.1 Cable/connector sets

POINT
Protective structure indicated for cables and connecters is for a cable or
connector alone. When the cables and connectors are used to connect the
driver and servo motor, and if protective structures of the driver and servo
motor are lower than that of the cable and connector, specifications of the
driver and servo motor apply.

As the cables and connectors used with this servo, purchase the options indicated in this section.

13 - 2
13. OPTIONS AND AUXILIARY EQUIPMENT

13.1.1 Combinations of cable/connector sets

Driver

CN5

CNP1 CN3

CN1

CNP2
CN6
To CN6
CNP3
CN2 33)

CN4

●Direct connection type(cable length 10m or less, IP65)

15) 16) 17) 18)
To CN2 (

Battery
LEC-MR-j3BAT
9) 10) 11) 12)
●To 24VDC power
supply for
electromagnetic brake
Servo Motor
3) 4) 5) 6)
LE-□-□
To CNP3

Motor cable
Lock cable Encoder cable
Note. Connectors for 3.5kW or less For 5kW or more, terminal blocks

13 - 3
13. OPTIONS AND AUXILIARY EQUIPMENT

No. Product Model Description Application

3) Motor cable LE-CSM-S□A IP65

Cable length: 2 5 10m

Motor cable LE-□-□ Load side
series lead
4) Motor cable LE-CSM-R□A IP65
Load side
Cable length: 2 5 10m
lead
Refer to section 13.1.3 for details.
Robot cable
5) Motor cable LE-CSM-S□B IP65
LE-□-□
Cable length: 2 5 10m Motor cable Opposite-to-
series load side lead
6) Motor cable LE-CSM-R□B IP65
Opposite-to-
Cable length: 2 5 10m
load side lead
Refer to section 13.1.3 for details.
Robot cable

9) Lock cable LE-CSB-S□A IP65

LE-□-□
Cable length: 2 5 10m Lock cable Load side
series lead
10) Lock cable LE-CSB-R□A IP65
Load side
Cable length: 2 5 10m
lead
Refer to section 13.1.4 for details.
Robot cable
11) Lock cable LE-CSB-S□B LE-□-□ IP65

Cable length: 2 5 10m Lock cable Opposite-to-

series
load side lead
12) Lock cable LE-CSB-R□B IP65
Opposite-to-
Cable length: 2 5 10m
load side lead
Refer to section 13.1.4 for details.
Robot cable

15) Encoder LE-CSE-S□A LE-□-□ IP65

Encoder cableseries Load side
cable Cable length: 2 5 10m
lead
16) Encoder LE-CSE-R□A IP65
Load side
cable Cable length: 2 5 10m
lead
Refer to section 13.1.2 (1) for details.
Robot cable
17) Encoder LE-CSE-S□B IP65
Encoder cable LE-□-□
Opposite-to-
cable Cable length: 2 5 10m
series load side lead
18) Encoder LE-CSE-R□B IP65
Opposite-to-
cable Cable length: 2 5 10m
load side lead
Refer to section 13.1.2 (1) for details.
Robot cable
33) Connector LE-CSNC
Connector: 10126-3000PE
set
Shell kit: 10326-52F0-008(3M or equivalent)

13 - 4
13. OPTIONS AND AUXILIARY EQUIPMENT

13.1.2 Encoder cable/connector sets

(1) LE-CSE-□□A・LE-CSE-□□B
These cables are encoder cables for the,LE-□-□ series servo motors. The numerals in the Cable Length
field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the
symbols are available.

Cable model Cable length Protective

Flex life Application
2m 5m 10m structure
2 5 A For LE-□-□ servo motor
LE-CSE-S□A IP65 Standard
Load side lead
LE-CSE-R□A 2 5 A IP65 Robot cable
2 5 A For LE-□-□ servo motor
LE-CSE-S□B IP65 Standard
Opposite-to-load side lead
LE-CSE-R□B 2 5 A IP65 Robot cable

(a) Connection of driver and servo motor

Driver LE-CSE-S□A
LE-CSE-R□A 2)

Servo motor
LE-□-□
1) or

LE-CSE-S□B
LE-CSE-R□B 2)

CN2
1)

13 - 5
13. OPTIONS AND AUXILIARY EQUIPMENT

Cable model 1) For CN2 connector 2) For encoder connector

Receptacle: 36210- Connector set: 54599- Connector: 1674320-1
0100PL 1019 Crimping tool for ground
LE-CSE-S□A Shell kit: 36310-3200-008 (Molex) clip: 1596970-1
(3M) Crimping tool for
receptacle contact:
(Note) Signal layout (Note) Signal layout 1596847-1
LE-CSE-R□A 2 6 10 (Tyco Electronics)
2 4 6 8 10
LG 4 8 LG MRR (Note) Signal layout
MRR
or
1 5 9 9 SHD
1 3 5 7 9
P5 3 7 BAT
P5 MR BAT
MR 7 8
5 MR 6 LG
LE-CSE-S□B View seen from wiring side. View seen from wiring side. 3 P5 4 MRR
1 2 BAT

View seen from wiring side.

Note. Keep open the pins shown with . Especially, pin 10 is provided Note. Keep open the pin shown
LE-CSE-R□B
for manufacturer adjustment. If it is connected with any other pin, with an .
the driver cannot operate normally.

(b) Cable internal wiring diagram

MR-J3ENCBL2M-L/-H
LE-CSE-S □A LE-CSE-R□A
MR-J3ENCBL5M-L/-H
LE-CSE-S□B LE-CSE-R□B
MR-J3ENCBL10M-L/-H
Servo amplifier Encoder side
Driver
side connector connector

P5 1 3 P5
LG 2 6 LG
MR 3 5 MR
MRR 4 4 MRR
BAT 9 2 BAT
SD Plate 9 SHD

13 - 6
13. OPTIONS AND AUXILIARY EQUIPMENT

13.1.3 Motor cables

These cables are motor power supply cables for the LE-□-□ series servo motors. The numerals in the Cable
Length field of the table are the symbols entered in the part of the cable model. The cables of the lengths
with the symbols are available.
Refer to section 4.10 when wiring.

Cable length Cable

Cable model IP rating Application
2m 5m 10m type

IP65 For LE-□-□ servo motor

LE-CSMS□A 2 5 A Standard
Load side lead
IP65 For LE-□-□ servo motor
LE-CSM-S□B 2 5 A Standard
Opposite-to-load side lead
IP65 For LE-□-□ servo motor
LE-CSM-R□A 2 5 A Robot cable
Load side lead
IP65 For LE-□-□ servo motor
LE-CSM-R□B 2 5 A Robot cable
Opposite-to-load side lead

(1) Connection of driver and servo motor

LE-CSM-S□A
LE-CSM-S□B
1)
Driver

or Servo motor

LE-□-□
LE-CSM-R□A
CNP3 connector LE-CSM-R□B
supplied with servo 1)
amplifier
driver

CNP3

Cable model 1) For motor power supply connector

LE-CSM-S□A Signal layout

LE-CSM--S□B
LE-CSM-R□A Connector: JN4FT04SJ1-R 1
Hood, socket insulator 2 U
Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G) 3 V
Crimping tool: CT160-3-TMH5B 4 W
LE-CSM-R□B (Japan Aviation Electronics Industry)
View seen from wiring side.

13 - 7
13. OPTIONS AND AUXILIARY EQUIPMENT

(2) Internal wiring diagram

MR-PWS1CBL
LE-CSM-S □A M-A1-H MR-PWS1CBL
LE-CSM-R□A M-A2-H
MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L
LE-CSM-S□B LE-CSM-R□B
AWG 19 (Red) (Note)
AWG 19 (White) U
AWG 19 (Black) V
AWG 19 (Green/yellow) W

Note. These are not shielded cables.

13 - 8
13. OPTIONS AND AUXILIARY EQUIPMENT

13.1.4 Lock cables

These cables are motor brake cables for the LE-□-□ series servo motors. The numerals in the Cable Length
field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the
symbols are available.
Refer to section 4.11 when wiring.

Cable length Protective

Cable model Flex life Application
structure
2m 5m 10m
2 5 A IP65 For LE-□-□ servo motor
LE-CSB-S□A Standard
Load side lead
2 5 A IP65 For LE-□-□ servo motor
LE-CSB-S□B Standard
Opposite-to-load side lead
2 5 A IP65 For LE-□-□ servo motor
LE-CSB-R□A Robot cable
Load side lead
2 5 A IP65 For LE-□-□ servo motor
LE-CSB-R□B Robot cable
Opposite-to-load side lead

(1) Connection of driver and servo motor

LE-CSB-□SA
1)
24VDC power
supply for Servo motor
electromagnetic
brake or LE-□-□

LE-CSB-□A
1)

Cable model 1) For motor power supply connector

LE-CSM-S□A Signal layout

LE-CSM--S□B
LE-CSM-R□A Connector: JN4FT04SJ1-R 1
Hood, socket insulator 2 U
Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G) 3 V
Crimping tool: CT160-3-TMH5B 4 W
LE-CSM-R□B (Japan Aviation Electronics Industry)
View seen from wiring side.

(2) Internal wiring diagram

MR-BKS1CBL
LE-CSB-S □A M-A1-H LE-CSB-S □A M-A2-H
MR-BKS1CBL
MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L
LE-CSB-S □B
LE-CSB-S□B
AWG 20 (Note)
B1
AWG 20
B2

Note. These are not shielded cables.

13 - 9
13. OPTIONS AND AUXILIARY EQUIPMENT

13.2 Regenerative options

The specified combinations of regenerative options and drivers may only be used.
CAUTION Otherwise, a fire may occur.

(1) Combination and regenerative power

The power values in the table are resistor-generated powers and not rated powers.

Regenerative power [W]

Driver Built-in regenerative LEC-MR-RB-032 LEC-MR-RB-12
resistor [40Ω] [40Ω]
LECSC□-S5 30
LECSC□-S7 10 30 100
LECSC□-S8 10 30 100
Note 1. Always install a cooling fan.
2. Values in parentheses assume the installation of a cooling fan.

(2) Parameter setting

Set parameter No.PA02 according to the option to be used.
Parameter No.PA02
0 0
Selection
Selectionofofregenerative
regenerativeoption
option
00: Regenerative option is not used
00：Regenerative option is not used
For servo amplifier of 100W, regenerative resistor is not used.
For servo
・For 100W amplifier of 200 to 7kW,
driver regenerative built-inisregenerative
resistor not used resistor is used.
Supplied regenerative resistors or regenerative option is used with
・For
the 200W
servo / 400Wofdriver
amplifier regenerative
11k to 22kW. resistor is used
01:
02：FR-BU2-(H)
LEC-MR-RB032 FR-RC-(H) FR-CV-(H)
02: MR-RB032
03：MR-RB12
03: LEC-MR-RB012
04: MR-RB32
05: MR-RB30
06: MR-RB50(Cooling fan is required)
08: MR-RB31
09: MR-RB51(Cooling fan is required)
80: MR-RB1H-4
81: MR-RB3M-4(Cooling fan is required)
82: MR-RB3G-4(Cooling fan is required)
83: MR-RB5G-4(Cooling fan is required)
84: MR-RB34-4(Cooling fan is required)
85: MR-RB54-4(Cooling fan is required)
FA: When the supplied regenerative resistor is cooled by the cooling
fan to increase the ability with the servo amplifier of 11k to 22kW.

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13. OPTIONS AND AUXILIARY EQUIPMENT

(3) Connection of the regenerative option

POINT
For the sizes of wires used for wiring, refer to section 13.4.

The regenerative option will cause a temperature rise of 100 relative to the ambient temperature. Fully
examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use
flame-resistant cables and keep them clear of the regenerative option body. Always use twisted cables of
max. 5m length for connection with the driver.
(a) LECSC□-□
Always remove the wiring from across P-D and fit the regenerative option across P-C.
The G3 and G4 terminals act as a thermal sensor. G3-G4 is disconnected when the regenerative option
overheats abnormally.
Always remove the lead from across P-D.
Servo amplifier
Driver Regenerative option
P
P
C
C
G3
D
(Note 2)
(Note1) G4

5m (16.4 ft) max.

Cooling fan (Note 1)

Note 1. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal
heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5A/4.8VDC
Maximum capacity: 2.4VA

13 - 11
13. OPTIONS AND AUXILIARY EQUIPMENT

(4) Outline dimension drawings

(a) LEC-MR-RB032 LEC-MR-RB12

[Unit: mm (in)] TE1

Terminal block
G3
LA 6 mounting hole G4
Approx. 6

P
LB
C
Approx. 12

Terminal screw: M3
MR-RB
Tightening torque: 0.5 to 0.6 [N m]
(4 to 5 [lb in])
Mounting screw
Screw size: M5
168

144

Tightening torque: 3.24 [N m]

156

5
(28.7 [lb in])
G3
G4
TE1 P
C
12
6

6 1.6

Approx. 20 LD

LC

Regenerative Variable dimensions Mass

option LA LB LC LD [kg] [lb]
LEC-MR-RB032 30 15 119 99 0.5 1.1
LEC-MR-RB12 40 15 169 149 1.1 2.4

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13. OPTIONS AND AUXILIARY EQUIPMENT

13.3 Battery LEC-MR-J3BAT

POINT
The revision (Edition 44) of the Dangerous Goods Rule of the International Air
Transport Association (IATA) went into effect on January 1, 2003 and was
enforced immediately. In this rule, "provisions of the lithium and lithium ion
batteries" were revised to tighten the restrictions on the air transportation of
batteries. However, since this battery is non-dangerous goods (non-Class 9),
air transportation of 24 or less batteries is outside the range of the
restrictions. Air transportation of more than 24 batteries requires packing
compliant with the Packing Standard 903. When a self-certificate is necessary
for battery safety tests, contact our branch or representative. For more
information, consult our branch or representative. (As of Jun, 2008).

(1) Purpose of use for LEC-MR-J3BAT

This battery is used to construct an absolute position detection system. Refer to section 5.7 for the fitting
method, etc.

(2) Year and month when LEC-MR-J3BAT is manufactured

The year and month when LEC-MR-J3BAT is manufactured are written down in Serial No. on the rating
plate of the battery back face.
The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X(10), Y(11),
Z(12).
For October 2004, the Serial No. is like, "SERIAL 4X ".

13 - 13
13. OPTIONS AND AUXILIARY EQUIPMENT

13.4 Selection example of wires

POINT
Wires indicated in this section are separated wires. When using a cable for
power line (U, V, and W) between the driver and servo motor, use a 600V
grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For
selection of cables, refer to appendix 6.
To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper
wires rated at 60 (140 ) or more for wiring. To comply with other
standards, use a wire that is complied with each standard
Selection condition of wire size is as follows.
Construction condition: One wire is constructed in the air
Wire length: 30m or less

(1) Wires for power supply wiring

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit power supply lead 3) Motor power supply lead

Servo amplifier
Driver Servo motor
Power supply

L1 U U
L2 V V
L3 (Note) W W Motor
2) Control power supply lead
L11
L21 4) Electromagnetic
8) Power regeneration converter lead brake lead

B1 Electro-
magnetic
Power regeneration N B2 brake
converter C
Regenerative option
P
C
Encoder
P
Encoder cable
4) Regenerative option lead (Refer to (2) in this section.)
Cooling fan
Power supply
CC-Link cable
(Refer to (3) BU
CN1
in this section.) BV
BW

6) Fan lead Thermal

OHS1
OHS2
7) Thermal

Note. There is no L3 for 1-phase 100 to 120VAC power supply.

13 - 14
13. OPTIONS AND AUXILIARY EQUIPMENT

(a) When using the 600V Polyvinyl chloride insulated wire (IV wire)
Selection example of wire size when using IV wires is indicated below.

Table 13.1 Wire size selection example 1 (IV wire)

2
Wires [mm ] (Note 1, 2)
Driver 1) 3) 6) 7)
2) L11 L21 4) P C 5) B1 B2
L1 L2 L3 U V W BU BV BW OHS1 OHS2
LECSC□-S5
LECSC□-S7 2(AWG14) 1.25(AWG16) 1.25(AWG16) 2(AWG14) 1.25(AWG16)
LECSC□-S8
Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to (1) (c) in this section.
2. Wires are selected based on the highest rated current among combining servo motors.

Use wires 8) of the following sizes with the power regeneration converter (FR-RC-(H)).

2
Model Wires[mm ]
FR-RC-15K 14(AWG6)
FR-RC-30K 14(AWG6)
FR-RC-55K 22(AWG4)
FR-RC-H15K 14(AWG6)
FR-RC-H30K 14(AWG6)
FR-RC-H55K 14(AWG6)

(b) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Selection example of wire size when using HIV wires is indicated below. For the wire ( 8)) for power
regeneration converter (FR-RC-(H)), use the IV wire indicated in (1) (a) in this section.

Table 13.2 Wire size selection example 2 (HIV wire)

2
Wires [mm ] (Note 1, 2)
Driver 1) 3) 6) 7)
2) L11 L21 4) P C 5) B1 B2
L1 L2 L3 U V W BU BV BW OHS1 OHS2
LECSC□-S5
LECSC□-S7 2(AWG14) 1.25(AWG16) 1.25(AWG16) 2(AWG14) 1.25(AWG16)
LECSC□-S8
Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to (1) (c) in this section.
2. Wires are selected based on the highest rated current among combining servo motors.

13 - 15
13. OPTIONS AND AUXILIARY EQUIPMENT

(c) Selection example of crimping terminals

Selection example of crimping terminals for the driver terminal box when using the wires mentioned in
(1) (a) and (b) in this section is indicated below.

Driver side crimping terminals

(Note 2) Applicable tool
Symbol
Crimping Manufacturer
Body Head Dice
terminal
a FVD5.5-4 YNT-1210S
(Note 1)b 8-4NS YHT-8S
c FVD14-6 DH-112 DH122
YF-1 E-4 YNE-38
d FVD22-6 DH-113 DH123
YPT-60-21
(Note 1)e 38-6 TD-112 TD-124
YF-1 E-4 YET-60-1
YPT-60-21
(Note 1)f R60-8 TD-113 TD-125 Japan Solderless
YF-1 E-4 YET-60-1
Terminal
g FVD2-4
YNT-1614
h FVD2-M3
j FVD5.5-6
YNT-1210S
k FVD5.5-8
l FVD8-6 DH-111 DH121
m FVD14-8 YF-1 E-4 YNE-38 DH-112 DH122
n FVD22-8 DH-113 DH123
YPT-60-21
(Note 1)p R38-8 TD-112 TD-124
YF-1 E-4 YET-60-1
q FVD2-6 YNT-1614
Note 1. Coat the part of crimping with the insulation tube.
2. Some crimping terminals may not be mounted depending on the size. Make sure to use the
recommended ones or equivalent ones.

13 - 16
13. OPTIONS AND AUXILIARY EQUIPMENT

(2) Wires for cables

When fabricating a cable, use the wire models given in the following table or equivalent.

Table 13.3 Wires for option cables

Characteristics of one core
Core Number Insulation (Note 3)
TypeEncod Length Conductor
Model size of Structure coating OD Finishing Wire model
er cable [m] resistance
[mm2] Cores [Wires/mm] d [mm] OD [mm]
[ /mm]
(Note 1)
(Note 3)
LE-CSE-S□A 6 53 VSVP 7/0.26 (AWG#22 or
2 to 10 AWG22 7/0.26 1.2 7.1 0.3
(3 pairs) or less equivalent)-3P
Encoder LE-CSE-S□B
Ban-gi-shi-16823
Cable
LE-CSE-R□A (Note 3)
6 56
2 to 10 AWG22 70/0.08 1.2 7.1 0.3 ETFE SVP 70/0.08 (AWG#22 or
(3 pairs) or less
LE-CSE-R□B equivalent)-3P Ban-gi-shi-16824
LE-CSM-S□A 2 to 10 21.8
AWG18 4 34/0.18 1.71 62 0.3 HRZFEV-A(CL3) AWG18 4-cores
LE-CSM-S□B 2 to 10 or less
Motor cable (Note 5)
LE-CSM-R□A 2 to 10 29.1 (Note 4)
AWG19 4 150/0.08 1.63 5.7 0.5
LE-CSM-R□B 2 to 10 (0.75mm2) or less RMFES-A(CL3X) AWG19 4-cores

LE-CSB-S□A 2 to 10 34.6 (Note 4)

AWG20 2 21/0.18 1.35 4.7 0.1
LE-CSB-S□B 2 to 10 or less HRZFEV-A(CL3) AWG20 2-cores
Lock cable (Note 5)
LE-CSB-R□A 2 to 10 39.0
AWG20 2 110/0.08 1.37 4.5 0.3 RMFES-A(CL3X) AWG20 2-cores
LE-CSB-R□B 2 to 10 (0.75mm2) or less

Note 1. d is as shown below.

d

Conductor Insulation sheath

2. Purchased from Toa Electric Industry

3. Standard OD. Max. OD is about 10% greater.
4. Kurabe
5. These wire sizes assume that the UL-compliant wires are used at the wiring length of 10m.

13 - 17
13. OPTIONS AND AUXILIARY EQUIPMENT

(3) CC-Link twisted cable

POINT
For the cables other than the one indicated here, refer to the open field
network CC-Link catalog (L(NA)74108143).

The specifications of the twisted cable usable in CC-Link and the recommended cable are indicated below.
If the cable used is other than the recommended cable indicated in the following table, we cannot guarantee
the performance of CC-Link. For inquiries on CC-Link compatible cables, contact the nearest SMC.

Item Specifications
Model FANC-110SBH
Manufacturer Kuramo Electric
Application For fixed parts
Size 20AWG 3
Insulator material Polyethylene foam
Sheath
Insulator color Blue, white, and yellow
Braided screen
Sheath material Oil resistant vinyl Tape
Sheath color Brown Insulator
Operating temperature range (Note) 0 to 75 (32 to 167 ) Conductor
Tensile strength 49N Inclusion
Minimum bend radius 35mm Ground wire
Outline dimension Approx. 7.6mm
Approximate mass 70kg/km Fig. 13.1 Structure
Conductor resistance (20 ) 34.5 /km or lower
Characteristic impedance 110 15
UL AWM Style 2464
Applicable specification CAN/CSA-C22.2
No.210.2-M90(cUL)
Note. An upper limit of the operating temperature range shows a heat-resistant temperature of the cable material.
In high-temperature environment, the transmittable distance may be reduced.

13.5 No-fuse breakers, fuses, magnetic contactors

Always use one no-fuse breaker and one magnetic contactor with one driver. When using a fuse instead of the
no-fuse breaker, use the one having the specifications given in this section.

No-fuse breaker Fuse

Not using power Magnetic
Driver Using power factor Voltage
factor improving (Note) Class Current [A] contactor
improving reactor AC [V]
reactor
LECSC□-S5 30A frame 5A 30A frame 5A 10
LECSC2-S7 30A frame 5A 30A frame 5A 10
T 250 S-N10
LECSC1-S7 30A frame 10A 30A frame 10A 15
LECSC2-S8 30A frame 10A 30A frame 5A 15
Note. When not using the driver as a UL/C-UL Standard compliant product, K5 class fuse can be used.

13 - 18
13. OPTIONS AND AUXILIARY EQUIPMENT

13.6 Noise reduction techniques

Noises are classified into external noises which enter the driver to cause it to malfunction and those radiated by
the driver to cause peripheral devices to malfunction. Since the driver is an electronic device which handles
small signals, the following general noise reduction techniques are required.
Also, the driver can be a source of noise as its outputs are chopped by high carrier frequencies. If peripheral
devices malfunction due to noises produced by the driver, noise suppression measures must be taken. The
measures will vary slightly with the routes of noise transmission.

(1) Noise reduction techniques

(a) General reduction techniques
Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle
them together. Separate power lines from signal cables.
Use shielded, twisted pair cables for connection with the encoder and for control signal transmission,
and connect the shield to the SD terminal.
Ground the driver, servo motor, etc. together at one point (refer to section 4.12).

(b) Reduction techniques for external noises that cause the driver to malfunction
If there are noise sources (such as a magnetic contactor, an electromagnetic brake, and many relays
which make a large amount of noise) near the driver and the driver may malfunction, the following
countermeasures are required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
Although a surge absorber is built into the driver, to protect the driver and other equipment against
large exogenous noise and lightning surge, attaching a varistor to the power input section of the
equipment is recommended.

13 - 19
13. OPTIONS AND AUXILIARY EQUIPMENT

(c) Techniques for noises radiated by the driver that cause peripheral devices to malfunction Noises
produced by the driver are classified into those radiated from the cables connected to the driver and its
main circuits (input and output circuits), those induced electromagnetically or statically by the signal
cables of the peripheral devices located near the main circuit cables, and those transmitted through the
power supply cables.

Noises produced Noises transmitted Noise radiated directly

by servo amplifier in the air from servo amplifier Route 1)
by driver from driver

Noise radiated from the

power supply cable Route 2)

Noise radiated from

servo motor cable Route 3)

Magnetic induction
noise Routes 4) and 5)

Static induction
noise Route 6)

Noises transmitted
Noise transmitted through
through electric Route 7)
power supply cable
channels

Noise sneaking from

grounding cable due to Route 8)
leakage current

5)

7) 7)
2)
7)

Sensor
power
1) supply
Servo
Driver 2)
amplifier
Instrument Receiver
3)
8)
6)
4) Sensor

3)
Servo motor M

13 - 20
13. OPTIONS AND AUXILIARY EQUIPMENT

Noise transmission route Suppression techniques

When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction
due to noise and/or their signal cables are contained in a control box together with the driver or run near
the driver, such devices may malfunction due to noises transmitted through the air. The following
techniques are required.
1. Provide maximum clearance between easily affected devices and the driver.
1) 2) 3) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the driver.
3. Avoid laying the power lines (Input cables of the driver) and signal cables side by side or bundling them
together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for signal and power cables or put cables in separate metal conduits.

When the power lines and the signal cables are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and malfunction
may occur. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the driver.
4) 5) 6) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the driver.
3. Avoid laying the power lines (I/O cables of the driver) and signal cables side by side or bundling them
together.
4. Use shielded wires for signal and power cables or put the cables in separate metal conduits.

When the power supply of peripheral devices is connected to the power supply of the driver system,
noises produced by the driver may be transmitted back through the power supply cable and the devices
7) may malfunction. The following techniques are required.
1. Insert the radio noise filter (FR-BIF) on the power cables (Input cables) of the driver.
2. Insert the line noise filter (FR-BSF01 FR-BLF) on the power cables of the driver.
When the cables of peripheral devices are connected to the driver to make a closed loop circuit, leakage
8) current may flow to malfunction the peripheral devices. If so, malfunction may be prevented by
disconnecting the grounding cable of the peripheral device.

(2) Noise reduction products

(a) Data line filter (Recommended)
Noise can be prevented by installing a data line filter onto the encoder cable, etc.
For example, the ZCAT3035-1330 of TDK and the ESD-SR-25 of NEC TOKIN make are available as
data line filters.
As a reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated
below.
This impedance is reference values and not guaranteed values.

Impedance[ ] [Unit: mm]

10 to 100MHz 100 to 500MHz
80 150 39 1 Loop for fixing the
34 1 cable band
13 1
30 1

TDK

Product name Lot number

Outline drawing (ZCAT3035-1330)

13 - 21
13. OPTIONS AND AUXILIARY EQUIPMENT

(b) Surge suppressor

The recommended surge suppressor for installation to an AC relay, AC valve, or the like near the driver
is shown below. Use this product or equivalent.

MC

Relay
Surge suppressor

Surge suppressor

This distance should be short

(within 20cm).

(Ex.) 972A.2003 50411

(Matsuo Electric Co.,Ltd. 200VAC rating)
Rated Outline drawing [Unit: mm]
voltage C [ F] R[ ] Test voltage AC[V]
Vinyl sheath
AC[V]
18 1.5
50 Across Blue vinyl cord Red vinyl cord
200 0.5 6
(1W) T-C 1000(1 to 5s)

10 or less 10 or less 4
10 3 15 1 10 3
31
200 48 1.5 200
or more or more

Note that a diode should be installed to a DC relay, DC valve or

the like. RA
Maximum voltage: Not less than 4 times the drive voltage of the
relay or the like Diode
Maximum current: Not less than twice the drive current of the
relay or the like

13 - 22
13. OPTIONS AND AUXILIARY EQUIPMENT

(c) Cable clamp fitting AERSBAN - SET

Generally, the earth of the shielded cable may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an earth plate as shown below.
Install the earth plate near the driver for the encoder cable. Peel part of the cable sheath to expose the
external conductor, and press that part against the earth plate with the cable clamp. If the cable is thin,
clamp several cables in a bunch.
The clamp comes as a set with the earth plate.
[Unit: mm]

Cable
Cable clamp
(A,B) Earth plate

Strip the cable sheath of

the clamped area. cutter

40
cable External conductor
Clamp section diagram

Outline drawing
[Unit: mm]

Earth plate Clamp section diagram

2- 5 hole 17.5
installation hole

30
L or less 10
B 0.3

A
C
6

0.2

(0.940)
35
0

0.3
3

0
24

24
7

(Note)M4 screw 6 22
35
11

Note. Screw hole for grounding. Connect it to the earth plate of the control box.

Type A B C Accessory fittings Clamp fitting L

AERSBAN-DSET 100 86 30 clamp A: 2pcs. A 70
AERSBAN-ESET 70 56 clamp B: 1pc. B 45

13 - 23
13. OPTIONS AND AUXILIARY EQUIPMENT

(d) Line noise filter (FR-BSF01, FR-BLF)

This filter is effective in suppressing noises radiated from the power supply side and output side of the
driver and also in suppressing high-frequency leakage current (zero-phase current) especially within
0.5MHz to 5MHz band.

Connection diagram Outline drawing [Unit: mm]

Use the line noise filters for wires of the main power supply 2
FR-BSF01 (for wire size 3.5mm (AWG12) or less)
(L1 L2 L3) and of the motor power supply (U V W). Pass
Approx.110
each of the 3-phase wires through the line noise filter an equal 2- 5
95 0.5
number of times in the same direction. For the main power supply,

Approx.22.5
the effect of the filter rises as the number of passes increases, but
generally four passes would be appropriate. For the motor power
supply, passes must be four times or less. Do not pass the Approx.65
grounding (earth) wire through the filter, or the effect of the filter 33
will drop. Wind the wires by passing through the filter to satisfy the
required number of passes as shown in Example 1. If the wires

Approx.65
are too thick to wind, use two or more filters to have the required
number of passes as shown in Example 2. Place the line noise
filters as close to the driver as possible for their best performance.

4.5
Example 1 NFB MC Servo amplifier
Driver
Power
L1
supply 2
FR-BLF(for wire size 5.5mm (AWG10) or more)
L2
Line noise L3 7
filter

7
(Number of turns: 4)
31.5

Example 2 NFB MC 130

Servo amplifier
Driver
85
Power
L1
supply
L2
Line noise
35

L3
80

filter
Two filters are used
(Total number of turns: 4) 160
2.3

180

13 - 24
13. OPTIONS AND AUXILIARY EQUIPMENT

(e) Radio noise filter (FR-BIF-(H))

This filter is effective in suppressing noises radiated from the power supply side of the driver especially
in 10MHz and lower radio frequency bands. The FR-BIF-(H) is designed for the input only.

Connection diagram Outline drawing (Unit: mm)

Make the connection cables as short as possible. Leakage current: 4mA
Grounding is always required. Red White Blue Green
When using the FR-BIF with a single-phase power supply, always

About 300
insulate the wires that are not used for wiring.

NFB MC ServoDriver
amplifier

L1 29
Power
L2 5
supply
hole

42
L3

4
Radio noise 58 29
200V class: FR-BIF 7
filter FR-BIF-
400V class: FR-BIF-H (H) 44

13 - 25
13. OPTIONS AND AUXILIARY EQUIPMENT

(f) Varistors for input power supply (Recommended)

Varistors are effective to prevent exogenous noise and lightning surge from entering the driver. When
using a varistor, connect it between each phase of the input power supply of the equipment. For
varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by NIPPON CHEMI-
CON, are recommended. For detailed specification and usage of the varistors, refer to the manufacturer
catalog.

Maximum rating Static

Varistor voltage
Power Rated Maximum limit capacity
Permissible circuit Surge current Energy rating (range)
supply Varistor pulse voltage (reference
voltage immunity immunity V1mA
voltage power value)
AC[Vrms] DC[V] 8/20 s[A] 2ms[J] [W] [A] [V] [pF] [V]
100V class TND20V-431K 275 350 10000/1 time 195 710 1300 430(387 to 473)
1.0 100
200V class TND20V-471K 300 385 7000/2 time 215 775 1200 470(423 to 517)

[Unit: mm]

D H T E (Note)L d W
D T Model
Max. Max. Max. 1.0 min. 0.05 1.0
TND20V-431K 6.4 3.3
21.5 24.5
H

TND20V-471K 6.6 3.5 20 0.8 10.0

TND20V-102K 22.5 25.5 9.5 6.4
Note. For special purpose items for lead length (L), contact the manufacturer.
W E
L

13 - 26
13. OPTIONS AND AUXILIARY EQUIPMENT

13.7 Leakage current breaker

(1) Selection method
High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select a leakage current breaker according to the following formula, and ground the driver, servo motor, etc.
securely.
Make the input and output cables as short as possible, and also make the grounding cable as long as
possible (about 30cm) to minimize leakage currents.

Rated sensitivity current 10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] (14.1)

Cable K: Constant considering the harmonic contents

Leakage current breaker
Mitsubishi K
Noise Type
NV products
filter
Servo Cable NV-SP
Driver M
amplifier Models provided with NV-SW
harmonic and surge NV-CP 1
reduction techniques NV-CW
NV-L
Ig1 Ign Iga Ig2 Igm
BV-C1
General models NFB 3
NV-L

Ig1: Leakage current on the electric channel from the leakage current breaker to the input terminals of the
driver (Found from Fig. 13.4.)
Ig2: Leakage current on the electric channel from the output terminals of the driver to the servo
motor (Found from Fig. 13.4.)
Ign: Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF-(H))
Iga: Leakage current of the driver (Found from Table 13.5.)
Igm: Leakage current of the servo motor (Found from Table 13.4.)
120 120
Leakage current

100 100
Leakage current

80 80

60 60

40 40
[mA]
[mA] 20
20

0 0 2 5.5 14 38 100
2 3.5 8 1422 38 80 150
5.5 30 60 100 3.5 8 22 60 150
30 80
Cable size[mm2] Cable size[mm2]
a. 200V class b. 400V class

Fig. 13.4 Leakage current example (lg1, lg2) for CV cable run in metal conduit

13 - 27
13. OPTIONS AND AUXILIARY EQUIPMENT

Table 13.4 Servo motor’s leakage current example (Igm)

Servo motor output [kW] Leakage current [mA]

0.05 to 1 0.1

Table 13.5 Driver's leakage current example (Iga)

Driver capacity [kW] Driver capacity [kW]
0.1 to 0.6 0.1 to 0.6

Table 13.6 Leakage circuit breaker selection example

Driver Driver
LECSC2-□
15
LECSC1-□

(2) Selection example

Indicated below is an example of selecting a leakage current breaker under the following conditions.
2mm2 5m 2mm2 5m

NV
Servo
Driver
amplifier M HF-KP43
LE-S8-□
MR-J3-40T
LECSS-□-S8

Ig1 Iga Ig2 Igm

Use a leakage current breaker generally available.

Find the terms of Equation (13.1) from the diagram.

5
Ig1 20 0.1 [mA]
1000
5
Ig2 20 0.1 [mA]
1000

Ign 0 (not used)

Iga 0.1 [mA]

Igm 0.1 [mA]

Insert these values in Equation (13.1).

Ig 10 {0.1 0 0.1 1 (0.1 0.1)}

4.0 [mA]

According to the result of calculation, use a leakage current breaker having the rated sensitivity current (Ig)
of 4.0[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NV-SP/SW/CP/CW/HW
series.

13 - 28
13. OPTIONS AND AUXILIARY EQUIPMENT

13.8 EMC filter (recommended)

For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter. Some
EMC filters are large in leakage current.

(1) Combination with the driver

Recommended filter (Soshin Electric)
Driver Mass [kg]([lb])
Model Leakage current [mA]
LECSC2-□
(Note) HF3010A-UN 5 3 (6.61)
LECSC1-□
Note. A surge protector is separately required to use any of these EMC filters.

(2) Connection example

EMC filter ServoDriver
amplifier
NFB MC
1 4 L1
(Note 1)
Power supply 2 5 L2
3 6 L3

E L11
L21

1 (Note 2)
Surge protector 1
2 (RAV-781BYZ-2)
3 (OKAYA Electric Industries Co., Ltd.)

(Note 2)
1 2 3 Surge protector 2
(RAV-781BXZ-4)
(OKAYA Electric Industries Co., Ltd.)

Note 1. For 1-phase 200V to 230VAC power supply, connect the power supply to L1,L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification.
2. The example is when a surge protector is connected.

13 - 29
13. OPTIONS AND AUXILIARY EQUIPMENT

(3) Outline drawing

(a) EMC filter
HF3010A-UN
[Unit: mm]
3-M4 4-5.5 7 3-M4 M4

4
2
32

110
85
IN
Approx.41
258 4
65 4
273 2
288 4
300 5

13 - 30
13. OPTIONS AND AUXILIARY EQUIPMENT

(b) Surge protector

RAV-781BYZ-2 [Unit: mm]

1) 2) 3)

5.5 1

11 1
Black Black Black
4.2 0.2

28.5 1.0

UL-1015AWG16
30
0
200

1 2 3

4.5 0.5
28 1.0

41 1.0

RAV-781BXZ-4 [Unit: mm]

1) 2) 3) 4)
5.5 1

11 1

4.2 0.2
28.5 1.0

UL-1015AWG16
30
0
200

1 2 3
4.5 0.5
28 1.0

41 1.0

13 - 31
13. OPTIONS AND AUXILIARY EQUIPMENT

MEMO

13 - 32
14. COMMUNICATION FUNCTION

14. COMMUNICATION FUNCTION..................................................................................................................2

14.1 Configuration..........................................................................................................................................2
14.2 Communication specifications ...............................................................................................................4
14.2.1 Communication overview ................................................................................................................4
14.2.2 Parameter setting ............................................................................................................................5
14.3 Protocol ..................................................................................................................................................6
14.3.1 Transmission data configuration .....................................................................................................6
14.3.2 Character codes ..............................................................................................................................8
14.3.3 Error codes ......................................................................................................................................9
14.3.4 Checksum........................................................................................................................................9
14.3.5 Time-out operation ........................................................................................................................10
14.3.6 Retry operation..............................................................................................................................10
14.3.7 Initialization....................................................................................................................................11
14.3.8 Communication procedure example .............................................................................................11
14.4 Command and data No. list .................................................................................................................12
14.4.1 Read commands ...........................................................................................................................12
14.4.2 Write commands ...........................................................................................................................16
14.5 Detailed explanations of commands ....................................................................................................19
14.5.1 Data processing ............................................................................................................................19
14.5.2 Status display ................................................................................................................................21
14.5.3 Parameters ....................................................................................................................................22
14.5.4 External I/O signal statuses (DIO diagnosis) ................................................................................25
14.5.5 Device ON/OFF.............................................................................................................................30
15.5.6 Disable/enable of I/O devices (DIO)..............................................................................................31
14.5.7 Input devices ON/OFF (test operation) .........................................................................................32
14.5.8 Test operation mode .....................................................................................................................33
14.5.9 Alarm history..................................................................................................................................39
14.5.10 Current alarm ..............................................................................................................................40
14.5.11 Point table....................................................................................................................................41
14.5.12 Driver group designation .............................................................................................................47
14.5.13 Other commands.........................................................................................................................48

14 - 1
14. COMMUNICATION FUNCTION

14. COMMUNICATION FUNCTION

Using the serial communication function of RS-422, this driver enables servo operation, parameter change,
monitor function, etc.

14.1 Configuration
(1) Single axis
Operate the single-axis driver. It is recommended to use the following cable.
Personal computer Servo amplifier
Driver

10m or less
CN3

RS-422/232C conversion cable

DSV-CABV (Diatrend)
To RS-232C
connector

(2) Multidrop connection

(a) Diagrammatic sketch
Up to 32 axes of drivers from stations 0 to 31 can be operated on the same bus.
Servo amplifier
Driver Servo amplifier
Driver Servo amplifier
Driver

CN3 CN3 CN3

Personal computer

(Note 1) (Note 1) (Note 1)

RS-422/232C
conversion cable
DSV-CABV
(Diatrend)

To RS-232C
connector (Note 2)

Note 1. The BMJ-8 (Hakko Electric Machine Works) is recommended as the branch connector.
2. The final axis must be terminated between RDP (pin No.3) and RDN (pin No.6) on the receiving side (driver) with a
150 resistor.

14 - 2
14. COMMUNICATION FUNCTION

(b) Cable connection diagram

Wire the cables as shown below.
(Note 3) 30m or less

(Note 1) (Note 1) (Note 1,7)

1, 7)
Axis Axis1
1 servo amplifier
Driver Axis Axis2
2 servo amplifier
Driver Axis Axis3
n servo amplifier
Driver
CN3 connector CN3 connector CN3 connector
(RJ45 connector) (RJ45 connector) (RJ45 connector)
(Note 4, 5) (Note 4, 5) (Note 4, 5)
1 LG 1 LG 1 LG
2 P5D 2 P5D 2 P5D
3 RDP 3 RDP 3 RDP
4 SDN 4 SDN 4 SDN
5 SDP 5 SDP 5 SDP
6 RDN 6 RDN 6 RDN
7 LG 7 LG 7 LG
8 NC 8 NC 8 NC

1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 (Note 5) 1 2 3 4 5 6 7 8
(Note 5)
1 1 1 1 1 1
2 2 2 2 2 2
3 3 3 3 3 3 RDP
(Note 8) (Note 2)
4 4 4 4 4 4
5 5 5 5 5 5 150
6 6 6 6 6 6 RDN
7 7 7 7 7 7
8 8 8 8 8 8

(Note 6) Branch connector (Note 6) Branch connector (Note 6) Branch connector

Note 1. Recommended connector (Hirose Electric)

Plug: TM10P-88P
Connection tool: CL250-0228-1
2. The final axis must be terminated between RDP (pin No.3) and RDN (pin No.6) on the receiving side (driver) with a 150
resistor.
3. The overall length is 30m or less in low-noise environment.
4. The wiring between the branch connector and driver should be as short as possible.
5. Use the EIA568-compliant cable (10BASE-T cable, etc.).
6. Recommended branch connector: BMJ-8 (Hakko Electric Machine Works)
7. n 32 (Up to 32 axes can be connected.)
8. RS-422/232C conversion cable DSV-CABV (Diatrend).

14 - 3
14. COMMUNICATION FUNCTION

14.2 Communication specifications

14.2.1 Communication overview

This driver is designed to send a reply on receipt of an instruction. The device which gives this instruction (e.g.
personal computer) is called a master station and the device which sends a reply in response to the instruction
(driver) is called a slave station. When fetching data successively, the master station repeatedly commands the
slave station to send data.

Item Description
Baud rate 9600/19200/38400/57600/115200 asynchronous system
Start bit : 1 bit
Data bit : 8 bits
Transfer code
Parity bit : 1 bit (even)
Stop bit : 1 bit
Transfer protocol Character system, half-duplex communication system

(LSB) (MSB)

Next
Start 0 1 2 3 4 5 6 7 Parity Stop start

Data

1 frame (11bits)

14 - 4
14. COMMUNICATION FUNCTION

14.2.2 Parameter setting

When the USB/RS-422 communication function is used to operate the driver, set the communication
specifications of the driver in the corresponding parameters.
After setting the values of these parameters, they are made valid by switching power off once, then on again.

(1) Serial communication baud rate

Choose the communication speed. Match this value to the communication speed of the sending end
(master station).
Parameter No.PC21

Communication baud rate

0: 9600[bps]
1: 19200[bps]
2: 38400[bps]
3: 57600[bps]
4: 115200[bps]

(2) RS-422 communication response delay time

Set the time from when the driver (slave station) receives communication data to when it sends back data.
Set "0" to send back data in less than 800 s or "1" to send back data in 800 s or more.
Parameter No.PC21

RS-422 communication response delay time

0: Invalid
1: Valid, reply sent in 800 s or more

(3) Station number setting

Set the station number of the driver in parameter No.PC20. The setting range is station 0 to 31.

14 - 5
 14. COMMUNICATION FUNCTION

14.3 Protocol

14.3.1 Transmission data configuration

Since up to 32 axes may be connected to the bus, add a station number or group to the command, data No.,
etc. to determine the destination driver of data communication. Set the station number to each driver using the
parameter and set the group to each station using the communication command. Transmission data is valid for
the driver of the specified station number or group.
When "*" is set as the station number added to the transmission data, the transmission data is made valid for
all drivers connected. However, when return data is required from the driver in response to the transmission
data, set "0" to the station number of the driver which must provide the return data.

(1) Transmission of data from the PC or PLC...etc to the driver

10 frames (data)
Command

S S E
Controllerside
PC or PLC...etc side Data Check Station number
O T Data* T
(Master station) No. sum or
H X X
group

Error code
S E
Driver
Servo side
side Station number Check
T T
(Slave station) or sum
X X
group

6 frames
Positive response: Error code A
Negative response: Error code other than A

(2) Transmission of data request from the PC or PLC...etc to the driver

10 frames
Command

S S E
Data Check Station number
Controllerside
PC or PLC...etc side O T T
No. sum or
(Master station) H X X
group
Error code

S E
Driver side
side Station number Check
Servo T Data* T
or sum
(Slave station) X X
group

6 frames (data)

(3) Recovery of communication status by time-out

EOT causes the servo to return to
E the receive neutral status.
Controller side
PC or PLC...etc side O
(Master station) T

Servo side
Driver side
(Slave station)

14 - 6
14. COMMUNICATION FUNCTION

(4) Data frames

The data length depends on the command.

Data or Data or 12 frames or 16 frames

4 frames 8 frames

14 - 7
14. COMMUNICATION FUNCTION

14.3.2 Character codes

(1) Control codes
Hexadecimal Personal computer terminal key operation
Code name Description
(ASCII code) (General)
SOH 01H start of head ctrl A
STX 02H start of text ctrl B
ETX 03H end of text ctrl C
EOT 04H end of transmission ctrl D

(2) Codes for data

ASCII codes are used.
b8 0 0 0 0 0 0 0 0
b7 0 0 0 0 1 1 1 1
b6 0 0 1 1 0 0 1 1
b5 0 1 0 1 0 1 0 1

b8 to C
b4 b3 b2 b1 0 1 2 3 4 5 6 7
b5 R
0 0 0 0 0 NUL DLE Space 0 @ P ` p
0 0 0 1 1 SOH DC1 ! 1 A Q a q
0 0 1 0 2 STX DC2 “ 2 B R b r
0 0 1 1 3 ETX DC3 # 3 C S c s
0 1 0 0 4 $ 4 D T d t
0 1 0 1 5 % 5 E U e u
0 1 1 0 6 & 6 F V f v
0 1 1 1 7 ‘ 7 G W g w
1 0 0 0 8 ( 8 H X h x
1 0 0 1 9 ) 9 I Y i y
1 0 1 0 10 : J Z j z
1 0 1 1 11 ; K [ k {
1 1 0 0 12 , L l |
1 1 0 1 13 M ] m }
1 1 1 0 14 . N ^ n ¯
1 1 1 1 15 / ? O _ o DEL

(3) Station numbers

You may set 32 station numbers from station 0 to station 31 and the ASCII unit codes are used to specify
the stations.
Station number 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
ASCII code 0 1 2 3 4 5 6 7 8 9 A B C D E F

Station number 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
ASCII code G H I J K L M N O P Q R S T U V
For example, "30H" is transmitted in hexadecimal for the station number of "0" (axis 1).

(4) Group
Group a b c d e f All group
ASCII code a b c d e f
For example, "61H" is transmitted in hexadecimal for group a.

14 - 8
14. COMMUNICATION FUNCTION

14.3.3 Error codes

Error codes are used in the following cases and an error code of single-code length is transmitted.
On receipt of data from the master station, the slave station sends the error code corresponding to that data to
the master station.
The error code sent in upper case indicates that the driver is normal and the one in lower case indicates that
an alarm occurred.

Error code
Error name Description Remarks
Driver normal Driver alarm
[A] [a] Normal operation Data transmitted was processed properly. Positive response
[B] [b] Parity error Parity error occurred in the transmitted data.
[C] [c] Checksum error Checksum error occurred in the transmitted data.
Character not existing in the specifications was
[D] [d] Character error
transmitted.
Negative response
Command not existing in the specifications was
[E] [e] Command error
transmitted.
Data No. not existing in the specifications was
[F] [f] Data No. error
transmitted.

14.3.4 Checksum
The checksum is a ASCII-coded hexadecimal representing the lower two digits of the sum of ASCII-coded
hexadecimal numbers up to ETX, with the exception of the first control code (STX or SOH).
Station number (Example)
or
group S E
T [0] [A] [1] [2] [5] [F] T [5] [2]
X X
02H 30H 41H 31H 32H 35H 46H 03H
STX or ETX Check
SOH
30H 41H 31H 32H 35H 46H 03H
152H
Checksum range
Lower 2 digits 52 is sent after conversion into ASCII code [5][2].

14 - 9
 14. COMMUNICATION FUNCTION

14.3.5 Time-out operation

The master station transmits EOT when the slave station does not start reply operation (STX is not received)
300ms after the master station has ended communication operation. 100ms after that, the master station
retransmits the message. Time-out occurs if the slave station does not answer after the master station has
performed the above operation three times. (Communication error)
100ms 100ms 100ms *Time-out
300ms 300ms 300ms 300ms
Message

Message

Message

Message
E E E
Controller side
PC or PLC...etc O O O
(Master station)
T T T

Driver
Servo side
(Slave station)

14.3.6 Retry operation

When a fault occurs in communication between the master and slave stations, the error code in the response
data from the slave station is a negative response code ([B] to [F], [b] to [f]). In this case, the master station
retransmits the message which was sent at the occurrence of the fault (Retry operation). A communication
error occurs if the above operation is repeated and results in the error three or more consecutive times.
*Communication error
Message

Message
Message

PC or Controllerside
PLC...etc
(Master station)

Driver
Servoside S S S
(Slave station) T T T
X X X

Station number Station number Station number

or or or
group group group

Similarly, when the master station detects a fault (e.g. checksum, parity) in the response data from the slave
station, the master station retransmits the message which was sent at the occurrence of the fault. A
communication error occurs if the retry operation is performed three times.

14 - 10
14. COMMUNICATION FUNCTION

14.3.7 Initialization
After the slave station is switched on, it cannot reply to communication until the internal initialization processing
terminates. Hence, at power-on, ordinary communication should be started after.

(1) 1s or more time has elapsed after the slave station is switched on; and

(2) Making sure that normal communication can be made by reading the parameter or other data which does
not pose any safety problems.

14.3.8 Communication procedure example

The following example reads the set value of alarm history (last alarm) from the driver of station 0.

Data item Value Description

Station number 0 Driver station 0
Command 33 Read command
Data No. 10 Alarm history (last alarm)

Axis No. Command Data No.

Start

Data [0] 3 3 STX 10 ETX

Data make-up
[0][3][3] STX [1][0] ETX
Checksum calculation and Checksum 30H 33H 33H 02H 31H 30H 03H FCH
addition

Addition of SOH to make Transmission data SOH 0 33 STX 10 ETX F C 46H 43H
up transmission data
Master station slave station
Data transmission
Master station slave station
Data receive

No
Is there receive data?

Yes No
300ms elapsed?
Yes
No
3 consecutive times?
Master station slave station
Yes Yes
Other than error code
[A] [a]? 100ms after EOT transmission
No
3 consecutive times?
No Error processing
Yes Receive data analysis
Error processing
End

14 - 11
14. COMMUNICATION FUNCTION

14.4 Command and data No. list

POINT
If the command and data No. are the same, the description may be different
depending on models of drivers.

14.4.1 Read commands

(1) Status display (Command [0][1])
Command Data No. Description Display item Frame length
[0] [1] [0] [0] Status display name and unit Current position 16
[0] [1] Command position
[0] [2] Command remaining distance
[0] [3] Point table No.
[0] [4] Cumulative feedback pulses
[0] [5] Driver motor speed
[0] [6] Droop pulses
[0] [7]
[0] [8]
[0] [9]
[0] [A] Regenerative load ratio
[0] [B] Effective load ratio
[0] [C] Peak load ratio
[0] [D] Instantaneous torque
[0] [E] Within one-revolution position
[0] [F] ABS counter
[1] [0] Load inertia moment ratio
[1] [1] Bus voltage
[8] [0] Status display data value and Current position 12
[8] [1] processing information Command position
[8] [2] Command remaining distance
[8] [3] Point table No.
[8] [4] Cumulative feedback pulses
[8] [5] Servo motor speed
[8] [6] Droop pulses
[8] [7]
[8] [8]
[8] [9]
[8] [A] Regenerative load ratio
[8] [B] Effective load ratio
[8] [C] Peak load ratio
[8] [D] Instantaneous torque
[8] [E] Within one-revolution position
[8] [F] ABS counter
[9] [0] Load inertia moment ratio
[9] [1] Bus voltage

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14. COMMUNICATION FUNCTION

(2) Parameters (Command [0][4] [0][5] [0][6] [0][7] [0][8] [0][9])

Command Data No. Description Frame length
[0] [4] [0] [1] Parameter group read 4
0000: Basic setting parameter (No.PA )
0001: Gain filter parameter (No.PB )
0002: Extension setting parameter (No.PC )
0003: I/O setting parameter (No.PD )
[0] [5] [0] [1] to [F] [F] Current values of parameters 8
Reads the current values of the parameters in the parameter group specified with
the command [8][5] + data No. [0][0]. Before reading the current values, therefore,
always specify the parameter group with the command [8][5] + data No. [0][0].
The decimal equivalent of the data No. value (hexadecimal) corresponds to the
parameter number.
[0] [6] [0] [1] to [F] [F] Upper limit values of parameter setting ranges 8
Reads the permissible upper limit values of the parameters in the parameter group
specified with the command [8][5] + data No. [0][0]. Before reading the upper limit
values, therefore, always specify the parameter group with the command [8][5] +
data No. [0][0].
The decimal equivalent of the data No. value (hexadecimal) corresponds to the
parameter number.
[0] [7] [0] [1] to [F] [F] Lower limit values of parameter setting ranges 8
Reads the permissible lower limit values of the parameters in the parameter group
specified with the command [8][5] + data No. [0][0]. Before reading the lower limit
values, therefore, always specify the parameter group with the command [8][5] +
data No. [0][0].
The decimal equivalent of the data No. value (hexadecimal) corresponds to the
parameter number.
[0] [8] [0] [1] to [F] [F] Abbreviations of parameters 12
Reads the abbreviations of the parameters in the parameter group specified with the
command [8][5] + data No. [0][0]. Before reading the abbreviations, therefore, always
specify the parameter group with the command [8][5] + data No. [0][0].
The decimal equivalent of the data No. value (hexadecimal) corresponds to the
parameter number.
[0] [9] [0] [1] to [F] [F] Write enable/disable of parameters 4
Reads write enable/disable of the parameters in the parameter group specified with
the command [8][5] + data No. [0][0]. Before reading write enable/disable, therefore,
always specify the parameter group with the command [8][5] + data No. [0][0].
0000: Write enabled
0001: Write disabled

(3) External I/O signals (Command [1][2])

Command Data No. Description Frame length
[1] [2] [0] [0] 8
Input device status
[0] [1]
[4] [0] External input pin status
[6] [0]
Status of input device turned ON by communication
[6] [1]
[8] [0]
Output device status
[8] [1]
[C] [0] External output pin status

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14. COMMUNICATION FUNCTION

(4) Alarm history (Command [3][3])

Command Data No. Description Alarm occurrence sequence Frame length
[3] [3] [1] [0] Alarm number in alarm history most recent alarm 4
[1] [1] first alarm in past
[1] [2] second alarm in past
[1] [3] third alarm in past
[1] [4] fourth alarm in past
[1] [5] fifth alarm in past
[2] [0] Alarm occurrence time in alarm history most recent alarm 8
[2] [1] first alarm in past
[2] [2] second alarm in past
[2] [3] third alarm in past
[2] [4] fourth alarm in past
[2] [5] fifth alarm in past

(5) Current alarm (Command [0][2], [3][5])

Command Data No. Description Frame length
[0] [2] [0][0] Current alarm number 4
[3] [5] [0][0] Status display name and unit at Current position 16
[0][1] alarm occurrence Command position
[0][2] Command remaining distance
[0][3] Point table No.
[0][4] Cumulative feedback pulses
[0][5] Servo motor speed
[0][6] Droop pulses
[0][7]
[0][8]
[0][9]
[0][A] Regenerative load ratio
[0][B] Effective load ratio
[0][C] Peak load ratio
[0][D] Instantaneous torque
[0][E] Within one-revolution position
[0][F] ABS counter
[1][0] Load inertia moment ratio
[1][1] Bus voltage
[0][0] Status display data value and Current position 12
[0][1] processing information at alarm Command position
[0][2] occurrence Command remaining distance
[0][3] Point table No.
[0][4] Cumulative feedback pulses
[0][5] Servo motor speed
[0][6] Droop pulses
[0][7]
[0][8]
[0][9]
[0][A] Regenerative load ratio
[0][B] Effective load ratio
[0][C] Peak load ratio
[0][D] Instantaneous torque
[0][E] Within one-revolution position
[0][F] ABS counter
[1][0] Load inertia moment ratio
[1][1] Bus voltage

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14. COMMUNICATION FUNCTION

(6) Point table/position data (Command [4][0])

Command Data No. Description Frame length
[4][0] [0][1] to [F][F] Position data read 8
The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point
table No.

(7) Point table/speed data (Command [5][0])

Command Data No. Description Frame length
[5][0] [0][1] to [F][F] Speed data read 8
The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point
table No.

(8) Point table/acceleration time constant (Command [5][4])

Command Data No. Description Frame length
[5][4] [0][1] to [F][F] Acceleration time constant read 8
The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point
table No.

(9) Point table/deceleration time constant (Command [5][8])

Command Data No. Description Frame length
[5][8] [0][1] to [F][F] Deceleration time constant read 8
The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point
table No.

(10) Point table/dwell (Command [6][0])

Command Data No. Description Frame length
[6][0] [0][1] to [F][F] Dwell read 8
The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point
table No.

(11) Point table/auxiliary function (Command [6][4])

Command Data No. Description Frame length
[6][4] [0][1] to [F][F] Auxiliary function read 8
The decimal equivalent of the data No. value (hexadecimal) corresponds to the Point
table No.

(12) Group setting (Command [1][F])

Command Data No. Description Frame length
[1][F] [0][0] Reading of group setting value 4

(13) Test operation mode (Command [0][0])

Command Data No. Description Frame length
[0] [0] [1] [2] Test operation mode read 4
0000: Normal mode (not test operation mode)
0001: JOG operation
0002: Positioning operation
0003: Motorless operation
0004: Output signal (DO) forced output
0005: Single-step feed

14 - 15
14. COMMUNICATION FUNCTION

(14) Others
Command Data No. Description Frame length
[0] [2] [9] [0] Servo motor side pulse unit absolute position 8
[9] [1] Command unit absolute position 8
[7] [0] Software version 16

14.4.2 Write commands

(1) Status display (Command [8][1])
Command Data No. Description Setting range Frame length
[8] [1] [0] [0] Status display data erasure 1EA5 4

(2) Parameters (Command [8][4] [8][5])

Command Data No. Description Setting range Frame length
[8] [4] [0][1] to [F][F] Write of parameters Depending on the 8
Writes the values of the parameters in the parameter parameter
group specified with the command
[8][5] + data No. [0][0]. Before writing the values,
therefore, always specify the parameter group with the
command [8][5] + data No. [0][0].
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the parameter number.
[8] [5] [0] [0] Parameter group write 0000 to 0003 4
0000: Basic setting parameter (No.PA )
0001: Gain filter parameter (No.PB )
0002: Extension setting parameter (No.PC )
0003: I/O setting parameter (No.PD )

(3) External I/O signal (Command [9][2])

Command Data No. Description Setting range Frame length
[9] [2] [6] [0] Communication input device signal Refer to section 14.5.5 8
[6] [1]

(4) Alarm history (Command [8][2])

Command Data No. Description Setting range Frame length
[8] [2] [2] [0] Alarm history erasure 1EA5 4

(5) Current alarm (Command [8][2])

Command Data No. Description Setting range Frame length
[8] [2] [0] [0] Alarm erasure 1EA5 4

(6) Point table/position data (Command [C][0])

Command Data No. Description Setting range Frame length
[C][0] [0][1] to [F][F] Position data write 999999 to 999999 8
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the Point table No.

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14. COMMUNICATION FUNCTION

(7) Point table/speed data (Command [C][6])

Command Data No. Description Setting range Frame length
[C][6] [0][1] to [F][F] Speed data write 0 to Permissible 8
The decimal equivalent of the data No. value instantaneous speed
(hexadecimal) corresponds to the Point table No.

(8) Point table/acceleration time constant (Command [C][7])

Command Data No. Description Setting range Frame length
[C][7] [0][1] to [F][F] Acceleration time constant write 0 to 20000 8
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the Point table No.

(9) Point table/deceleration time constant (Command [C][8])

Command Data No. Description Setting range Frame length
[C][8] [0][1] to [F][F] Deceleration time constant write 0 to 20000 8
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the Point table No.

(10) Point table/dwell (Command [C][A])

Command Data No. Description Setting range Frame length
[C][A] [0][1] to [F][F] Dwell write 0 to 20000 8
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the Point table No.

(11) Point table/auxiliary function (Command [C][B])

Command Data No. Description Setting range Frame length
[C][B] [0][1] to [F][F] Auxiliary function write 0 to 3 8
The decimal equivalent of the data No. value
(hexadecimal) corresponds to the Point table No.

(12) External input signal disable (Command [9][0])

Command Data No. Description Setting range Frame length
[9][0] [0][0] Turns off the input devices, external analog input signals 1EA5 4
and pulse train inputs with the exception of EMG, LSP and
LSN, independently of the external ON/OFF statuses.
[9][0] [0][3] Disables all output devices (DO). 1EA5 4
[9][0] [1][0] Enables the disabled input devices (DI), external analog 1EA5 4
input signals and pulse train inputs with the exception of
EMG, LSP and LSN.
[9][0] [1][3] Enables the disabled output devices (DO). 1EA5 4

(13) Operation mode selection (Command [8][B])

Command Data No. Description Setting range Frame length
[8] [B] [0] [0] Operation mode switching 0000 to 0005 4
0000: Test operation mode cancel
0001: JOG operation
0002: Positioning operation
0003: Motorless operation
0004: Output signal (DO) forced output
0005: Single-step feed

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14. COMMUNICATION FUNCTION

(14) Test operation mode data (Command [9][2] [A][0])

Command Data No. Description Setting range Frame length
[9] [2] [0] [0] Input signal for test operation Refer to section 14.5.7. 8
[0] [1]
[A] [0] Forced output of signal pin Refer to section 14.5.9. 8
[A] [0] [1] [0] Writes the speed in the test operation mode (JOG 0000 to 7FFF 4
operation, positioning operation).
[1] [1] Writes the acceleration/deceleration time constant in the 00000000 to 8
test operation mode (JOG operation, positioning 7FFFFFFF
operation).
[2] [0] Sets the moving distance in the test operation mode 00000000 to 8
(JOG operation, positioning operation). 7FFFFFFF
[2] [1] Selects the positioning direction of test operation 0000 to 0001 4
(positioning operation).

0 0
0: Forward rotation direction
1: Reverse rotation direction
0: Command pulse unit
1: Encoder pulse unit
[4] [0] Test operation (positioning operation) start command. 1EA5 4
[4] [1] Used to make a temporary stop during test operation STOP 4
(positioning operation). in the data indicates a blank. G0
STOP: Temporary stop CLR
G0 : Restart for remaining distance
CLR : Remaining distance clear.

(15) Group setting (Command [9][F])

Command Data No. Description Setting range Frame length
[9] [F] [0] [0] Setting of group a to f 4

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14. COMMUNICATION FUNCTION

14.5 Detailed explanations of commands

14.5.1 Data processing

When the master station transmits a command data No. or a command data No. data to a slave station,
the driver returns a reply or data according to the purpose.
When numerical values are represented in these send data and receive data, they are represented in decimal,
hexadecimal, etc.
Therefore, data must be processed according to the application.
Since whether data must be processed or not and how to process data depend on the monitoring, parameters,
etc., follow the detailed explanation of the corresponding command.
The following methods are how to process send and receive data when reading and writing data.

(1) Processing the read data

When the display type is 0, the eight-character data is converted from hexadecimal to decimal and a
decimal point is placed according to the decimal point position information.
When the display type is 1, the eight-character data is used unchanged.

The following example indicates how to process the receive data "003000000929" given to show.
The receive data is as follows.

0 0 3 0 0 0 0 0 0 9 2 9
Data 32-bit length (hexadecimal representation)
(Data conversion is required as indicated in the display type)

Display type
0: Data must be converted into decimal.
1: Data is used unchanged in hexadecimal.

Decimal point position

0: No decimal point
1: First least significant digit (normally not used)
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit
6: Sixth least significant digit

Since the display type is "0" in this case, the hexadecimal data is converted into decimal.
00000929H 2345
As the decimal point position is "3", a decimal point is placed in the third least significant digit.
Hence, "23.45" is displayed.

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14. COMMUNICATION FUNCTION

(2) Writing the processed data

When the data to be written is handled as decimal, the decimal point position must be specified. If it is not
specified, the data cannot be written. When the data is handled as hexadecimal, specify "0" as the decimal
point position.
The data to be sent is the following value.

0
Data is transferred in hexadecimal.

Decimal point position

0: No decimal point
1: First least significant digit
2: Second least significant digit
3: Third least significant digit
4: Forth least significant digit
5: Fifth least significant digit

By way of example, here is described how to process the set data when a value of "15.5" is sent.
Since the decimal point position is the second digit, the decimal point position data is "2".
As the data to be sent is hexadecimal, the decimal data is converted into hexadecimal.
155 9B
Hence, "0200009B" is transmitted.

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14. COMMUNICATION FUNCTION

14.5.2 Status display

(1) Reading the status display name and unit
Read the status display name and unit.
(a) Transmission
Transmit command [0][1] and the data No. corresponding to the status display item to be read, [0][0] to
[0][E]. (Refer to section 14.4.1.)

(b) Reply
The slave station sends back the status display name and unit requested.

0 0
Unit characters (5 digits) Name characters (9 digits)

(2) Status display data read

Read the status display data and processing information.
(a) Transmission
Transmit command [0][1] and the data No. corresponding to the status display item to be read.
Refer to section 14.4.1.

(b) Reply
The slave station sends back the status display data requested.

0 0
Data 32 bits long (represented in hexadecimal)
(Data conversion into display type is required)

Display type
[0]: Used unchanged in hexadecimal
[1]: Conversion into decimal required

Decimal point position

[0]: No decimal point
[1]: Lower first digit (usually not used)
[2]: Lower second digit
[3]: Lower third digit
[4]: Lower fourth digit
[5]: Lower fifth digit
[6]: Lower sixth digit

(3) Status display data clear

The cumulative feedback pulse data of the status display is cleared. Send this command immediately after
reading the status display item. The data of the status display item transmitted is cleared to zero.
Command Data No. Data
[8][1] [0][0] [1][E][A][5]
For example, after sending command [0][1] and data No. [8][0] and receiving the status display data, send
command [8][1], data No. [0][0] and data [1EA5] to clear the cumulative feedback pulse value to zero.

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14. COMMUNICATION FUNCTION

14.5.3 Parameters
(1) Specify the parameter group
The group of the parameters to be operated must be specified in advance to read or write the parameter
settings, etc. Write data to the driver as described below to specify the parameter group to be operated.

Command Data No. Transmission data Parameter group

[8] [5] [0] [0] 0000 Basic setting parameter (No.PA )
0001 Gain filter parameter (No.PB )
0002 Extension setting parameter (No.PC )
0003 I/O setting parameter (No.PD )

(2) Reading the parameter group

Read the parameter group.

(a) Transmission
Send command [0][4] and data No.[0][1].

Command Data No.

[0] [4] [0] [1]

(b) Reply
The slave station sends back the preset parameter group.

0 0 0

Parameter group
0: Basic setting parameter (No.PA )
1: Gain filter parameter (No.PB )
2: Extension setting parameter (No.PC )
3: I/O setting parameter (No.PD )

(3) Reading the symbol

Read the parameter name. Specify the parameter group in advance (refer to (1) in this section).

(a) Transmission
Transmit command [0][8] and the data No. corresponding to the parameter No., [0][0] to [F][F]. (Refer to
section 14.4.1.)
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to
the parameter number.

(b) Reply
The slave station sends back the name of the parameter No. requested.

0 0 0
Name characters (9 digits)

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14. COMMUNICATION FUNCTION

(4) Reading the setting

Read the parameter setting. Specify the parameter group in advance (refer to (1) in this section).
(a) Transmission
Transmit command [0][5] and the data No. corresponding to the parameter No., [0][0] to [F][F]. (Refer to
section 14.4.1.)
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to
the parameter number.
(b) Reply
The slave station sends back the data and processing information of the parameter No. requested.

Data is transferred in hexadecimal.

Decimal point position

[0]: No decimal point
[1]: Lower first digit
[2]: Lower second digit
[3]: Lower third digit
0 [4]: Lower fourth digit
[5]: Lower fifth digit
Display type
0: Used unchanged in hexadecimal.
1: Must be converted into decimal.
Parameter write type
0: Valid after write
1: Valid when power is switched on again after write

Read enable/disable
0: Read enable
1: Read disable

For example, data "1200270F" means 999.9 (decimal display format) and data "0003ABC" means
3ABC (hexadecimal display format).
When the display type is "0" (hexadecimal) and the decimal point position is other than 0, the display
type is a special hexadecimal display format and "F" of the data value is handled as a blank. Data
"01FFF053" means 053 (special hexadecimal display format).
"1 (Read disable)" is transferred to the "Read enable/disable" section and "000000" is transferred to the
data section when the parameter that was read is the one inaccessible for write/reference in the
parameter write disable setting of parameter No.PA19.

(5) Reading the setting range

Read the parameter setting range. Specify the parameter group in advance (refer to (1) in this section).
(a) Transmission
When reading the upper limit value, transmit command [0][6] and the data No. corresponding to the
parameter No., [0][0] to [F][F]. When reading the lower limit value, transmit command [0][7] and the data
No. corresponding to the parameter No., [0][0] to [F][F]. (Refer to section 15.4.1.)
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to
the parameter number.
(b) Reply
The slave station sends back the data and processing information of the parameter No. requested.

0 0
Data is transferred in hexadecimal.

For example, data "10FFFFEC" means -20.

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14. COMMUNICATION FUNCTION

(6) Parameter write

POINT
If setting values need to be changed with a high frequency (i.e. one time or
more per one hour), write the setting values to the RAM, not the EEP-ROM.
The EEP-ROM has a limitation in the number of write times and exceeding
this limitation causes the driver to malfunction. Note that the number of write
times to the EEP-ROM is limited to approximately 100, 000.

Write the parameter setting into EEP-ROM of the driver. Specify the parameter group in advance (refer to
(1) in this section).
Write the value within the setting enabled range. For the setting enabled range, refer to chapter 6 or read
the setting range by performing operation in (3) in this section.
Transmit command [8][4], the data No. , and the set data.
The data No. is expressed in hexadecimal. The decimal equivalent of the data No. value corresponds to the
parameter number.
When the data to be written is handled as decimal, the decimal point position must be specified. If it is not
specified, data cannot be written. When the data is handled as hexadecimal, specify 0 as the decimal point
position.
Write the data after making sure that it is within the upper/lower limit value range.
Read the parameter data to be written, confirm the decimal point position, and create transmission data to
prevent error occurrence. On completion of write, read the same parameter data to verify that data has
been written correctly.

Command Data No. Set data

[8][4] [0][1] to See below.
[F][F]

Data is transferred in hexadecimal.

Decimal point position

0: No decimal point
1: Lower first digit
2: Lower second digit
3: Lower third digit
4: Lower forth digit
5: Lower fifth digit

Write mode
0: Write to EEP-ROM
3: Write to RAM
When the parameter data is changed frequently through communication,
set "3" to the write mode to change only the RAM data in the servo amplifier.
When changing data frequently (once or more within one hour),
do not write it to the EEP-ROM.

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14. COMMUNICATION FUNCTION

14.5.4 External I/O signal statuses (DIO diagnosis)

(1) Reading of input device statuses
Read the statuses of the input devices.
(a) Transmission
Transmit command [1][2] and the data No. corresponding to the input device.
Command Data No.
[1][2] [0][0]
[0][1]

(b) Reply
The slave station sends back the statuses of the input pins.
b31 b1 b0
1:ON
0:OFF
Command of each bit is transmitted to the master
station as hexadecimal data.

Data No. [0][0] Data No. [0][1]

bit
Device name Symbol Device name Symbol
0 Servo-on SON
1 Forward rotation stroke end LSP
2 Reverse rotation stroke end LSN
3
4 Internal torque limit selection TL1
5 Proportion control PC
6 Reset RES
7 Clear CR
8
9
10
11 Forward rotation start ST1
12 Reverse rotation start ST2
13
14
15
16
17 Automatic/manual selection MD0
18 Proximity dog DOG
19
20
21
22
23 Override selection OVR
24 Temporary stop/Restart TSTP Point table No. selection 1 DI0
25 Point table No. selection 2 DI1
26 Point table No. selection 3 DI2
27 Gain changing CDP Point table No. selection 4 DI3
28 Point table No. selection 5 DI4
29 Point table No. selection 6 DI5
30 Point table No. selection 7 DI6
31 Point table No. selection 8 DI7

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14. COMMUNICATION FUNCTION

(2) External input pin status read

Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [4][0].
Command Data No.
[1][2] [4][0]

(b) Reply
The ON/OFF statuses of the input pins are sent back.
b31 b1 b0
1:ON
0:OFF
Command of each bit is transmitted to the master
station as hexadecimal data.

bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin
0 1 8 16 24
1 2 9 17 25
2 3 10 18 26
3 4 11 19 27
4 12 20 28
5 13 21 29
6 14 22 30
7 15 23 31

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14. COMMUNICATION FUNCTION

(3) Read of the statuses of input devices switched on through communication

Read the ON/OFF statuses of the input devices switched on through communication.
(a) Transmission
Transmit command [1][2] and the data No. corresponding to the input device.
Command Data No.
[1][2] [6][0]
[6][1]

(b) Reply
The slave station sends back the statuses of the input pins.
b31 b1 b0
1:ON
0:OFF
Command of each bit is transmitted to the master
station as hexadecimal data.

Data No. [6][0] Data No. [6][1]

bit
Device name Symbol Device name Symbol
0 Servo-on SON
1 Forward rotation stroke end LSP
2 Reverse rotation stroke end LSN
3
4 Internal torque limit selection TL1
5 Proportion control PC
6 Reset RES
7 Clear CR
8
9
10
11 Forward rotation start ST1
12 Reverse rotation start ST2
13
14
15
16
17 Automatic/manual selection MD0
18 Proximity dog DOG
19
20
21
22
23 Override selection OVR
24 Temporary stop/Restart TSTP Point table No. selection 1 DI0
25 Point table No. selection 2 DI1
26 Point table No. selection 3 DI2
27 Gain changing CDP Point table No. selection 4 DI3
28 Point table No. selection 5 DI4
29 Point table No. selection 6 DI5
30 Point table No. selection 7 DI6
31 Point table No. selection 8 DI7

14 - 27
14. COMMUNICATION FUNCTION

(4) External output pin status read

Read the ON/OFF statuses of the external output pins.
(a) Transmission
Transmit command [1][2] and data No. [C][0].
Command Data No.
[1][2] [C][0]

(b) Reply
The slave station sends back the ON/OFF statuses of the output pins.
b31 b1 b0
1:ON
0:OFF
Command of each bit is transmitted to the master
station as hexadecimal data.

bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin
0 14 8 16 24
1 15 9 17 25
2 16 10 18 26
3 11 19 27
4 12 20 28
5 13 21 29
6 14 22 30
7 15 23 31

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14. COMMUNICATION FUNCTION

(5) Read of the statuses of output devices

Read the ON/OFF statuses of the output devices.
(a) Transmission
Transmit command [1][2] and the data No. corresponding to the output device.
Command Data No.
[1][2] [8][0]
[8][1]

(b) Reply
The slave station sends back the statuses of the output devices.
b31 b1 b0
1:ON
0:OFF

Command of each bit is transmitted to the master

station as hexadecimal data.

Data No. [8][0] Data No. [8][1]

bit
Device name Symbol Device name Symbol
0 Ready RD
1
2 Zero speed ZSP
3 Limiting torque TLC
4
5 In position INP
6
7 Warning WNG
8 Trouble ALM
9
Electromagnetic brake
10 MBR
interlock
11 dynamic brake interlock DB
12
13
14
15 Battery warning BWNG
16 Rough match CPO
Home position return
17 ZP
completion
18 Position range output POT
19 Temporary stop PUS
20
21
22
23
24 Point table No. output 1 PT0
25 Variable gain selection CDPS Point table No. output 2 PT1
26 Point table No. output 3 PT2
27 Point table No. output 4 PT3
28 Movement completion MEND Point table No. output 5 PT4
29 Point table No. output 6 PT5
30 Point table No. output 7 PT6
31 Point table No. output 8 PT7

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14. COMMUNICATION FUNCTION

14.5.5 Device ON/OFF

POINT
The ON/OFF states of all devices in the driver are the states of the data
received last. Hence, when there is a device which must be kept ON, send
data which turns that device ON every time.

Each input device can be switched on/off. However, when the device to be switched off exists in the external
input signal, also switch off that input signal.
Send command [9][2], data No. corresponding to the input device and data.

Command Data No. Set data

[9][2] [6][0] See below.
[6][1]

b31 b1 b0
1:ON
0:OFF

Command of each bit is transmitted to the slave

station as hexadecimal data.

Data No. [6][0] Data No. [6][1]

bit
Device name Symbol Device name Symbol
0 Servo-on SON
1 Forward rotation stroke end LSP
2 Reverse rotation stroke end LSN
3
4 Internal torque limit selection TL1
5 Proportion control PC
6 Reset RES
7 Clear CR
8
9
10
11 Forward rotation start ST1
12 Reverse rotation start ST2
13
14
15
16
17 Automatic/manual selection MD0
18 Proximity dog DOG
19
20
21
22
23 Override selection OVR
24 Temporary stop/Restart TSTP Point table No. selection 1 DI0
25 Point table No. selection 2 DI1
26 Point table No. selection 3 DI2
27 Gain changing CDP Point table No. selection 4 DI3
28 Point table No. selection 5 DI4
29 Point table No. selection 6 DI5
30 Point table No. selection 7 DI6
31 Point table No. selection 8 DI7
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14. COMMUNICATION FUNCTION

15.5.6 Disable/enable of I/O devices (DIO)

Inputs can be disabled independently of the I/O devices ON/OFF. When inputs are disabled, the input signals
(devices) are recognized as follows. Among the input devices, EMG, LSP and LSN cannot be disabled.

Signal Status
Input devices (DI) OFF

(1) Disabling/enabling the input devices (DI), external analog input signals and pulse train inputs with the
exception of EMG, LSP and LSN.
Transmit the following communication commands.
(a) Disable
Command Data No. Data
[9][0] [0][0] 1EA5

(b) Enable
Command Data No. Data
[9][0] [1][0] 1EA5

(2) Disabling/enabling the output devices (DO)

Transmit the following communication commands.
(a) Disable
Command Data No. Data
[9][0] [0][3] 1EA5

(b) Enable
Command Data No. Data
[9][0] [1][3] 1EA5

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14. COMMUNICATION FUNCTION

14.5.7 Input devices ON/OFF (test operation)

Each input devices can be turned on/off for test operation. when the device to be switched off exists in the
external input signal, also switch off that input signal.
Send command [9] [2], data No. corresponding to the input device and data.
Command Data No. Set data
[9][2] [0][0] See below
[0][1]
b31 b1 b0
1: ON
0: OFF
Command of each bit is transmitted to the slave
station as hexadecimal data.

Data No. [0][0] Data No. [0][1]

bit
Device name Symbol Device name Symbol
0 Servo-on SON
1 Forward rotation stroke end LSP
2 Reverse rotation stroke end LSN
3
4 Internal torque limit selection TL1
5 Proportion control PC
6 Reset RES
7 Clear CR
8
9
10
11 Forward rotation start ST1
12 Reverse rotation start ST2
13
14
15
16
17 Automatic/manual selection MD0
18 Proximity dog DOG
19
20
21
22
23 Override selection OVR
24 Temporary stop/Restart TSTP Point table No. selection 1 DI0
25 Point table No. selection 2 DI1
26 Point table No. selection 3 DI2
27 Gain changing CDP Point table No. selection 4 DI3
28 Point table No. selection 5 DI4
29 Point table No. selection 6 DI5
30 Point table No. selection 7 DI6
31 Point table No. selection 8 DI7

14 - 32
14. COMMUNICATION FUNCTION

14.5.8 Test operation mode

POINT
The test operation mode is used to confirm operation. Do not use it for actual
operation.
If communication stops for longer than 0.5s during test operation, the driver
decelerates to a stop, resulting in servo lock. To prevent this, continue
communication all the time, e.g. monitor the status display.
Even during operation, the driver can be put in the test operation mode.
In this case, as soon as the test operation mode is selected, the base circuit
is shut off, coasting the driver.

(1) Preparation and cancel of test operation mode

(a) Preparation of test operation mode
Set the test operation mode type in the following procedure.
Send the command [8][B] + data No. [0][0] to select the test operation mode.
Command Data No. Transmission Data Test Operation Mode Selection
[8][B] [0][0] 0001 JOG operation
0002 Positioning operation
0003 Motorless operation
0004 DO forced output
0005 Single-step feed

2) Confirmation of test operation mode

Read the test operation mode set for the slave station, and confirm that it is set correctly.
a. Transmission
Send the command [0][0] + data No. [1][2].
Command Data No.
[0][0] [1][2]

b. Return
The slave station returns the set test operation mode.

0 0 0
Test operation mode read
0: Normal mode (not test operation mode)
1: JOG operation
2: Positioning operation
3: Motorless operation
4: DO forced output
5: Single-step feed

14 - 33
14. COMMUNICATION FUNCTION

(2) JOG operation

Send the command, data No. and data as indicated below to execute JOG operation.
Start
Command : [8][B] Select the JOG operation in the test
Data No. : [0][0] operation mode.
Data : 0001(JOG operation)

Servo motor speed setting

Command : [A][0]
Data No. : [1][0]
Data : Write the speed [r/min] in
hexadecimal.
Set the operation pattern.
Acceleration/deceleration time
constant setting
Command : [A][0]
Data No. : [1][1]
Data : Write the acceleration/
deceleration time constant
[ms] in hexadecimal.
When LSP/LSN was turned OFF by When LSP/LSN was turned OFF by
external input signal external input signal or automatically

Start Start
Command : [9][2] Command: [9][2]
Data No. : [0][0] Data No. : [0][0]
Data : Forward rotation direction Data : Forward rotation direction
00000807 00000801 Start.
(SON, LSP, LSN, ST1 turned ON) (SON, ST1 turned ON)
Reverse rotation direction Reverse rotation direction
00001007 00001001
(SON, LSP, LSN, ST2 turned ON)
(SON, ST2 turned ON)

Stop Stop
Command: [9][2] Command : [9][2]
Data No. : [0][0] Data No. : [0][0] Stop.
Data : 00000007 Data : 00000001
(SON, LSP, LSN turned ON) (SON turned ON)

End
Command : [8][B]
Data No. : [0][0] Cancel the JOG operation.
Data : 0000
(JOG operation cancel)

Power on the
Power onservo amplifier.
the drivers Shift to the CC-Link operation mode.

14 - 34
14. COMMUNICATION FUNCTION

(3) Positioning operation

(a) Operation procedure
Send the command, data No. and data as indicated below to execute positioning operation.
Start
Command : [8][B] Select the positioning operation in
Data No. : [0][0] the test operation mode.
Data : 0002 (positioning operation)

Servo motor speed setting

Command : [A][0]
Data No. : [1][0]
Data : Write the speed [r/min] in
hexadecimal.

Acceleration/deceleration time
constant setting
Command : [A][0]
Data No. : [1][1]
Data : Write the acceleration
/deceleration time constant
[ms] in hexadecimal.
Set the operation pattern.
Movement distance setting
Command : [A][0]
Data No. : [2][0]
Data : Write the movement distance
[pulse] in hexadecimal.

Rotation direction selection

Command : [A][0]
Data No. : [2][0]
Data : 0000(forward rotation direction)
0001(reverse rotation)
When LSP/LSN was turned OFF by When LSP/LSN was turned OFF by external
external input signal input signal or automatically turned ON

Make input device valid Make input device valid

Command : [9][2] Command : [9][2] Turn ON Servo-on (SON) to make
Data No. : [0][0] Data No. : [0][0] the servo amplifier ready.
Data : 00000007 Data : 00000001
(SON, LSP, LSN turned ON) (SON turned ON)

(Note)
Positioning start
Command : [A][0] Start.
Data No. : [4][0]
Data : 1EA5

End
Command : [8][B]
Data No. : [0][0] Cancel the positioning operation.
Data : 0000
(Positioning operation cancel)

Power on the drivers

Power on the servo amplifier. Shift to the CC-Link operation mode.
Note. There is a 100ms delay.

14 - 35
14. COMMUNICATION FUNCTION

(b) Temporary stop/restart/remaining distance clear

Send the following command, data No. and data during positioning operation to make deceleration to a
stop.
Command Data No. Data
[A][0] [4][1] STOP

Send the following command, data No. and data during a temporary stop to make a restart.
Command Data No. (Note) Data
[A][0] [4][1] GO
Note. indicates a blank.

Send the following command, data No. and data during a temporary stop to stop positioning operation
and erase the remaining movement distance.
Command Data No. (Note) Data
[A][0] [4][1] CLR
Note. indicates a blank.

14 - 36
14. COMMUNICATION FUNCTION

(4) Single-step feed

Set necessary items to the point table before starting the single-step feed.
Send the command, data No. and data as indicated below to execute single-step feed.
Start
Command : [8][B] Select the single-step feed in the
Data No. : [0][0] test operation mode.
Data : 0005 (Single-step feed)

Point table No. setting

Command : [9][2]
Data No. : [0][1] Set the point table No.
Data : Write the point table No. in
hexadecimal.

When LSP/LSN was turned OFF by When LSP/LSN was turned OFF by external
external input signal input signal or automatically turned ON

Make input device valid Make input device valid

Command : [9][2] Command : [9][2]
Data No. : [0][0] Data No. : [0][0] Turn ON Servo-on (SON) to make
Data : 00020007 Data : 00020001 the servo amplifier ready.
(SON, LSP, LSN, MD0 (SON, MD0 turned ON)
turned ON)
(Note) (Note)
Operation start Operation start
Command : [9][2] Command : [9][2]
Data No. : [0][0] Data No. : [0][0] Start.
Data : 00020807 Data : 00020801
(ST1 is ON) (ST1 is ON)

End
Command : [8][B]
Data No. : [0][0] Cancel the single-step feed.
Data : 0000
(Single-step feed cancel)

Power on the
Power on servo amplifier.
the drivers Shift to the CC-Link operation mode.

Note. Start operation after home position return completion (ZP) is confirmed. Refer to 17th bit of the data read with command [1][2] and
data No.[8][0].

14 - 37
14. COMMUNICATION FUNCTION

(5) Output signal pin ON/OFF output signal (DO) forced output
In the test operation mode, the output signal pins can be turned on/off independently of the servo status.
Using command [9][0], disable the output signals in advance.
(a) Choosing DO forced output in test operation mode
Transmit command [8][B] data No. [0][0] data "0004" to choose DO forced output.

0 0 0 4
Selection of test operation mode
4: DO forced output (output signal forced output)

(b) External output signal ON/OFF

Transmit the following communication commands.

Command Data No. Setting data

[9][2] [A][0] See below.

b31 b1 b0
1: ON
0: OFF
Command of each bit is sent to the slave station in hexadecimal.

bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin bit CN6 connector pin
0 14 8 16 24
1 15 9 17 25
2 16 10 18 26
3 11 19 27
4 12 20 28
5 13 21 29
6 14 22 30
7 15 23 31

(c) Canceling DO forced output

Transmit command [8][B] + data No. [0][0] + data to cancel DO forced output.

Command Data No. Transmission data Description

[8][B] [0][0] 0000 Cancel DO forced output

(6) Motorless operation

(a) Performing motorless operation
Transmit command [8][B] + data No. [0][0] + data "0003" to perform motorless operation.

0 0 0 3
Selection of test operation mode
3: Motorless operation

To perform operation after performing the motorless operation, issue a command from the host PC or
PLC...etc.
(b) Canceling motorless operation
The motorless operation cannot be canceled in the same way as the test operation mode (transmit
command [8][B] + data No. [0][0] + data "0000"). To cancel the motorless operation, power on the driver
and shift to the CC-Link operation mode beforehand.
14 - 38
14. COMMUNICATION FUNCTION

14.5.9 Alarm history

(1) Alarm No. read
Read the alarm No. which occurred in the past. The alarm numbers and occurrence times of No. 0 (last
alarm) to No. 5 (sixth alarm in the past) are read.

(a) Transmission
Send command [3][3] and data No. [1][0] to [1][5]. Refer to section 14.4.1.

(b) Reply
The alarm No. corresponding to the data No. is provided.

0 0
Alarm No. is transferred in hexadecimal.

For example, "0032" means A32 and "00FF" means A_ _ (no alarm).

(2) Alarm occurrence time read

Read the occurrence time of alarm which occurred in the past.
The alarm occurrence time corresponding to the data No. is provided in terms of the total time beginning
with operation start, with the minute unit omitted.

(a) Transmission
Send command [3][3] and data No. [2][0] to [2][5].
Refer to section 14.4.1.

(b) Reply

The alarm occurrence time is transferred in hexadecimal.

Hexadecimal must be converted into decimal.

For example, data "01F5" means that the alarm occurred in 501 hours after start of operation.

(3) Alarm history clear

Erase the alarm history.
Send command [8][2] and data No. [2][0].
Command Data No. Data
[8][2] [2][0] 1EA5

14 - 39
14. COMMUNICATION FUNCTION

14.5.10 Current alarm

(1) Current alarm read
Read the alarm No. which is occurring currently.
(a) Transmission
Send command [0][2] and data No. [0][0].
Command Data No.
[0][2] [0][0]

(b) Reply
The slave station sends back the alarm currently occurring.

0 0
Alarm No. is transferred in hexadecimal.

For example, "0032" means A32 and "00FF" means A_ _ (no alarm).

(2) Read of the status display at alarm occurrence

Read the status display data at alarm occurrence. When the data No. corresponding to the status display
item is transmitted, the data value and data processing information are sent back.

(a) Transmission
Send command [3][5] and any of data No. [8][0] to [8][E] corresponding to the status display item to be
read. Refer to section 15.4.1.

(b) Reply
The slave station sends back the requested status display data at alarm occurrence.

0 0
Data 32 bits long (represented in hexadecimal)
(Data conversion into display type is required)

Display type
0: Conversion into decimal required
1: Used unchanged in hexadecimal

Decimal point position

0: No decimal point
1: Lower first digit (usually not used)
2: Lower second digit
3: Lower third digit
4: Lower fourth digit
5: Lower fifth digit
6: Lower sixth digit

(3) Current alarm clear

As by the reset (RES) on, reset the driver alarm to make the driver ready to operate. After removing the
cause of the alarm, reset the alarm with no command entered.
Command Data No. Data
[8][2] [0][0] 1EA5

14 - 40
14. COMMUNICATION FUNCTION

14.5.11 Point table

(1) Data read
(a) Position data
Read the position data of the point table.
1) Transmission
Transmit command [4][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be
read. Refer to section 14.4.1.
2) Reply
The slave station sends back the position data of the requested point table.

Hexadecimal data

Decimal point position

0: No decimal point
1: Lower first digit (usually not used)
2: Lower second digit
3: Lower third digit
0 0 4: Lower fourth digit
5: Lower fifth digit
6: Lower sixth digit
Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required
Position data write type
0: Valid after write
1: Valid when power is switched on again after write

(b) Speed data

Read the speed data of the point table.
1) Transmission
Transmit command [5][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be
read. Refer to section 14.4.1.
2) Reply
The slave station sends back the speed data of the requested point table.

0
Hexadecimal data

0 0

Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required
Speed data write type
0: Valid after write
1: Valid when power is switched on again after write

14 - 41
14. COMMUNICATION FUNCTION

(c) Acceleration time constant

Read the acceleration time constant of the point table.
1) Transmission
Transmit command [5][4] and any of data No. [0][1] to [F][F] corresponding to the point table to be
read. Refer to section 14.4.1.
2) Reply
The slave station sends back the acceleration time constant of the requested point table.

0
Hexadecimal data

0 0

Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required
Deceleration time constant write type
0: Valid after write
1: Valid when power is switched on again after write

(d) Deceleration time constant

Read the deceleration time constant of the point table.
1) Transmission
Transmit command [5][8] and any of data No. [0][1] to [F][F] corresponding to the point table to be
read. Refer to section 14.4.1.
2) Reply
The slave station sends back the deceleration time constant of the requested point table.

0
Hexadecimal data

0 0

Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required
Deceleration time constant write type
0: Valid after write
1: Valid when power is switched on again after write

14 - 42
14. COMMUNICATION FUNCTION

(e) Dwell
Read the dwell of the point table.
1) Transmission
Transmit command [6][0] and any of data No. [0][1] to [F][F] corresponding to the point table to be
read. Refer to section 14.4.1.
2) Reply
The slave station sends back the dwell of the requested point table.

0
Hexadecimal data

0 0

Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required
Dwell write type
0: Valid after write
1: Valid when power is switched on again after write

(f) Auxiliary function

Read the auxiliary function of the point table.
1) Transmission
Transmit command [6][4] and any of data No. [0][1] to [F][F] corresponding to the point table to be
read. Refer to section 14.4.1.
2) Reply
The slave station sends back the auxiliary function of the requested point table.

0
Hexadecimal data

0 0

Display type
0: Used unchanged in hexadecimal
1: Conversion into decimal required
Auxiliary function write type
0: Valid after write
1: Valid when power is switched on again after write

14 - 43
14. COMMUNICATION FUNCTION

(2) Data write

POINT
If setting values need to be changed with a high frequency (i.e. one time or
more per one hour), write the setting values to the RAM, not the EEP-ROM.
The EEP-ROM has a limitation in the number of write times and exceeding
this limitation causes the driver to malfunction. Note that the number of write
times to the EEP-ROM is limited to approximately 100, 000.

(a) Position data

Write the position data of the point table.
Transmit command [C][0], any of data No. [0][1] to [F][F] corresponding to the point table to be written to,
and the data. Refer to section 14.4.2.
Command Data No. Data
[C][0] [0][1] to [F][F] See below.

Hexadecimal data

Decimal point position

0: No decimal point
1: Lower first digit
2: Lower second digit The decimal point position should be the same as
3: Lower third digit the feed length multiplication (STM) set in parameter
4: Lower fourth digit No. 1. The slave station will not accept the decimal
5: Lower fifth digit point position which is different from the STM setting.
6: Lower sixth digit
Write mode
0: EEP-ROM, RAM write
1: RAM write
When the position data is changed frequently through communication,
set "1" to the write mode to change only the RAM data in the servo amplifier.
When changing data frequently (once or more within one hour),
do not write it to the EEP-ROM.

(b) Speed data

Write the speed data of the point table.
Transmit command [C][6], any of data No. [0][1] to [F][F] corresponding to the point table to be written to,
and the data. Refer to section 14.4.2.
Command Data No. Data
[C][6] [0][1] to [F][F] See below.

0
Hexadecimal data

Write mode
0: EEP-ROM, RAM write
1: RAM write

When the speed data is changed frequently through communication,

set "1" to the write mode to change only the RAM data in the servo amplifier.
When changing data frequently (once or more within one hour),
do not write it to the EEP-ROM.

14 - 44
14. COMMUNICATION FUNCTION

(c) Acceleration time constant

Write the acceleration time constant of the point table.
Transmit command [C][7], any of data No. [0][1] to [F][F] corresponding to the point table to be written to,
and the data. Refer to section 14.4.2.
Command Data No. Data
[C][7] [0][1] to [F][F] See below.

0
Hexadecimal data

Write mode
0: EEP-ROM, RAM write
1: RAM write

When the acceleration time constant is changed frequently through communication,

set "1" to the write mode to change only the RAM data in the servo amplifier.
When changing data frequently (once or more within one hour),
do not write it to the EEP-ROM.

(d) Deceleration time constant

Write the deceleration time constant of the point table.
Transmit command [C][8], any of data No. [0][1] to [F][F] corresponding to the point table to be written to,
and the data. Refer to section 14.4.2.
Command Data No. Data
[C][8] [0][1] to [F][F] See below.

0
Hexadecimal data

Write mode
0: EEP-ROM, RAM write
1: RAM write

When the deceleration time is changed frequently through communication,

set "1" to the write mode to change only the RAM data in the servo amplifier.
When changing data frequently (once or more within one hour),
do not write it to the EEP-ROM.

(e) Dwell
Write the dwell of the point table.
Transmit command [C][A], any of data No. [0][1] to [F][F] corresponding to the point table to be written to,
and the data. Refer to section 14.4.2.
Command Data No. Data
[C][A] [0][1] to [F][F] See below.

0
Hexadecimal data

Write mode
0: EEP-ROM, RAM write
1: RAM write

When the dwell constant is changed frequently through communication,

set "1" to the write mode to change only the RAM data in the servo amplifier.
When changing data frequently (once or more within one hour),
do not write it to the EEP-ROM.
14 - 45
14. COMMUNICATION FUNCTION

(f) Auxiliary function

Write the auxiliary function of the point table.
Transmit command [C][B], any of data No. [0][1] to [F][F] corresponding to the point table to be written to,
and the data. Refer to section 14.4.2.
Command Data No. Data
[C][B] [0][1] to [F][F] See below.

0
Hexadecimal data

Write mode
0: EEP-ROM, RAM write
1: RAM write

When the auxiliary function constant is changed frequently through communication,

set "1" to the write mode to change only the RAM data in the servo amplifier.
When changing data frequently (once or more within one hour),
do not write it to the EEP-ROM.

14 - 46
14. COMMUNICATION FUNCTION

14.5.12 Driver group designation

With group setting made to the slave stations, data can be transmitted simultaneously to two or more slave
stations set as a group.

(1) Group setting write

Write the group designation value to the slave station.
(a) Transmission
Transmit command [9][F], data No. [0][0] and data.
Command Data No. Data
[9][F] [0][0] See below.

0 0
Group designation
0: No group designation
1: Group a
2: Group b
3: Group c
4: Group d
5: Group e
6: Group f
Response command enable
Set whether data can be sent back or not in
response to the read command of the master station.
0: Response disable
Data cannot be set back.
1: Response enable
Data can be set back.

(2) Group setting read

Read the set group designation value from the slave station.
(a) Transmission
Transmit command [1][F] and data No. [0][0].
Command Data No.
[1][F] [0][0]

(b) Reply
The slave station sends back the group setting of the point table requested.

0 0
Group designation
0: No group designation
1: Group a
2: Group b
3: Group c
4: Group d
5: Group e
6: Group f
Response command enable
0: Response disable
1: Response enable

14 - 47
14. COMMUNICATION FUNCTION

14.5.13 Other commands

(1) Servo motor side pulse unit absolute position
Read the absolute position in the servo motor side pulse unit.
Note that overflow will occur in the position of 8192 or more revolutions from the home position.
(a) Transmission
Send command [0][2] and data No. [9][0].
Command Data No.
[0][2] [9][0]

(b) Reply
The slave station sends back the requested servo motor side pulses.

Absolute value is sent back in hexadecimal in

the servo motor side pulse unit.
(Must be converted into decimal)

For example, data "000186A0" is 100000 [pulse] in the motor side pulse unit.

(2) Command unit absolute position

Read the absolute position in the command unit.
(a) Transmission
Send command [0][2] and data No. [9][1].
Command Data No.
[0][2] [9][1]

(b) Reply
The slave station sends back the requested command pulses.

Absolute value is sent back in hexadecimal in the

command unit.
(Must be converted into decimal)

For example, data "000186A0" is 100000 [pulse] in the command unit.

(3) Software version

Reads the software version of the driver.

(a) Transmission
Send command [0][2] and data No.[7][0].
Command Data No.
[0][2] [7][0]

(b) Reply
The slave station returns the software version requested.

Software version (15 digits)

Space
14 - 48
14. COMMUNICATION FUNCTION

14 - 49
15. INDEXER POSITIONING OPERATION

15 INDEXER POSITIONING OPERATION.......................................................................................................2

15.1 Function .................................................................................................................................................2
15.1.1 Overview..........................................................................................................................................2
15.1.2 Driver standard specifications (functions only)................................................................................2
15.1.3 Function list .....................................................................................................................................3
15.2 I/O signals (I/O devices) transferred to/from the PC or PLC...etc..........................................................4
15.2.1 I/O signals (I/O devices) ..................................................................................................................4
15.2.2 Detailed explanation of I/O signals..................................................................................................6
15.2.3 Monitor codes ................................................................................................................................15
15.2.4 Instruction codes (RWwn 2 RWwn 3) ....................................................................................16
15.2.5 Respond codes (RWrn 2) ...........................................................................................................23
15.3 Signal ...................................................................................................................................................24
15.3.1 Signal (device) explanation ...........................................................................................................24
15.3.2 Detailed description of signals (devices).......................................................................................27
15.4 Switching power on for the first time ....................................................................................................30
15.4.1 Startup procedure..........................................................................................................................30
15.4.2 Wiring check ..................................................................................................................................31
15.4.3 Surrounding environment ..............................................................................................................32
15.5 Startup..................................................................................................................................................33
15.5.1 Power on and off procedures ........................................................................................................33
15.5.2 Stop ...............................................................................................................................................33
15.5.3 Test operation ...............................................................................................................................34
15.5.4 Parameter setting ..........................................................................................................................35
15.5.5 Point table setting..........................................................................................................................36
15.5.6 Actual operation ............................................................................................................................36
15.6 Driver display .......................................................................................................................................37
15.7 Automatic operation mode ...................................................................................................................39
15.7.1 What is automatic operation mode?..............................................................................................39
15.7.2 Automatic operation mode 1 (Rotation direction specifying indexer)............................................40
15.8 Manual operation mode .......................................................................................................................59
15.8.1 Indexer JOG operation ..................................................................................................................59
15.8.2 JOG operation ...............................................................................................................................61
15.9 Home position return mode..................................................................................................................62
15.9.1 Outline of home position return .....................................................................................................62
15.9.2 Torque limit changing dog type home position return ...................................................................64
15.9.3 Torque limit changing data setting type home position return ......................................................66
15.9.4 Home position return automatic return function ............................................................................67
15.10 Absolute position detection system ...................................................................................................68
15.11 Parameters.........................................................................................................................................71
15.11.1 Basic setting parameters (No.PA )........................................................................................71
15.11.2 Gain/filter parameters (No.PB ).............................................................................................80
15.11.3 Extension setting parameters (No.PC ) ................................................................................88
15.11.4 I/O setting parameters (No.PD )........................................................................................94
15.12 TROUBLESHOOTING.......................................................................................................................99
15.12.1 Trouble at start-up .......................................................................................................................99
15.12.2 Operation at error occurrence ...................................................................................................100
15.12.3 CC-Link communication error....................................................................................................100
15.12.4 When alarm or warning has occurred .......................................................................................101
15.12.5 Point table error.........................................................................................................................115

15 - 1
15. INDEXER POSITIONING OPERATION

15 INDEXER POSITIONING OPERATION

POINT
To execute the indexer positioning operation, parameter needs to be
changed. Set the parameter No.PA01 to "1 ".

This chapter provides the indexer positioning operation method using LECSC□-□ driver. Any matters not
described in this chapter are the same as those of the point table positioning operation. For more information,
refer to chapters up to 14.

15.1 Function
15.1.1 Overview
Using the next station selection 1 (RYnA) to the next station selection 8 (RY(n 2)5) devices, stations from
No.0 to No.254 can be specified.
Settings of servo motor speed and acceleration/deceleration time constant are carried out by specifying the
point table number from 1 to 8 using the speed selection 1 (RY(n 2)C) to the speed selection 3 (RY(n 2)E)
devices. Speed command data can be directly specified by using the remote register when two stations are
occupied.

15.1.2 Driver standard specifications (functions only)

Item Description
Available with CC-Link communication
Station command
CC-Link communication (1 station occupied): 31 stations
input
CC-Link communication (2 stations occupied): 255 stations
Command
Remote Available with CC-Link communication (2 stations occupied)
system Speed
register Set the speed command data (speed) by the remote register.
command
Speed
input Select a speed and acceleration/deceleration time constant by the point table
No. input
Rotation direction
Automatic Positioning operation is executed to the set station. Rotation direction can be specified.
specifying indexer
operation
Shortest rotating Positioning operation is executed to the set station. The servo motor rotates in the closest
mode
indexer direction from current position.
Turning on the start signal (RYn1) makes the servo motor rotate in the direction specified by
Indexer JOG the rotation direction specifying.
Manual
operation Turning off the start signal (RYn1) makes the servo motor perform positioning operation to the
operation
closest station where the motor can decelerate to stop.
mode
Operation mode

In accordance with the speed data set in parameters, JOG operation is performed by using
JOG operation
CC-Link communication
Home position return is performed by the Z-phase pulse count after passing proximity dog.
Home position address may be set. Home position shift distance may be set. Home position
Torque limit
return direction may be selected.
Home changing dog type
Automatic at-dog home position return return/automatic stroke return function.
position
Automatic torque limit changing function
return
Home position return is made without dog.
mode Torque limit
Home position may be set at any position by manual operation, etc. Home position address may
changing data
be set.
setting type
Automatic torque limit changing function
Automatic positioning to home
High-speed automatic return to a defined home position.
position

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15. INDEXER POSITIONING OPERATION

15.1.3 Function list

The following table lists the functions of this servo. For details of the functions, refer to the reference field.

Function Description Reference

Automatic operation mode 1
In this operation mode, the servo motor rotates in the specified direction and
(Rotation direction specifying Section 15.7.2
performs a positioning operation to the next station divided in 2 to 255.
indexer)
Automatic operation mode 2 In this operation mode, the servo motor rotates in the shortest direction and
Section 15.7.3
(Shortest rotating indexer) performs a positioning operation to the next station divided in 2 to 255.
1. Indexer JOG operation
When stopping, this JOG operation enables the servo motor to perform
positioning to the station where the servo motor can decelerate to stop.
Manual operation mode Section 15.8
2. JOG operation
When stopping, this JOG operation enables the servo motor to decelerate
to stop regardless of stations.
Home position return Torque limit changing dog type, torque limit changing data setting type Section 15.9
High-resolution encoder of 262144 pulses/rev is used as a servo motor
High-resolution encoder
encoder.
Absolute position detection By merely setting the home position once, home position return need not be
Section 15.10
system done at each power on.
You can switch between gains during rotation and gains during stop or use
Gain changing function Section 9.6
an input device to change gains during operation.
Advanced vibration suppression
This function suppresses vibration at the arm end or residual vibration. Section 9 .4
control
Driver detects mechanical resonance and sets filter characteristics
Adaptive filter Section 9 .2
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system
Low-pass filter Section 9 .5
response is increased.
Analyzes the frequency characteristic of the mechanical system by simply
connecting a set up software(MR Configurator) installed personal computer
Machine analyzer function
and driver.
Set up software(MR Configurator) is necessary for this function.
Can simulate machine motions on a personal computer screen on the basis
Machine simulation of the machine analyzer results.
Set up software(MR Configurator) is necessary for this function.
Personal computer changes gains automatically and searches for
Gain search function overshoot-free gains in a short time.
Set up software(MR Configurator) is necessary for this function.
Slight vibration suppression Parameters No.
Suppresses vibration of 1 pulse produced at a servo motor stop.
control PB24
The electronic gear is used to make adjustment so that the driver setting
matches the machine moving distance. Also, changing the electronic gear Parameter No.
Electronic gear
value allows the machine to be moved at any multiplication ratio to the PA06, PA07
moving distance using the driver.
Automatically adjusts the gain to optimum value if load applied to the servo
Auto tuning Section 8.2
motor shaft varies.
Used when the built-in regenerative resistor of the driver does not have
Regenerative option Section 13.2
sufficient regenerative capability for the regenerative power generated.
Used when the regenerative option cannot provide enough regenerative
Brake unit power. Section 13.3
Can be used with the driver of 5kW or more.
Used when the regenerative option cannot provide enough regenerative
Regeneration converter power. Section 13.4
Can be used with the driver of 5kW or more.
Parameter No.
Alarm history clear Alarm history is cleared.
PC18

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15. INDEXER POSITIONING OPERATION

Function Description Reference

Section 15.3.2 (3)
Torque limit Servo motor-torque is limited.
Section 15.11.1 (9)
Output signal can be forced on/off independently of the servo status. Section 7.7.4
Output signal (DO) forced output
Use this function for output signal wiring check, etc.
JOG operation positioning operation DO forced output. Section 7.7
Test operation mode
Set up software(MR Configurator) is necessary for this function.
The servo motor travel region can be limited using the forward rotation
Limit switch
stroke end (LSP)/reverse rotation stroke end (LSN).

15.2 I/O signals (I/O devices) transferred to/from the PC or PLC...etc

15.2.1 I/O signals (I/O devices)
(1) When 1 station is occupied
RYn/RXn: 32 points each, RWrn/RWwn: 4 points each
PC or PLC...etc Driver (RYn) Driver PC or PLC...etc (RXn)
(Note) (Note)
Device name Device name
Device No. Device No.
RYn0 Servo-on RXn0 Ready
RYn1 Start RXn1 In position
RYn2 Rotation direction specifying RXn2 Rough match
RYn3 RXn3 Home position return completion
to Not available RXn4 Limiting torque
RYn5 RXn5 Not available
RYn6 Operation mode selection 1 RXn6 Electromagnetic brake interlock
RYn7 Operation mode selection 2 RXn7 Temporary stop
RYn8 Monitor output execution demand RXn8 Monitoring
RYn9 Instruction code execution demand RXn9 Instruction code execution completion
RYnA Next station selection 1 RXnA Warning
RYnB Next station selection 2 RXnB Battery warning
RYnC Next station selection 3 RXnC Movement completion
RYnD Next station selection 4 RXnD Dynamic brake interlock
RYnE Next station selection 5 RXnE
RYnF to Not available
to Not available RX(n 1)9
RY(n 1)9 RX(n 1)A Trouble
RY(n 1)A Reset RX(n 1)B Remote station communication ready
RY(n 1)B RX(n 1)C
to Not available to Not available
RY(n 1)F RX(n 1)F

PC or PLC...etc Driver (RWwn) Driver PC or PLC...etc (RWrn)

Address No. Signal Address No. Signal
RWwn Monitor 1 RWrn Monitor 1 data
RWwn 1 Monitor 2 RWrn 1 Monitor 2 data
RWwn 2 Instruction code RWrn 2 Respond code
RWwn 3 Writing data RWrn 3 Reading data
Note. "n" depends on the station number setting.

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15. INDEXER POSITIONING OPERATION

(2) When 2 stations are occupied

RXn/RYn: 64 points each, RWrn/RWwn: 8 points each
PC or PLC...etc Driver (RYn) Driver PC or PLC...etc (RXn)
(Note) (Note)
Device name Device name
Device No. Device No.
RYn0 Servo-on RXn0 Ready
RYn1 Start RXn1 In position
RYn2 Rotation direction specifying RXn2 Rough match
RYn3 RXn3 Home position return completion
to Not available RXn4 Limiting torque
RYn5 RXn5 Not available
RYn6 Operation mode selection 1 RXn6 Electromagnetic brake interlock
RYn7 Operation mode selection 2 RXn7 Temporary stop
RYn8 Monitor output execution demand RXn8 Monitoring
RYn9 Instruction code execution demand RXn9 Instruction code execution completion
RYnA Next station selection 1 RXnA Warning
RYnB Next station selection 2 RXnB Battery warning
RYnC Next station selection 3 RXnC Movement completion
RYnD Next station selection 4 RXnD Dynamic brake interlock
RYnE Next station selection 5 RXnE
RYnF to Not available
to Not available RX(n 1)F
RY(n 1)F RX(n 2)0 Position instruction execution completion
RY(n 2)0 Position instruction execution demand RX(n 2)1 Speed instruction execution completion
RY(n 2)1 Speed instruction execution demand RX(n 2)2 Station output 1
RY(n 2)2 Not available RX(n 2)3 Station output 2
RY(n 2)3 Next station selection 6 RX(n 2)4 Station output 3
RY(n 2)4 Next station selection 7 RX(n 2)5 Station output 4
RY(n 2)5 Next station selection 8 RX(n 2)6 Station output 5
RY(n 2)6 Internal torque limit selection RX(n 2)7 Station output 6
RY(n 2)7 Proportion control RX(n 2)8 Station output 7
RY(n 2)8 Gain changing RX(n 2)9 Station output 8
RY(n 2)9 Not available RX(n 2)A
RY(n 2)A Position/speed specifying system selection to Not available
RY(n 2)B Not available RX(n 3)9
RY(n 2)C Speed selection 1 RX(n 3)A Trouble
RY(n 2)D Speed selection 2 RX(n 3)B Remote station communication ready
RY(n 2)E Speed selection 3 RX(n 3)C
RY(n 2)F to Not available
to Not available RX(n 3)F
RY(n 3)9
RY(n 3)A Reset
RY(n 3)B
to Not available
RY(n 3)F
Note. "n" depends on the station number setting.

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15. INDEXER POSITIONING OPERATION

PC or PLC...etc Driver (RWwn) Driver PC or PLC...etc (RWrn)

(Note 1) (Note 1)
Signal Signal
Address No. Address No.
RWwn Monitor 1 (Note 2) RWrn Monitor 1 data lower 16 bit
RWwn 1 Monitor 2 (Note 2) RWwn 1 Monitor 1 data upper 16 bit
RWwn 2 Instruction code RWwn 2 Respond code
RWwn 3 Writing data RWwn 3 Reading data
RWwn 4 Next station RWwn 4
RWwn 5 RWwn 5 Monitor 2 data lower 16 bit
RWwn 6 Point table No./Speed command data (Note 3) RWwn 6 Monitor 2 data upper 16 bit
RWwn 7 Not available RWwn 7 Not available
Note 1. "n" depends on the station number setting.
2. Specify the code of the lower 16 bit as the monitor code of 32-bit data.
3. When the parameter No.PC30 setting is " 0 ", specify the point table No. in RWwn 6. When the parameter No.PC30
setting is " 1 ", specify the speed data in RWwn 6, and turn ON Speed instruction execution demand (RY(n 2)1). When
setting the parameter No.PC30 to " 1 ", always set the acceleration/deceleration time constant in the point table No.1.

15.2.2 Detailed explanation of I/O signals

(1) Input signals (Input devices)
The note signs in the remarks column indicates the following descriptions.
*: Can be automatic turned ON internally by setting parameters No.PD01.

Device No.
Signal name
Description 1 station 2 stations Remarks
(Device name)
occupied occupied
Servo-on Turning RYn0 ON powers on the base circuit, making RYn0 RYn0 *
operation ready to start. (Servo on status)
Turning it OFF powers off the base circuit, coasting the servo
motor. (Servo off status)
Start 1. Automatic operation mode 1 and 2 RYn1 RYn1
Turning on RYn1 performs positioning operation once to the
specified station number.
2. Manual operation mode
Turning on RYn1 in the indexer JOG operation makes the
servo motor rotate in the RYn2 specified direction only while
RYn1 is on. Turning it off makes the servo motor perform
positioning to the station where the servo motor can
decelerate to stop.
Turning on RYn1 in JOG operation makes the servo motor
rotate in the RYn2 specified direction only while RYn1 is on.
Turning it off makes the servo motor decelerate to stop
regardless of stations.
3. Home position return mode
Turning on RYn1 immediately starts a home position return.

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15. INDEXER POSITIONING OPERATION

Device No.
Signal name
Description 1 station 2 stations Remarks
(Device name)
occupied occupied
Rotation direction specifying Turning on/off RYn2 specifies the rotation direction at start. RYn2 RYn2
1. Automatic operation mode 1
Rotation direction changes according to the parameter
No.PA14 setting. RYn2 is used only for the automatic
operation mode 1 (Rotation direction specifying indexer). It is
not used for the automatic operation mode 2 (Shortest
rotating indexer).

Parameter Servo motor

(Note) RYn2
No.PA14 rotation direction
0 CCW
0
1 CW
0 CW
1
1 CCW
Note. 0: OFF
1: ON

2. Manual operation mode

It is not affected by the parameter No.PA14.

Parameter Servo motor

(Note) RYn2
No.PA14 rotation direction
0
0 CCW
1
0
1 CW
1
Note. 0: OFF
1: ON

3. Home position return mode

RYn2 is invalid. Specify the rotation direction in the home
position return mode by using the parameter No.PC03.
Operation mode selection 1 Select the operation mode. RYn6 RYn6
Operation mode selection 2 RYn7 RYn7
(Note)
Remote input Operation mode
Ryn7 Ryn6
0 0 Home position return mode
0 1 Manual operation mode
Automatic operation mode 1
1 0
(Rotation direction specifying indexer)
Automatic operation mode 2
1 1
(Shortest rotating indexer)
Note. 0: OFF
1: ON

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15. INDEXER POSITIONING OPERATION

Device No.
Signal name
Description 1 station 2 stations Remarks
(Device name)
occupied occupied
Monitor output execution When RYn8 is turned ON, the following data and signals are RYn8 RYn8
demand set. At the same time, RXn8 turns ON. While RYn8 is ON, the
monitor values are kept updated.
1) When 1 station is occupied
Remote register RWrn: Data demanded by Monitor 1
(RWwn)
Remote register RWrn 1: Data demanded by Monitor 2
(RWwn 1)
Remote register RWrn 2: Respond code indicating normal
or error
2) When 2 stations are occupied
Remote register RWrn: Lower 16 bits of data demanded by
Monitor 1 (RWwn)
Remote register RWrn 1: Upper 16 bits of data demanded
by Monitor 1 (RWwn)
Remote register RWrn 5: Lower 16 bits of data demanded
by Monitor 2 (RWwn 2)
Remote register RWrn 6: Upper 16 bits of data demanded
by Monitor 2 (RWwn 2)
Remote register RWrn 2: Respond code indicating normal
or error
Instruction code execution Turning RYn9 ON executes the processing corresponding to RYn9 RYn9
demand the instruction code stored in remote register RWwn 2.
After completion of instruction code execution, the respond
code indicating normal or error is set to RWrn 2. At the same
time, RXn9 turns ON.
Refer to section 15.2.4 for details.
Next station selection 1 Select the station number by using RYnA to RY(n 2)5. RYnA RYnA

Next station selection 2 (Note 1) Remote input RYnB RYnB

Station
RY RY RY
No. RYnE RYnD RYnC RYnB RYnA
Next station selection 3 (n+2)5 (n+2)4 (n+2)3 RYnC RYnC
0 0 0 0 0 0 0 0 0
Next station selection 4 1 0 0 0 0 0 0 0 1 RYnD RYnD
2 0 0 0 0 0 0 1 0
Next station selection 5 3 0 0 0 0 0 0 1 1 RYnE RYnE
4 0 0 0 0 0 1 0 0
Next station selection 6 RY(n 2)3

Next station selection 7 RY(n 2)4

Next station selection 8 RY(n 2)5

254 1 1 1 1 1 1 1 0
(Note 2) 1 1 1 1 1 1 1 1
Note 1. 0: OFF
1: ON
2. When setting “1” for all RYnA to RYnE and RY(n 2)3
to RY(n 2)5, the station warning (A97) occurs.

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15. INDEXER POSITIONING OPERATION

Device No.
Signal name
Description 1 station 2 stations Remarks
(Device name)
occupied occupied
Position instruction execution When RY(n 2) is turned on, the next station number set in the RY(n 2)0
demand remote register RWwn 4 is set.
When it is set to the driver, the respond code indicating normal
or error is set to RWrn 2. At the same time, RX(n 2)0 turns
ON.
Refer to section 3.6.3 for details.
Speed instruction demand When RY(n 2)1 is turned ON, the point table No. or speed RY(n 2)1
command data set to remote register RWwn 6 is set.
When it is set to the driver, the respond code indicating normal
or error is set to RWrn 2. At the same time, RX(n 2)1 turns
ON.
Refer to section 3.6.3 for details.
Internal torque limit selection Turning RY(n 2)6 OFF makes the torque limit value of RY(n 2)6
parameter No.PA11 (forward rotation torque limit) parameter
No.PA12 (reverse rotation torque limit) valid, and turning it ON
makes that of parameter No.PC35 (internal torque limit). (Refer
to section 15.3.2 (3))
Proportion control When RY(n 2)7 is turned ON, the speed amplifier is switched RY(n 2)7 *
from the proportional integral type to the proportional type.
If the servo motor at a stop is rotated even one pulse by an
external factor, it develops torque in an attempt to compensate
for a position shift. When the shaft is locked mechanically after
Movement completion (RXnC) is turned OFF, for example,
turning Proportion control (RY(n 2)7) ON as soon as
Movement completion (RXnC) turns OFF allows control of
unnecessary torque developed in an attempt to compensate for
a position shift.
When the shaft is to be locked for an extended period of time,
turn Internal torque limit selection (RY(n 2)6) ON
simultaneously with Proportion control (RY(n 2)7) to make the
torque not more than the rated torque using Internal torque
limit (parameter No.PC35).
Gain changing When RY(n 2)8 is turned ON, the load inertia moment ratio RY(n 2)8
and the corresponding gain values change to the values of
parameter No.PB29 to PB32. To change the gain using
RY(n 2)8, make the auto tuning invalid.
Position/speed specifying Select how to give a speed command. (Refer to section 3.6.3.) RY(n 2)A
system selection OFF: Remote input-based speed specifying system
Specifying the point table No. with Point table No.
selection (RYnA to RYnE) gives a speed command.
ON : Remote register-based speed specifying system
Setting the instruction code to the remote register
(RWwn 4 to RWwn 6) gives a speed command.
Set the parameter No.PC30 (direct specification
selection) to " 2".

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15. INDEXER POSITIONING OPERATION

Device No.
Signal name
Description 1 station 2 stations Remarks
(Device name)
occupied occupied
Speed selection 1 Set the servo motor speed, acceleration time constant, and RY(n 2)C
Speed selection 2 deceleration time constant for positioning operation by RY(n 2)D
Speed selection 3 selecting the point table number from 1 to 8 using RY(n 2)C, RY(n 2)E
RY(n 2)D, and RY(n 2)E.

(Note) Remoto input

Point table No.
RY(n 2)E RY(n 2)D RY(n 2)C
0 0 0 1
0 0 1 2
0 1 0 3
0 1 1 4
1 0 0 5
1 0 1 6
1 1 0 7
1 1 1 8
Note. 0: OFF
1: ON

Reset Keeping RY(n 1)A or RY(n 3)A ON for 50ms or longer RY(n 1)A RY(n 3)A
allows an alarm to be deactivated.
Some alarms cannot be deactivated by Reset RY(n 1)A or
RY(n 3)A. (Refer to section 15.12.4 (1))
If RY(n 1)A or RY(n 3)A is turned ON with no alarm
occurring, the base circuit will not be shut off. When " 1 "
is set in parameter No.PD20 (function selection D-1), the base
circuit is shut off.
This device is not designed to make a stop. Do not turn it ON
during operation.

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15. INDEXER POSITIONING OPERATION

(2) Output signals (Output device)

POINT
The output devices can be used for both the remote output and the external
output signals of CN6 connector.

The signal whose Device No. field has an oblique line cannot be used in CC-Link.

Device No.
Signal name
Description 1 station 2 stations
(Device name)
occupied occupied
Ready A ready is assigned to the CN6-14 pin as an external output signal. RXn0 RXn0 RXn0
turns ON when the driver is ready to operate after servo-on.
In position RXn1 turns ON when the droop pulse value is within the preset in-position RXn1 RXn1
range.
The in-position range can be changed using parameter No.PA10.
Increasing the in-position range may result in a continuous conduction
status during low-speed rotation.
RXn1 turns ON at servo-on.
Rough match RXn2 turns ON when the command remaining distance becomes less than RXn2 RXn2
the rough match output range set in the parameter.
RXn2 turns ON at servo-on.
Home position return The home position return completion is assigned to the CN6-16 pin as an RXn3 RXn3
completion external output signal. RXn3 turns ON when a home position return is
completed. RXn3 turns ON at completion of a home position return.
In an absolute position detection system, RXn3 turns ON when operation is
ready to start, but turns OFF in any of the following cases.
1) Servo-on (RYn0) is turned OFF.
2) Forced stop (EMG) is turned OFF.
3) Reset (RY(n 1)A or RY(n 3)A) is turned ON.
4) Alarm occurs.
5) Forward rotation stroke end (RYn4) or Reverse rotation stroke end
(RYn5) is turned OFF.
6) Home position return has not been made after product purchase.
7) Home position return has not been made after occurrence of Absolute
position erase (A25) or Absolute position counter warning (AE3).
8) Home position return has not been made after electronic gear change.
9) Home position return has not been made after the absolute position
detection system was changed from invalid to valid.
10) Parameter No.PA14 (Station No. direction selection) has been
changed.
11) While a home position return is being made.
When any of 1) to 11) has not occurred and a home position return is
already completed at least once, Home position return completion (RXn3)
turns to the same output status as Ready (RXn0).
Limiting torque RXn4 turns ON when the torque is reached at the time of torque RXn4 RXn4
generation.
Electromagnetic brake RXn6 turns OFF at servo-off or alarm occurrence. At alarm occurrence, it RXn6 RXn6
interlock turns OFF independently of the base circuit status.
Monitoring Refer to Monitor output execution demand (RYn8). RXn8 RXn8
Instruction code execution Refer to Instruction code execution demand (RYn9). RXn9 RXn9
completion

15 - 11
15. INDEXER POSITIONING OPERATION

Device No.
Signal name
Description 1 station 2 stations
(Device name)
occupied occupied
Warning RXnA turns ON when a warning occurs. RXnA RXnA
When no warning has occurred, RXnA turns OFF within about 1s after
power-on.
Battery warning RXnB turns ON when Open battery cable warning (A92) or Battery warning RXnB RXnB
(A9F) occurs. When no battery warning has occurred, RXnB turns OFF
within about 1s after power-on.
Movement completion RXnC turns ON when In position (RXn1) turns ON and the command RXnC RXnC
remaining distance is "0".
RXnC turns ON at servo-on.
Dynamic brake interlock RXnD turns off simultaneously when the dynamic brake is operated. When RXnD RXnD
using the external dynamic brake on the driver of 11kW or more, this
device is required. (Refer to section 13.6.) For the driver of 7kw or less, it is
not necessary to use this device.
Position instruction Refer to Speed instruction execution demand (RY(n 2)0). RX(n 2)0
execution completion
Speed instruction Refer to Position instruction execution demand (RY(n 2)1). RX(n 2)1
execution completion
Station output 1 As soon as the movement completion (RXnC) turns on, the station number RX(n 2)2
is output in 8-bit code.

Station output 2 (Note 1) Remote output RX(n 2)3

Station
RX RX RX RX RX RX RX RX
No.
Station output 3 (n+2)9 (n+2)8 (n+2)7 (n+2)6 (n+2)5 (n+2)4 (n+2)3 (n+2)2 RX(n 2)4
(Note 2) 0 0 0 0 0 0 0 0
Station output 4 0 1 1 1 1 1 1 1 1 RX(n 2)5
1 1 1 1 1 1 1 1 0
Station output 5 2 1 1 1 1 1 1 0 1 RX(n 2)6

Station output 6 RX(n 2)7

Station output 7 RX(n 2)8

Station output 8 253 0 0 0 0 0 0 1 0 RX(n 2)9

254 0 0 0 0 0 0 0 1
Note 1. 0: OFF
1: ON
2. All station outputs turn to “0” (OFF) when the current position is
out of the in-position range.

At power-on, emergency stop or alarm occurrence, if the current position is

within the in-position range of each station, corresponding station number
is output.
While operating in the automatic operation mode, if the current position is
within the in-position range of the target next station, corresponding station
number is output.
While operating in the indexer JOG operation of manual operation mode, if
the current position is within the in-position range of the station where the
servo motor stops by turning off the start (RYn1), corresponding station
number is output.
When home position return is incomplete, station number is not output.

15 - 12
15. INDEXER POSITIONING OPERATION

Device No.
Signal name
Description 1 station 2 stations
(Device name)
occupied occupied
Trouble A trouble is assigned to the CN6-15 pin as an external output signal. RX(n 1)A RX(n 3)A
RX(n 1)A or RX(n 3)A turns ON when the protective circuit is activated to
shut off the base circuit.
When no alarm has occurred, RX(n 1)A or RX(n 3)A turns OFF within
about 1.5s after power is switched ON.
Remote station This signal turns ON at power-on and turns off at a trouble occurrence or in RX(n 1)B RX(n 3)B
communication ready the reset (RY(n 1)A or RY(n 3)A) ON status.

(3) Remote registers

The signal whose Remote Register field has an oblique line cannot be used.
(a) Input (PC or PLC...etc driver)
Remote register
1 station 2 stations Signal name Description Setting range
occupied occupied
RWwn RWwn Monitor 1 Demands the status indication data of the driver. Refer to section
1) When 1 station is occupied 15.2.3.
Setting the monitor code of the status indication item to be
monitored to RWwn and turning RYn8 to ON sets data to
RWrn. RXn8 turns on at the same time.
2) When 2 stations are occupied
Setting the monitor code of the status indication item to be
monitored to RWwn and turning RYn8 to ON sets data to
RWrn. RXn8 turns on at the same time.
When demanding 32-bit data, specifying the lower 16-bit
code No. and turning RYn8 to ON sets the lower 16-bit data
to RWwn and the upper 16-bit data to RWrn. data is stored
in the RXn8. RXn8 turns on at the same time.
Refer to section 15.2.3 for the item of the monitor code of
the status indication.
RWwn 1 RWwn 1 Monitor 2 Demands the status indication data of the driver. Refer to section
1) When 1 station is occupied 15.2.3.
Setting the monitor code of the status indication item to be
monitored to RWwn 1 and turning RYn8 to ON sets data to
RWrn 1. RXn8 turns on at the same time.
2) When 2 stations are occupied
Setting the monitor code of the status indication item to be
monitored to RWwn 1 and turning RYn8 to ON sets data to
RWrn 5. RXn8 turns on at the same time.
When demanding 32-bit data, specifying the lower 16-bit
code No. and turning RYn8 to ON sets the lower 16-bit data
to RWwn 5 and the upper 16-bit data to RWrn 6. Data is
stored in the RXn8. RXn8 turns on at the same time.
Refer to section 16.2.3 for the item of the monitor code of
the status indication.
RWwn 2 RWwn 2 Instruction code Sets the instruction code used to perform parameter or point Refer to section
table data read and write, alarm reference or the like. 15.2.4 (1).
Setting the instruction code No. to RWwn 2 and turning
RYn9 to ON executes the instruction. RXn9 turns to ON on
completion of instruction execution.
Refer to section 15.2.4 (1) for instruction code No. definitions.

15 - 13
15. INDEXER POSITIONING OPERATION

Remote register
1 station 2 stations Signal name Description Setting range
occupied occupied
RWwn 3 RWwn 3 Writing data Sets the written data used to perform parameter or point Refer to section
table data write, alarm history clear or the like. 15.2.4 (2).
Setting the written data to RWwn 3 and turning RYn9 to ON
writes the data to the driver. RXn9 turns to ON on completion
of write.
Refer to section 15.2.4 (2) for written data definitions.

(b) Output (Driver PC or PLC...etc)

Note that the data set to RWrn and RWrn 1 depends on whether 1 station or 2 stations are occupied.
If you set inappropriate code No. or data to the remote register input, the error code is set to respond
code (RWrn 2). Refer to section 3.5.5 for the error code.
When 1 station is occupied
Remote register Signal name Description
RWrn Monitor 1 data The data of the monitor code set to RWwn is set.
RWrn 1 Monitor 2 data The data of the monitor code set to RWwn 1 is set.
"0000" is set when the codes set to RWwn to RWwn 3 are executed
RWrn 2 Respond code
normally.
RWrn 3 Reading data Data corresponding to the read code set to RWwn 2 is set.

When 2 stations are occupied

Remote register Signal name Description
RWrn Monitor 1 data lower 16bit The lower 16 bits of the data of the monitor code set to RWwn are set.
The upper 16 bits of the data of the monitor code set to RWwn are set. A
RWrn 1 Monitor 1 data upper 16bit
sign is set if there are no data in the upper 16 bits.
"0000" is set when the codes set to RWwn to RWwn 6 are executed
RWrn 2 Respond code
normally.
RWrn 3 Reading data Data corresponding to the read code set to RWwn 2 is set.
RWrn 4
RWrn 5 Monitor 2 data lower 16bit The lower 16 bits of the data of the monitor code set to RWwn 1 are set.
The upper 16 bits of the data of the monitor code set to RWwn 1 are set. A
RWrn 6 Monitor 2 data upper 16bit
sign is set if there are no data in the upper 16 bits.
RWrn 7

15 - 14
15. INDEXER POSITIONING OPERATION

15.2.3 Monitor codes

To demand 32-bit data when 2 stations are occupied, specify the lower 16-bit code No. Use any of the
instruction codes 0101 to 011C to read the decimal point position (multiplying factor) of the status indication.
Setting any code No. that is not given in this section will set the error code ( 1 ) to respond code
(RWrn 2). At this time, "0000" is set to RWrn, RWrn 1, RWrn 5 and RWrn 6.

Answer data
Code No.
(Driver PC or PLC...etc)
Monitored item
1 station 2 stations
Data length Unit
occupied occupied
0000h 0000h
0001h 0001h Not used in indexer positioning operation.
0002h
0003h 0003h
0004h
0005h 0005h
0006h
0007h 0007h
0008h 0008h Point table No. 16bit [No.]
0009h
000Ah 000Ah Feedback pulse value lower 16bit 16bit [pulse]
000Bh Feedback pulse value upper 16bit 16bit [pulse]
000Ch
000Dh
000Eh 000Eh Droop pulse value lower 16bit 16bit [pulse]
000Fh Droop pulse value upper 16bit 16bit [pulse]
0010h 0010h
0011h 0011h Regenerative load factor 16bit [%]
0012h 0012h Effective load factor 16bit [%]
0013h 0013h Peak load factor 16bit [%]
0014h 0014h Instantaneously occurring torque 16bit [%]
0015h 0015h ABS counter 16bit [rev]
0016h 0016h Motor speed lower 16bit 16bit 0.1[rev/min]
0017h Motor speed upper 16bit 16bit 0.1[rev/min]
0018h 0018h Bus voltage 16bit [V]
0019h 0019h Not used in indexer positioning operation.
001Ah
001Bh 001Bh
001Ch 001Ch Within one-revolution position lower 16bit 16bit [pulse]
001Dh Within one-revolution position upper 16bit 16bit [pulse]
001Eh 001Eh Station No. 16bit [No.]

15 - 15
15. INDEXER POSITIONING OPERATION

15.2.4 Instruction codes (RWwn 2 RWwn 3)

Refer to section 3.6.2 for the instruction code timing charts.

(1) Read instruction codes

The word data requested to be read with the instruction code 0000h to 0AFFh is read by Read code
(RWrn 3).
Set the command code No. corresponding to the item to RWrn 2. The codes and answer data are all 4-
digit hexadecimal numbers.
Setting any command code No. that is not given in this section will set the error code ( 1 ) to respond
code (RWrn 2). At this time, "0000" is set to Reading data (RWrn 3).

Reading data (RWrn 3) contents

Code No. Item/Function
(Driver PC or PLC...etc)
0000h Operation mode 0000: CC-Link operation mode
Reads the current operation mode. 0001: Test operation mode
0002h Travel multiplying factor
Reads the multiplying factor of the position
data in the point table set in parameter
No.PA05. Travel multiplying factor
0300: 1000
0200: 100
0100: 10
0000: 1

0010h Current alarm (warning) reading

Reads the alarm No. or warning No. occurring 0 0
currently.
Occurring alarm No./warning No.

0020h Alarm number in alarm history

(most recent alarm) 0 0
0021h Alarm number in alarm history
(first recent alarm) Alarm No. that occurred in past
0022h Alarm number in alarm history
(second recent alarm)
0023h Alarm number in alarm history
(third recent alarm)
0024h Alarm number in alarm history
(fourth recent alarm)
0025h Alarm number in alarm history
(fifth recent alarm)
0030h Alarm occurrence time in alarm history
(most recent alarm)
0031h Alarm occurrence time in alarm history
(first recent alarm) Occurrence time of alarm that occurred in past
0032h Alarm occurrence time in alarm history
(second recent alarm)
0033h Alarm occurrence time in alarm history
(third recent alarm)
0034h Alarm occurrence time in alarm history
(fourth recent alarm)
0035h Alarm occurrence time in alarm history
(fifth recent alarm)

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15. INDEXER POSITIONING OPERATION

Reading data (RWrn 3) contents

Code No. Item/Function
(Driver PC or PLC...etc)
0040h Input device status 0 bit 0 to bit F indicate the OFF/ON statuses of the corresponding input
Reads the statuses (OFF/ON) of the input devices.
devices. bitF bit0

bit Device bit Device

0 Servo-on 8 Monitor output execution
1 Start demand
2 Rotation direction 9 Instruction code execution
specifying demand
3 Proximity dog A Next station selection 1
4 Forward rotation stroke B Next station selection 2
end C Next station selection 3
5 Reverse rotation stroke D Next station selection 4
end E Next station selection 5
6 Operation mode selection 1 F
7 Operation mode selection 2

0041h Input device status 1 bit 0 to bit F indicate the OFF/ON statuses of the corresponding input
Reads the statuses (OFF/ON) of the input devices.
devices. bitF bit0

bit Device bit Device

0 Position instruction 7 Proportion control
execution demand 8 Gain changing
1 Speed instruction 9
execution demand A Position/speed specifying
2 system selection
3 Next station selection 6 B
4 Next station selection 7 C Speed selection 1
5 Next station selection 8 D Speed selection 2
6 Internal torque limit E Speed selection 3
selection F For manufacturer setting

0042h Input device status 2 bit 0 to bit F indicate the OFF/ON statuses of the corresponding input
Reads the statuses (OFF/ON) of the input devices.
devices. bitF bit0

bit Device bit Device

0 8
1 9
2 A Reset
3 B
4 C
5 D
6 E
7 F

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15. INDEXER POSITIONING OPERATION

Reading data (RWrn 3) contents

Code No. Item/Function
(Driver PC or PLC...etc)
0050h Output device status 0 bit 0 to bit F indicate the OFF/ON statuses of the corresponding
Reads the statuses (OFF/ON) of the Output output devices.
devices. bitF bit0

bit Device bit Device

0 Ready 8 Monitoring
1 In position 9 Instruction code execution
2 Rough match completion
3 Home position return A Warning
completion B Battery warning
4 Limiting torque C Movement completion
5 D Dynamic brake
6 Electromagnetic brake E
interlock F
7

0051h Output device status 1 bit 0 to bit F indicate the OFF/ON statuses of the corresponding
Reads the statuses (OFF/ON) of the Output output devices.
devices. bitF bit0

bit Device bit Device

0 Position instruction 7 Station output 6
execution completion 8 Station output 7
1 Speed instruction 9 Station output 8
execution completion A Station output 9
2 Station output 1 B
3 Station output 2 C
4 Station output 3 D
5 Station output 4 E
6 Station output 5 F For manufacturer setting

0052h Output device status 2 bit 0 to bit F indicate the OFF/ON statuses of the corresponding
Reads the statuses (OFF/ON) of the Output output devices.
devices. bitF bit0

bit Device bit Device

0 9
1 A Trouble
2 B Remote station
3 communication ready
4 C
5 D
6 E
7 F
8

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15. INDEXER POSITIONING OPERATION

Reading data (RWrn 3) contents

Code No. Item/Function
(Driver PC or PLC...etc)
0081h Energization time Returns the energization time [h].
Reads the energization time from shipment.

Energization time

0082h Power ON frequency Returns the number of power-on times.

Reads the number of power-on times from
shipment.

Power ON frequency

00A0h Ratio of load inertia moment Return unit [times].

Reads the estimated ratio of load inertia
moment to servo motor shaft inertia moment.

Ratio of load inertia moment

00B0h Home position within-1-revolution position Return unit [pulses].

lower 16bit (CYC0)
Reads the lower 16 bits of the cycle counter
value of the absolute home position.
Cycle counter value

00B1h Home position within-1-revolution position Return unit [pulses].

upper 16bit
Reads the upper 16 bits of the cycle counter
value of the absolute home position.
Cycle counter value

00B2h Home position Multi-revolution data (ABS0) Return unit [rev].

Multi-revolution counter value of absolute
home position reading.

Multi-revolution counter value

00C0h Error parameter No./Point data No. reading

Reads the parameter No./point table No. in
error.
Parameter No. or point table No.
Parameter group
0: Basic setting parameters (No.PA )
1: Gain/filter parameters (No.PB )
2: Extension setting parameters (No.PC )
3: I/O setting parameters (No.PD )
Type
1: Parameter No.
2: Point table No.

0100h Monitor multiplying factor

to Reads the multiplying factor of the data to be
011Dh read with the monitor code.
The instruction codes 0100 to 011D Monitor multiplying factor
correspond to the monitor codes 0000 to
0003: 1000
001D.
0002: 100
0000 applies to the instruction code that does
0001: 10
not correspond to the monitor code. 0000: 1

15 - 19
15. INDEXER POSITIONING OPERATION

Reading data (RWrn 3) contents

Code No. Item/Function
(Driver PC or PLC...etc)
0200h Parameter group reading
Reads the parameter group to be read with 0 0 0
code No.8200h to be written.
Parameter group
0: Basic setting parameters (No.PA )
1: Gain/filter parameters (No.PB )
2: Extension setting parameters (No.PC )
3: I/O setting parameters (No.PD )

0201h Parameter data reading The value set in the parameter No. corresponding to the requested
to Reads the set value of each No. of the group name is stored.
02FFh parameter group read with code No.0200h.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the
parameter No.
If the instruction code is set outside the range
set in parameter No.PA19, an error code is
returned and the data cannot be read.
0301h Data form of parameter The value set in the parameter No. corresponding to the requested
to Reads the data format of each No. of the group name is stored.
03FFh parameter group read with code No.0200h.
The decimal value converted from the 2 lower 0
digits of the code No. corresponds to the
parameter No.
Decimal point position
If the instruction code is set outside the range
0: Without decimal point
set in parameter No.PA19, an error code is
1: First least significant digit
returned and the data cannot be read. (without decimal point)
Data format 2: Second least significant digit
0: Used unchanged 3: Third least significant digit
as hexadecimal 4: Fourth least significant digit
1: Must be converted
into decimal

Parameter write type

0: Valid after write
1: Valid when power is switched on again after write

0601h Servo motor speed of point table No.1 to 255 The servo motor speed set to the requested point table No. is
to The decimal value converted from the 2 lower returned.
06FFh digits of the code No. corresponds to the point
table No.

Servo motor speed

0701h Acceleration time constant of point table No.1 The acceleration time constant set to the requested point table No. is
to to 255 returned.
07FFh The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
0801h Deceleration time constant of point table No.1 The deceleration time constant set to the requested point table No. is
to to 255 returned.
08FFh The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.

15 - 20
15. INDEXER POSITIONING OPERATION

(2) Write instruction codes

Set the data, which was requested to be written with the instruction code 8010h to 91FFh.
Set the instruction code No. corresponding to the item to Instruction code (RWwn 2) and the written data
to Writing data (RWwn 3). The codes and answer data are all 4-digit hexadecimal numbers.
When the instruction code which has not been described in this section is set, the error code ( 1 ) is
stored in respond code (RWrn 2).

Writing data (RWwn 3) contents

Code No. Item
(PC or PLC...etc Driver)
8010h Alarm reset command 1EA5
Deactivates the alarm that occurred.
8101h Feedback pulse value display data is clear 1EA5
Resets the display data of the status
indication "feedback pulse value" to 0.
8200h Parameter group write command
Writes the group of parameters that are 0 0 0
written to with codes No.8201h to 82FFh and
8301h to 83FFh. Parameter group
Writes the group of parameters that are read 0: Basic setting parameters (No.PA )
with codes No.0201h to 02FFh and 0301h to
1: Gain/filter parameters (No.PB )
03FFh.
2: Extension setting parameters (No.PC )
3: I/O setting parameters (No.PD )

8201h Data RAM instruction of parameter Convert the decimal values into hexadecimal before setting.
to Writes the set value of each No. of the
82FFh parameter group written by code No.8200h to
RAM. These values are cleared when power
is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the
parameter No.
An error code is returned if an instruction
code outside the range set in parameter No.
PA19 or a value outside the setting range of
the corresponding parameter is written.
8301h Data EEP-ROM instruction of parameter Convert the decimal values into hexadecimal before setting.
to Writes the set value of each No. of the
83FFh parameter group written with code No.8200h
to EEP-ROM. Written to EEP-ROM, these
values are held if power is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the
parameter No.
An error code is returned if an instruction
code outside the range set in parameter
No.PA19 or a value outside the setting range
of the corresponding parameter is written.
8601h Motor speed of point table Convert the values into hexadecimal before setting.
to Writes the motor speeds of point table No.1 to
86FFh 255 to RAM. These values are cleared when
power is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.

15 - 21
15. INDEXER POSITIONING OPERATION

Writing data (RWwn 3) contents

Code No. Item
(PC or PLC...etc Driver)
8701h Acceleration time constant data RAM Convert the values into hexadecimal before setting.
to command of point table
87FFh Writes the acceleration time constants of point
table No.1 to 255 to RAM. These values are
cleared when power is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
8801h Deceleration time constant data RAM Convert the values into hexadecimal before setting.
to command of point table
88FFh Writes the deceleration time constants of
point table No.1 to 255 to RAM. These values
are cleared when power is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
8D01h Servo motor speed data EEP-ROM command Convert the values into hexadecimal before setting.
to of point table
8DFFh Writes the servo motor speeds of point table
No.1 to 255 to EEP-ROM. Written to EEP-
ROM, these values are held if power is
switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
8E01h Acceleration time constant data EEP-ROM Convert the values into hexadecimal before setting.
to command of point table
8EFFh Writes the acceleration time constants of point
table No.1 to 255 to EEP-ROM. Written to
EEP-ROM, these values are held if power is
switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.
8F01h Deceleration time constant data EEP-ROM Convert the values into hexadecimal before setting.
to command of point table
8FFFh Writes the deceleration time constants of
point table No.1 to 255 to EEP-ROM. Written
to EEP-ROM, these values are held if power
is switched off.
The decimal value converted from the 2 lower
digits of the code No. corresponds to the point
table No.

15 - 22
15. INDEXER POSITIONING OPERATION

15.2.5 Respond codes (RWrn 2)

If any of the monitor codes, instruction codes, Next station, Point table Nos./Speed command data set to the
remote register is outside the setting range, the corresponding error code is set to respond code (RWwn 2).
"0000" is set if they are normal.

Error related to Monitor code 1/Monitor code 2

Error related to Instruction code/Writing data

Error related to Next station

Error related to point table No./Speed command data

Code No. Error Details

0 Normal answer Instruction was completed normally.
Code error The monitor code not in the specifications was set.
1
Read/write of the point table of No.255 or later was set.
Parameter point table The parameter No. disabled for reference was set.
2
selection error
Write range error An attempt was made to write the parameter or point table data outside the
3
setting range.

15 - 23
15. INDEXER POSITIONING OPERATION

15.3 Signal
15.3.1 Signal (device) explanation
POINT
In the indexer positioning operation, devices assigned to the CN6 connector
cannot be changed.

(1) I/O device

(a) Input device
Connector
Device Symbol Functions/Applications
pin No.
Forced stop EMG CN6-1 Turn EMG off (open between commons) to bring the motor to an emergency
stop state, in which the base circuit is shut off and the dynamic brake is
operated. Turn EMG on (short between commons) in the emergency stop state
to reset that state.
Proximity dog DOG CN6-2 When DOG is turned OFF, the proximity dog is detected. The polarity of dog
detection can be changed using parameter No.PD16.

Proximity dog (DOG)

Parameter No.PD16
detection polarity
0 (initial value) OFF
1 ON

Forward rotation stroke end LSP CN6-3 When starting operation, turn LSP/LSN to ON. Turning it to OFF causes a
Reverse rotation stroke end LSN CN6-4 sudden stop, resulting in servo lock. A stopping method can be changed in
parameter No.PD20.
When not using the forward/reverse rotation stroke end, set "Automatic ON" in
parameter No.PD01.

(Note) Input signal Operation

CCW CW
LSP LSN
direction direction
1 1
0 1
1 0
0 0
Note. 0: OFF
1: ON

15 - 24
15. INDEXER POSITIONING OPERATION

(b) Output device

POINT
Output devices assigned to the CN6 connector pins can be used with the
remote output of the CC-Link communication function.

Connector
Device Symbol Functions/Applications
pin No.
Ready RD CN6-14 RD turns ON when the driver is ready to operate after servo-on.
Trouble ALM CN6-15 ALM turns off when power is switched off or the protective circuit is activated to
shut off the base circuit. Without alarm occurring, ALM turns on within 1.5s after
power-on.
The significance of this device is opposite of that of remote output (RX (n 1)A
or RX (n 3)A).
Home position return ZP CN6-16 ZP turns ON when a home position return is completed. ZP turns ON at
completion completion of a home position return.
In an absolute position detection system, RXn3 turns ON when operation is
ready to start, but turns OFF in any of the following cases.
1) Servo-on (RYn0) is turned OFF.
2) Forced stop (EMG) is turned OFF.
3) Reset (RY(n 1)A or RY(n 3)A) is turned ON.
4) Alarm occurs.
5) Forward rotation stroke end (LSP) or Reverse rotation stroke end (LSN) is
turned OFF.
6) Home position return has not been made after product purchase.
7) Home position return has not been made after occurrence of Absolute
position erase (A25) or Absolute position counter warning (AE3).
8) Home position return has not been made after electronic gear change.
9) Home position return has not been made after the absolute position detection
system was changed from invalid to valid.
10) Parameter No.PA14 (Station No. direction selection) has been changed.
11) While a home position return is being made.
When any of 1) to 11) has not occurred and a home position return is already
completed at least once, Home position return completion (ZP) turns to the
same output status as Ready (RD).

(2) Input signals

Connector
Device Symbol Functions/Applications
pin No.
Manual pulse generator PP CN6-6 Not used in indexer positioning operation.
NP CN6-19

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15. INDEXER POSITIONING OPERATION

(3) Output signals

Refer to section 4.8.2 for the output interfaces (symbols in the I/O Division field in the table) of the
corresponding connector pins.

Connecto I/O
Device Symbol Functions/Applications
r pin No. division
Encoder A-phase pulse LA CN6-11 Outputs pulses per servo motor revolution set in parameter No.PA15 DO-2
(differential line driver) LAR CN6-24 in the differential line driver system. In CCW rotation of the servo
motor, the encoder B-phase pulse lags the encoder A-phase pulse by
Encoder B-phase pulse LB CN6-12 a phase angle of /2.
(differential line driver) LBR CN6-25 The relationships between rotation direction and phase difference of
the A- and B-phase pulses can be changed using parameter
No.PC19
Encoder Z-phase pulse LZ CN6-13 Outputs the zero-point signal of the encoder in the differential line DO-2
(differential line driver) LZR CN6-26 driver system. One pulse is output per servo motor revolution. This
signal turns on when the zero-point position is reached. (Negative
logic)
The minimum pulse width is about 400 s. For home position return
using this pulse, set the creep speed to 100r/min. or less.

(4) Power supply

Connector I/O
Signal Symbol Functions/Applications
pin No. division
Digital I/F power supply DICOM CN6-5 Used to input 24VDC (24VDC 10% 150mA) for I/O interface. The
input power supply capacity changes depending on the number of I/O
interface points to be used.
Connect the plus of 24VDC terminal external power supply for the
sink interface.
Digital I/F common DOCOM CN6-17 Common terminal for input signals such as DOG and EMG. Pins are
connected internally. Separated from LG.
Connect the plus of 24VDC terminal external power supply for the
source interface.
Control common LG CN6-23 Common terminal for the differential line driver of the encoder pulses
(LA LAR LB LBR LZ LZR).
Shield SD Plate Connect the external conductor of the shield cable.

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15. INDEXER POSITIONING OPERATION

15.3.2 Detailed description of signals (devices)

(1) Forward rotation start reverse rotation start temporary stop/restart
(a) A start (RYn1) should make the sequence which can be used after the main circuit has been
established. These signals are invalid if it is switched on before the main circuit is established.
Normally, it is interlocked with the ready signal (RD).

(b) A start in the driver is made when a start (RYn1) changes from OFF to ON. The delay time of the
driver's internal processing is max. 3ms. The delay time of other devices is max. 10ms.

(c) When a PC or PLC...etc is used, the ON time of a start (RYn1), should be 6ms or longer to prevent a
malfunction.

(d) During operation, the start (RYn1) is not accepted. The next operation should always be started after
the rough match (RXn2) is output with the rough match output range set to “0” or after the movement
completion (RXnC) is output.

(2) Movement completion rough match in position

POINT
If an alarm cause, etc. are removed and servo-on occurs after a stop is made
by servo-off, alarm occurrence or Forced stop (EMG) ON during automatic
operation, Movement completion (MEND), Rough-match, (CPO) and In
position (INP) are turned on. To resume operation, confirm the current
position and the selected point table No. for preventing unexpected operation.
(a) Movement completion
The following timing charts show the output timing relationships between the position command
generated in the driver and the movement completion (RYnC). This timing can be changed using
parameter No.PA10 (in-position range). RYnC turns ON in the servo-on status.
ON
Start (RYn1)
OFF
Position command
3ms or less
Position command and Servo motor speed
Forward
servo motor speed rotation In-position range
0r/min

ON
Movement completion (RXnC)
OFF

When parameter No.PA10 is small

ON
Start (RYn1)
OFF
Position command
3ms or less
Position command and Servo motor speed
Forward
servo motor speed
rotation In-position range
0r/min

ON
Movement completion (RXnC)
OFF

When parameter No.PA10 is large

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15. INDEXER POSITIONING OPERATION

(b) Rough match

The following timing charts show the relationships between the signal and the position command
generated in the driver. This timing can be changed using parameter No.PC11 (rough match output
range). RXn2 turns ON in the servo-on status.
ON
Start (RYn1)
OFF
3ms or less
Forward
Position command rotation

0r/min

ON
Rough match (RXn2)
OFF

When "0" is set in parameter No.PC11

ON
Start (RYn1)
OFF
3ms or less Rough match output range

Forward
Position command rotation
0r/min

ON
Rough match (RXn2)
OFF

When more than "0" is set in parameter No.PC11

(c) In position
The following timing chart shows the relationship between the signal and the feedback pulse of the
servo motor. This timing can be changed using parameter No.PA10 (in-position range). turns on RYn1
in the servo-on status.
ON
Start (RYn1)
OFF
In-position range
3ms or less
Servo motor speed
Forward
rotation
0r/min

ON
In position (RXn1)
OFF

When positioning operation is performed once

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15. INDEXER POSITIONING OPERATION

(3) Torque limit

If the torque limit is canceled during servo lock, the servo motor may suddenly
CAUTION rotate according to position deviation in respect to the command position.

POINT
In the indexer positioning operation, the torque limit 2 becomes automatically
effective depending on the operation status.

(a) Torque limit and torque

By setting parameter No.PA11 (forward rotation torque limit) or parameter No.PA12 (reverse rotation
torque limit), torque is always limited to the maximum value during operation. A relationship between the
limit value and servo motor torque is shown below.
CW direction Max. torque CCW direction
Torque

100 0 100 [%]

Torque limit value in Torque limit value in
parameter No.PA12 parameter No.PA11

(b) Torque limit value selection

As shown below, the forward rotation torque limit (parameter No.PA11), reverse rotation torque limit
(parameter No.PA12) or internal torque limit 2 (parameter No.PC35) can be chosen using the external
torque limit selection (RY(n 2)6).

Torque limit to be enabled

(Note) RY(n 2) 6 Limit value status CCW driving/CW CW driving/CCW
regeneration regeneration
0 Parameter No.PA11 Parameter No.PA12
Parameter No.PA11
Parameter No.PC35 Parameter No.PA11 Parameter No.PA12
Parameter No.PA12
1
Parameter No.PA11
Parameter No.PC35 Parameter No.PC35 Parameter No.PC35
Parameter No.PA12
Note. 0: OFF
1: ON

(c) Limiting torque (RXn4)

RXn4 turns on when the servo motor torque reaches the torque limited.

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15. INDEXER POSITIONING OPERATION

15.4 Switching power on for the first time

WARNING Do not operate the switches with wet hands. You may get an electric shock.

Before starting operation, check the parameters. Some machines may perform
unexpected operation.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with the driver heat sink, regenerative resistor, servo motor,
CAUTION etc. since they may be hot while power is on or for some time after power-off. Their
temperatures may be high and you may get burnt or a parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can
cause injury.

When switching power on for the first time, follow this section to make a startup.

15.4.1 Startup procedure

Wiring check Check whether the driver and servo motor are wired correctly using
visual inspection, DO forced output function (Section 7.7.4,), etc.
(Refer to section 15.4.3.)

Surrounding environment check Check the surrounding environment of the driver and servo motor.
(Refer to section 15.4.3.)

Parameter setting Set the parameters as necessary, such as the used control mode
and regenerative option selection with the parameter unit or set up
software(MR Configurator). (Refer to chapter 6.)

Test operation of servo motor alone For the test operation, with the servo motor disconnected from the
in test operation mode machine and operated at the speed as low as possible, and check
whether the servo motor rotates correctly. (Refer to sections 7.7)

Test operation of servo motor alone For the test operation with the servo motor disconnected from the
by commands machine and operated at the speed as low as possible, and check
whether the servo motor rotates correctly.

Test operation with servo motor and Connect the servo motor with the machine, give operation
machine connected commands from the host command device, and check machine
motions.

Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to
chapter 8.)

Actual operation

Stop Stop giving commands and stop operation.

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15. INDEXER POSITIONING OPERATION

15.4.2 Wiring check

(1) Power supply system wiring
Before switching on the main circuit and control circuit power supplies, check the following items.

(a) Power supply system wiring

The power supplied to the power input terminals (L1, L2, L3, L11, L21) of the driver should satisfy the
defined specifications. (Refer to section 1.2.)

(b) Connection of driver and servo motor

1) The servo motor power supply terminals (U, V, W) of the driver match in phase with the power input
terminals (U, V, W) of the servo motor.
Servo amplifier
Driver Servo motor
U
U
V
V M
W
W

2) The power supplied to the driver should not be connected to the servo motor power supply terminals
(U, V, W). To do so will fail the connected driver and servo motor.
Servo amplifier
Driver Servo motor

M
U V W
U V W

3) The earth terminal of the servo motor is connected to the PE terminal of the driver.
Servo amplifier
Driver Servo motor

4) P1-P2 (For 11kW or more, P1-P) should be connected.

Driver
Servo amplifier

P1

P2

(c) When option and auxiliary equipment are used

1) When regenerative option is used under 3.5kW for 200V class
The lead between P terminal and D terminal of CNP2 connector should not be connected.
The generative brake option should be connected to P terminal and C terminal.
A twisted cable should be used. (Refer to section 13.2.)

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15. INDEXER POSITIONING OPERATION

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN6 connector. This function can be used to
perform a wiring check. (Refer to section 7.7.4.) In this case, switch on the control circuit power supply
only.

(b) 24VDC or higher voltage is not applied to the pins of connectors CN6.

(c) SD and DOCOM of connector CN6 is not shorted.

Driver
Servo amplifier
CN6
DOCOM

SD

15.4.3 Surrounding environment

(1) Cable routing
(a) The wiring cables are free from excessive force.

(b) The encoder cable should not be used in excess of its flex life. (Refer to section 12.4.)

(c) The connector part of the servo motor should not be strained.

(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

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15. INDEXER POSITIONING OPERATION

15.5 Startup
15.5.1 Power on and off procedures
(1) Power-on
Switch power on in the following procedure. Always follow this procedure at power-on.

1) Switch off the servo-on (RYn0).

2) Make sure that the start (RYn1) is off.

3) Switch on the main circuit power supply and control circuit power supply.
When main circuit power/control circuit power is switched on, the driver display shows "b01" (if the
driver has the station number of 1).

In the absolute position detection system, first power-on results in the absolute position lost (A25)
alarm and the servo system cannot be switched on.
The alarm can be deactivated then switching power off once and on again.
Also in the absolute position detection system, if power is switched on at the servo motor speed of
3000r/min or higher, position mismatch may occur due to external force or the like. Power must
therefore be switched on when the servo motor is at a stop.

(2) Power-off
1) Make sure that the start (RYn1) is off.

2) Switch off the Servo-on (RYn0).

3) Switch off the main circuit power supply and control circuit power supply.

15.5.2 Stop
In any of the following statuses, the driver interrupts and stops the operation of the servo motor.
Refer to section 4.11 for the servo motor equipped with an electromagnetic brake.

(a) Servo-on (RYn0) OFF

The base circuit is shut off and the servo motor coasts.

(b) Alarm occurrence

When an alarm occurs, the base circuit is shut off and the dynamic brake is operated to bring the servo
motor to a sudden stop.

(c) Forced stop (EMG) OFF

The base circuit is shut off and the dynamic brake is operated to bring the servo motor to a sudden stop.
The servo forced stop warning (AE6) occurs.

(d) Forward rotation stroke end (LSP), reverse rotation stroke end (LSN) OFF
The droop pulse value is erased and the servo motor is stopped and servo-locked. It can be run in the
opposite direction.

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15. INDEXER POSITIONING OPERATION

15.5.3 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 15.5.1 for the power on and off methods of the driver.

Test operation of servo motor In this step, confirm that the driver and servo motor operate
alone in JOG operation of test normally.
operation mode With the servo motor disconnected from the machine, use the test
operation mode and check whether the servo motor correctly
rotates at the slowest speed. Refer to section 7.7 or the test
operation mode.

Test operation of servo motor In this step, confirm that the servo motor correctly rotates at the
alone by commands slowest speed under the commands from the command device.
Make sure that the servo motor rotates in the following procedure.

1) Switch on the Forced stop (EMG) and Servo-on (RYn0). When

the driver is put in a servo-on status, the Ready (RD) switches
on.

2) Switch on the Forward rotation stroke end (LSP) or Reverse

rotation stroke end (LSN).

3) When the point table is designated to switch on the start (RYn1)

the servo motor starts rotating. Give a low speed command at
first and check the rotation direction, etc. of the servo motor. If
the servo motor does not operate in the intended direction,
check the input signal.

Test operation with servo motor In this step, connect the servo motor with the machine and confirm
and machine connected that the machine operates normally under the commands from the
command device.
Make sure that the servo motor rotates in the following procedure.

1) Switch on the Forced stop (EMG) and Servo-on (RYn0). When

the driver is put in a servo-on status, the Ready (RD) switches
on.

2) Switch on the Forward rotation stroke end (LSP) or Reverse

rotation stroke end (LSN).

3) When the point table is specified from the command device and
the start (RYn1) is turned ON, the servo motor starts rotating.
Give a low speed command at first and check the operation
direction, etc. of the machine. If the machine does not operate
in the intended direction, check the input signal. In the status
display, check for any problems of the servo motor speed, load
ratio, etc.

4) Then, check automatic operation with the program of the

command device.

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15. INDEXER POSITIONING OPERATION

15.5.4 Parameter setting

The driver can be used by merely changing the basic setting parameters (No.PA ) mainly.
As necessary, set the gain filter parameters (No.PB ), extension setting parameters (No.PC ) and I/O
setting parameters (No.PD ).

Parameter group Main description

Basic setting parameter Set the basic setting parameters first. Generally, operation can be performed by merely setting this
(No.PA ) parameter group.
In this parameter group, set the following items.
Control mode selection (select the position control mode)
Regenerative option selection
Absolute position detection system selection
Setting of command input pulses per revolution
Electronic gear setting
Auto tuning selection and adjustment
In-position range setting
Torque limit setting
Command pulse input form selection
Servo motor rotation direction selection
Encoder output pulse setting
Gain filter parameter If satisfactory operation cannot be achieved by the gain adjustment made by auto tuning, execute
(No.PB ) in-depth gain adjustment using this parameter group.
This parameter group must also be set when the gain changing function is used.
Extension setting parameter This parameter group is unique to LECSC□-□ driver.
(No.PC )
I/O setting parameter Set the stopping method of the stroke end (LSP and LSN), torque limit delay time and others.
(No.PD )

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15. INDEXER POSITIONING OPERATION

15.5.5 Point table setting

Set necessary items to the point table before starting operation. The following table indicates the items that
must be set.

Name Description
Not used in indexer positioning operation.
Position data
Do not change this value by any means.
Servo motor speed Set the command speed of the servo motor for execution of positioning.
Acceleration time constant Set the acceleration time constant.
Deceleration time constant Set the deceleration time constant.
Not used in indexer positioning operation.
Dwell
Do not change this value by any means.
Not used in indexer positioning operation.
Auxiliary function
Do not change this value by any means.

15.5.6 Actual operation

Start actual operation after confirmation of normal operation by test operation and completion of the
corresponding parameter settings. Perform a home position return as necessary.

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15. INDEXER POSITIONING OPERATION

15.6 Driver display

On the driver display (three-digit, seven-segment display), check the status of communication with the CC-Link
driver at power-on, check the station number, and diagnose a fault at occurrence of an alarm.

(1) Display sequence

Servo
Driver amplifier
power ON power ON

(Note 3) Waiting for CC-Link communication

CC-Link master module power ON (Note 1)

CC-Link communication beginning When alarm warning
No. is displayed
At occurrence of overload
Flicker
(Note 3) Not ready display
At occurrence of overload
warning (Note 2)
Flicker
Servo ON display

During forced stop

(Note 3) Ready Flicker
display

When alarm occurs, Alarm reset or

2s later
alarm code appears. warning

Station No. display

2s later

Driver
Servo power OFF
amplifier power OFF

Note 1. Only alarm and warning No. are displayed, but no station No. is displayed.
2. If warning other than AE6 occurs during the servo on, flickering the second place of decimal point indicates that it is
during the servo on.
3. The right-hand segments of b01, c02 and d16 indicate the axis number.
(Below example indicates Station No.1)

Station Station Station

No.1 No.2 No.64

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15. INDEXER POSITIONING OPERATION

(2) Indication list

Indication Status Description
Power of the CC-Link master module was switched on at the condition that the power of
b # # Waiting for CC-Link
CC-Link master module is OFF.
communication
The CC-Link master module is faulty.
d # # The servo was switched on after completion of initialization and the driver is ready to
(Note 1) Ready
operate. (This is indicated for 2 seconds.)

(Note 1) C # # Not ready The driver is being initialized or an alarm has occurred.

$ $ $ Two seconds have passed after the driver is ready to operate by turning ON the servo-on
(Note 2) Ready for operation
(RYn1).

(Note 3) A Alarm Warning The alarm No./warning No. that occurred is displayed. (Refer to section 15.12.4.)

8 8 8 CPU error CPU watchdog error has occurred.

(Note 4) b 0 0. JOG operation positioning operation programmed operation DO forced output

(Note 4)
d # #.
Test operation mode
(Note 1) Motor-less operation
C # #.

Note 1. ## denotes any of numerals 00 to 16 and what it means is listed below.

## Description
00 Set to the test operation mode.
01 Station number 1
02 Station number 2
03 Station number 3
: :

: :
62 Station number 62
63 Station number 63
64 Station number 64

Note 2. $$$ indicates numbers from 0 to 254, and the number indicates the executing station number.
3. indicates the warning/alarm No.
4. Requires set up software(MR Configurator).

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15. INDEXER POSITIONING OPERATION

15.7 Automatic operation mode

POINT
In the absolute position detection system, the following restriction condition
applies for the number of gears on machine-side (parameter No.PA06 CMX)
and servo motor speed (N).
When CMX 2000, N 3076.7 r/min
When CMX 2000, N 3276.7–CMX r/min
When the servo motor is operated at servo motor speed higher than the limit
value, the absolute position counter warning (AE3) occurs.

15.7.1 What is automatic operation mode?

(1) Concept of indexer
Select the station, which is dividing the circumference (360 degrees) of the machine side into up to 255,
using 8-bit device of the next station selection 1 to 8 (RYnA to RYnE, and RY(n 2)3 to RY(n 2)5), and
execute positioning.

Station No.253 Station No.2

Station No.254 Station No.1
Station No.0

Set the number of stations in the parameter No.PC46.

(2) Rotation direction

There are two types of operation methods: Rotation direction specifying indexer, which is to always rotate in
the fixed direction and execute positioning to a station, and Shortest rotating indexer, which is to
automatically change the rotation direction for the shortest distance and execute positioning to a station.

Rotation direction specifying indexer Shortest rotating indexer

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15. INDEXER POSITIONING OPERATION

15.7.2 Automatic operation mode 1 (Rotation direction specifying indexer)

In this operation mode, the servo motor rotates in the fixed direction and executes positioning to a station.

(1) When not using the remote register

Select the station number using 8-bit device of the next station selection 1 to 8 (RYnA to RYnE, and
RY(n 2)3 to RY(n 2)5), and execute positioning. For the servo motor speed and acceleration/
deceleration time constant during operation, the value set in the point table is used.

(a) Device/Parameter
Set the input devices and parameters as indicated below.

Item Device/Parameter Setting description

Indexer positioning operation Parameter No.PA01 1 : Select the indexer positioning
selection operation.
Automatic operation mode 1 Operation mode selection 1 (RYn6) Turn off RYn6.
(Rotation direction specifying indexer)
Operation mode selection 2 (RYn7) Turn on RYn7.
selection

(b) Other parameter settings

1) Setting the allocation direction of station numbers
Select the allocation direction of station numbers using the parameter No.PA14 (Station No. direction
selection).

Parameter No.PA14 Station No. allocation direction

setting Start (RYn1) ON
0 (Initial value) Station No. is allocated in CW direction in order of 1, 2, 3…
1 Station No. is allocated in CCW direction in order of 1, 2, 3…
CCW

CW

CW CCW
direction direction

4 4
3 3
Station No. 2 1 1 2 Station No.

Parameter No.PA14: 0 (Initial value) Parameter No.PA14: 1

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15. INDEXER POSITIONING OPERATION

2) Setting the number of stations

Set the number of stations in the parameter No.PC46.

Parameter No.PC46 setting value

0000 to 0002 0003 0004 00FF
Number of stations 2 3 4 255

No.1 No.2 No.1 No.2

Station No. No.3 No.1

No.254 No.1
No.0 No.0
No.0 No.0

(c) Setting the speed data

Set the servo motor speed, acceleration time constant, and deceleration time constant in the point table
number 1 to 8.

Name Setting range Unit Description

Set the command speed of the servo motor for execution of positioning.
Servo motor 0 to permissible
r/min The setting should be equal to or less than the instantaneous permissible
speed speed
speed of the servo motor.
Acceleration
0 to 20000 ms Set the time until the rated speed of the servo motor is reached.
time constant
Deceleration
0 to 20000 ms Set the time until the servo motor running at rated speed comes to a stop.
time constant

(d) Operation
Select the station number for positioning, using 8-bit device of the next station selection 1 to 8 (RYnA to
RYnE, and RY(n 2)3 to RY(n 2)5).

(Note) Device

2 stations occupied Station No.

1 stations occupied
RY(n 2)5 RY(n 2)4 RY(n 2)3 RYnE RYnD RYnC RYnB RYnA
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 1
0 0 0 0 0 0 1 0 2
0 0 0 0 0 1 0 1 3

1 1 1 1 1 1 0 1 253
1 1 1 1 1 1 1 0 254
Note. 0: OFF
1: ON

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15. INDEXER POSITIONING OPERATION

Select the point table using the speed selection 1 (RY(n 2)C) to speed selection 3 (RY(n 2)E). Turn
on the start (RYn1) to execute positioning with the speed data set in the point table. Rotation direction of
the servo motor is the direction set in the rotation direction specifying (RYn2). When one station is
occupied, RY(n 2)C, RY(n 2)D, and RY(n 2)E are not available so that the point table number
cannot be selected. Use point table No.1 when one station is occupied.

(Note) Device
Point table No.
RY(n 2)E RY(n 2)D RY(n 2)C
0 0 0 1
0 0 1 2
0 1 0 3
0 1 1 4
1 0 0 5
1 0 1 6
1 1 0 7
1 1 1 8
Note. 0: OFF
1: ON

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15. INDEXER POSITIONING OPERATION

(e) Timing chart

POINT
Always execute a home position return. The home positioning incomplete
(A90) occurs when turning on the start (RYn1) without executing a home
position return.

The timing chart is shown below.

Operation mode selection 1 ON

(RYn6) OFF
Operation mode selection 2 ON
(RYn7) OFF
ON
Servo-on (RYn0)
OFF
(Note 2)
Next station selection 1 to 8 No.1 No.3 No.1
(RYnA to RYnE RY(n 2)3 to RY(n 2)5) (Note 4)
Speed selection 1 to 3 Point table No.1 Point table No.2
(RY(n 2)C to RY(n 2)E) (Note 1)
4ms or more 4ms or more
(Note 3)
ON
Start (RYn1)
OFF
6ms or more
ON
Rotation direction specifying
(RYn2) OFF
3ms or less
Forward *3
rotation *1
(Note 5)
0r/min
Servo motor speed
Reverse *2
rotation
(Note 7)
ON
In position (RXn1)
OFF
ON
Rough match (RXn2) OFF
ON
Movement completion (RXnC)
OFF
Station output 1 to 8 No.1 No.3 No.1
(RX(n 2)2 to RX(n 2)9)
Out of in-position Out of in-position Out of in-position
range range range
ON
Torque limit value to be effective
OFF
(Note 6) (Note 6) (Note 6)
Parameter No.PC35 Parameter No.PC35 Parameter No.PC35 Parameter No.PC35
Parameter No.PA11, PA12 Parameter No.PA11, PA12 Parameter No.PA11, PA12

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15. INDEXER POSITIONING OPERATION

Note 1. Configure a sequence that changes the next station selection (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and speed
selection (RY(n 2)C to RY(n 2)E) earlier, considering the delay time of CC-Link communication.
2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next
station warning (A97) occurs.
3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the
movement completion (RXnC) turns on.
4. Change of the servo motor speed and acceleration/deceleration time constant by the speed selection 1 (RY(n 2)C) to speed
selection 3 (RY(n 2)E) becomes effective when the start (RYn1) turns on. Even if the speed selection 1 to 3 are changed
during servo motor rotation, they do not become effective.
5. The following shows the operation to be executed.

Operation *1 *2 *3
Station No.1 No.3 No.1
Servo motor speed
Acceleration/deceleration Point table No.1 Point table No.1 Point table No.2
time constant

2
3 1
1 3
Positioning 2 0 0 2
0
1 3

6. Delay time from when RXn1 turns on until the torque limit value changes to the parameter No.PC35 value can be set in the
parameter No.PD26.
7. After power-on, if the current position is within the in-position range of each station, the in position (RXn1) turns on.

(2) When using the remote register

Select the station number using the next station (RWwn 4) remote register and execute positioning. For
the speed data during operation, select the point table number using the point table No./Speed command
data (RWwn 6) remote register, or directly set the servo motor speed.

(a) Device/Parameter
Set the input devices and parameters as indicated below.

Item Device/Parameter Setting description

Indexer positioning operation Parameter No.PA01 1 : Select the indexer positioning
selection operation.
Speed data setting method selection Parameter No.PC30 Select the setting method for speed data.
0 : Uses the point table setting value.
1 : Uses the servo motor speed setting
value for the point table No./Speed
command data (RWwn+6) remote
register. In the case, always set the
acceleration/deceleration time
constant in the point table No.1.
(Refer to (2) (c) in this section.)
Automatic operation mode 1 Operation mode selection 1 (RYn6) Turn off RYn6.
(Rotation direction specifying indexer)
Operation mode selection 2 (RYn7) Turn on RYn7.
selection
Position/speed specifying system Position/speed specifying system Turn on RY(n 2)A.
selection selection (RY(n 2)A)

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15. INDEXER POSITIONING OPERATION

(b) Other parameter settings

1) Setting the servo motor rotation direction and allocation direction of station numbers
Select the allocation direction of station numbers using the parameter No.PA14 (Station No. direction
selection). Setting is the same as that for when not using the remote register. Refer to (1) (b) 1) in this
section.

2) Setting the number of stations

Set the number of stations in the parameter No.PC46. Setting is the same as that for when not using
the remote register. Refer to (1) (b) 2) in this section.

(c) Setting the speed data

1) When using the speed data of point table
Set the servo motor speed, acceleration time constant, and deceleration time constant in the point
table number 1 to 8.

Name Setting range Unit Description

Set the command speed of the servo motor for execution of positioning.
Servo motor 0 to permissible
r/min The setting should be equal to or less than the instantaneous permissible
speed speed
speed of the servo motor.
Acceleration
0 to 20000 ms Set the time until the rated speed of the servo motor is reached.
time constant
Deceleration
0 to 20000 ms Set the time until the servo motor running at rated speed comes to a stop.
time constant

(2) When directly setting the servo motor speed (only when two stations are occupied)
Set the followings because the acceleration time constant and deceleration time constant of the point table
No.1 are used.

Name Setting range Unit Description

Servo motor 0 to permissible Setting is not required.
r/min
speed speed
Acceleration
0 to 20000 ms Set the time until the rated speed of the servo motor is reached.
time constant
Deceleration
0 to 20000 ms Set the time until the servo motor running at rated speed comes to a stop.
time constant

(d) Operation
1) When using the speed data of point table
Set the station number for positioning by using the next station (RWwn 4) remote register. Set the
point table number in the point table No./Speed command data (RWwn 6) remote register. Turn on
the start (RYn1) to execute positioning with the speed data set in the point table.

2) When directly setting the servo motor speed (only when two stations are occupied)
Set the station number for positioning by using the next station (RWwn 4) remote register. Set the
servo motor speed in the point table No./Speed command data (RWwn 6) remote register. Turn on
the start (RYn1) to execute positioning with the servo motor speed set in RWwn 6 and the
acceleration time constant and deceleration time constant set in the point table No.1.

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15. INDEXER POSITIONING OPERATION

(e) Timing chart

POINT
Always execute a home position return. The home positioning incomplete
(A90) occurs when turning on the start (RYn1) without executing a home
position return.

The timing chart is shown below.

1) When using the speed data of point table

Operation mode selection 1 ON

(RYn6) OFF
Operation mode selection 2 ON
(RYn7) OFF
ON
Servo-on (RYn0)
OFF
Position/speed specifying system ON
selection (RYn 2)A OFF

(Note 2) No.1 No.3 No.1

Next station (RWwn 4)
Point table No./speed command data No.1 No.1 No.2
(RWwn 6)

(Note 4)
Position instruction execution ON
demand (RY(n 2)0) OFF
Position instruction execution ON
completion (RX(n 2)0) OFF
(Note 4)
ON
Speed instruction execution
demand (RY(n 2)1) OFF
Speed instruction execution ON
completion (RX(n 2)1) OFF 4ms or more
(Note 1) (Note 3)
ON
Start (RYn1)
OFF
6ms or more
Rotation direction specifying ON
(RYn2) OFF
3ms or less

Forward *3
*1
(Note 5) rotation
0r/min
Servo motor speed Reverse
rotation *2
(Note 7)
ON
In position (RXn1)
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF
Station output 1 to 8 No.1 No.3 No.1
(RX(n 2)2 to RX(n 2)9)
Out of in-position Out of in-position Out of in-position
range range range
ON
Torque limit value to be effective
OFF
(Note 6) (Note 6) (Note 6)

Parameter No.PC35 Parameter No.PC35 Parameter No.PC35 Parameter No.PC35

Parameter No.PA11, PA12 Parameter No.PA11, PA12 Parameter No.PA11, PA12

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15. INDEXER POSITIONING OPERATION

Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication.
2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next
station warning (A97) occurs
3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the
movement completion (RXnC) turns on.
4. For details of the operation timing of RY(n 2)0 and RY(N 2)1, refer to the section 3.6.2 (3).
5. The following shows the operation to be executed.

Operation *1 *2 *3
Station No.1 No.2 No.3
Servo motor speed
Acceleration/deceleration Point table No.1 Point table No.1 Point table No.2
time constant

2
3 1
1 3
Positioning 2 0 0 2
0
1 3

6. Delay time from when RXn1 turns on until the torque limit value changes to the parameter No.PC35 value can be set in the
parameter No.PD26.
7. After power-on, if the current position is with the in-position range of each station, the in position (RXn1) turns on.

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15. INDEXER POSITIONING OPERATION

2) When directly setting the servo motor speed

Operation mode selection 1 ON

(RYn6) OFF
Operation mode selection 2 ON
(RYn7) OFF
ON
Servo-on (RYn0)
OFF
Position/speed specifying system ON
selection (RYn 2)A OFF

(Note 2) No.1 No.3 No.1

Next station (RWwn 4)
Point table No./Speed command data Speed 1 Speed 2 Speed 3
(RWwn 6)
(Note 4)
Position instruction execution
demand (RY(n 2)0) ON
OFF
Position instruction execution
completion (RX(n 2)0) ON
(Note 4) OFF
Speed instruction execution ON
demand (RY(n 2)1) OFF
Speed instruction execution ON
completion (RX(n 2)1)
OFF 4ms or more
(Note 1) (Note 3)
Start (RYn1) ON
OFF
Rotation direction specifying 6ms or more
ON
(RYn2)
OFF
3ms or less

Forward *3
(Note 5) *1
rotation
Servo motor speed 0r/min
Reverse
rotation *2
(Note 7)
ON
In position (RXn1)
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF
Station output 1 to 8 No.1 No.3 No.1
(RX(n 2)2 to RX(n 2)9)
Out of in-position Out of in-position Out of in-position
range range range
ON
Torque limit value to be effective
OFF
(Note 6) (Note 6) (Note 6)

Parameter No.PC35 Parameter No.PC35 Parameter No.PC35 Parameter No.PC35

Parameter No.PA11, PA12 Parameter No.PA11, PA12 Parameter No.PA11, PA12

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15. INDEXER POSITIONING OPERATION

Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication.
2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next
station warning (A97) occurs.
3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the
movement completion (RXnC) turns on.
4. For details of the operation timing of RY(n 2)0 and RY(N 2)1, refer to the section 3.6.2 (3).
5. The following shows the operation to be executed.

Operation *1 *2 *3
Station No.1 No.3 No.1
Servo motor speed Speed 1 Speed 2 Speed 3
Acceleration/deceleration
Point table No.1 Point table No.1 Point table No.1
time constant

2
3 1
1 3
Positioning 2 0 0 2
0
1 3

6. Delay time from when RXn1 turns on until the torque limit value changes to the parameter No.PC35 value can be set in the
parameter No.PD26.
7. After power-on, if the current position is with the in-position range of each station, the in position (RXn1) turns on.

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15. INDEXER POSITIONING OPERATION

15.7.3 Automatic operation mode 2 (Shortest rotating indexer)

In this operation mode, the servo motor automatically changes the direction for the shortest distance and
executes positioning.

(1) When not using the remote register

Select the station number using 8-bit device of the next station selection 1 to 8 (RYnA to RYnE, and
RY(n 2)3 to RY(n 2)5), and execute positioning. For the servo motor speed and acceleration/
deceleration time constant during operation, the value set in the point table is used.
(a) Device/Parameter
Set the input devices and parameters as indicated below.

Item Device/Parameter Setting description

Indexer positioning operation Parameter No.PA01 1 : Select the indexer positioning
selection operation.
Automatic operation mode 2 Operation mode selection 1 (RYn6) Turn on MD0.
(Rotation direction specifying indexer)
Operation mode selection 2 (RYn7) Turn on MD1.
selection

(b) Other parameter settings (Setting the number of stations)

Set the number of stations in the parameter No.PC46. Setting is the same as that for the automatic
operation mode 1. Refer to (1) (b) 2) in section 15.7.2.
In the automatic operation mode 2, the station No. direction selection (parameter No.PA14) is not
used.
(c) Setting the speed data
Set the servo motor speed, acceleration time constant, and deceleration time constant in the point table
number 1 to 8. Setting is the same as that for the automatic operation mode 1. Refer to (1) (c) in section
15.7.2.
(d) Operation
Select the station number for positioning, using 8-bit device of the next station selection 1 to 8 (RYnA to
RYnE, and RY(n 2)3 to RY(n 2)5).

(Note) Device

2 stations occupied Station No.

1 stations occupied
RY(n 2)5 RY(n 2)4 RY(n 2)3 RYnE RYnD RYnC RYnB RYnA
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 1
0 0 0 0 0 0 1 0 2
0 0 0 0 0 1 0 1 3

1 1 1 1 1 1 1 0 253
1 1 1 1 1 1 1 1 254
Note. 0: OFF
1: ON

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15. INDEXER POSITIONING OPERATION

Select the point table using the speed selection 1 (RY(n 2)C) to speed selection 3 (RY(n 2)E). Turn
on the start (RYn1) to execute positioning with the speed data set in the point table. When one station is
occupied, RY(n 2)C, RY(n 2)D, and RY(n 2)E are not available so that the point table number
cannot be selected. Use the point table No.1 when one station is occupied.

(Note) Device
Pint table No.
RY(n 2)E RY(n 2)D RY(n 2)C
0 0 0 1
0 0 1 2
0 1 0 3
0 1 1 4
1 0 0 5
1 0 1 6
1 1 0 7
1 1 1 8
Note. 0: OFF
1: ON

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15. INDEXER POSITIONING OPERATION

(e) Timing chart

POINT
Always execute a home position return. The home positioning incomplete
(A90) occurs when turning on the start (RYn1) without executing a home
position return.

The timing chart is shown below.

Operation mode selection 1 ON

(RYn6) OFF
Operation mode selection 2 ON
(RYn7) OFF
ON
Servo-on (RYn0)
OFF
(Note 2)
Next station selection 1 to 8 No.1 No.3 No.1
(RYnA to RYnE RY(n 2)3 to RY(n 2)5) (Note 4)
Speed selection 1 to 3 Point table No.1 Point table No.1
(RY(n 2)C to RY(n 2)E)
(Note 1)
4ms or more
(Note 3)
ON
Start (RYn1)
OFF
6ms or more

3ms or less
Forward
rotation *1 *2
(Note 5)
0r/min
Servo motor speed
Reverse
rotation *3

(Note 7)
ON
In position (RXn1)
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF
Station output 1 to 8 No.1 No.3 No.1
(RX(n 2)2 to RX(n 2)9)
Out of in-position Out of in-position Out of in-position
range range range
ON
Torque limit value to be effective
OFF
(Note 6) (Note 6) (Note 6)

Parameter No.PC35 Parameter No.PC35 Parameter No.PC35 Parameter No.PC35

Parameter No.PA11, PA12 Parameter No.PA11, PA12 Parameter No.PA11, PA12

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15. INDEXER POSITIONING OPERATION

Note 1. Configure a sequence that changes the next station selection (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and speed
selection (RY(n 2)C to RY(n 2)E) earlier, considering the delay time of CC-Link communication.
2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next
station warning (A97) occurs.
3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the
movement completion (RXnC) turns on.
4. Change of the servo motor speed and acceleration/deceleration time constant by the speed selection 1 (RY(n 2)C) to speed
selection 3 (RY(n 2)E) becomes effective when the start (RYn1) turns on. Even if the speed selection 1 to 3 are changed
during servo motor rotation, they do not become effective.
5. The following shows the operation to be executed.

Operation *1 *2 *3
Station No.1 No.3 No.1
Servo motor speed
Acceleration/deceleration Point table No.1 Point table No.1 Point table No.2
time constant

2
3 1
1 3
Positioning 2 0 0 2
0
1 3

6. Delay time from when RXn1 turns on until the torque limit value changes to the parameter No.PC35 value can be set in the
parameter No.PD26.
7. After power-on, if the current position is with the in-position range of each station, the in position (RXn1) turns on.

(2) When using the remote register

Select the station number using the next station (RWwn 4) remote register and execute positioning. For
the speed data during operation, select the point table number using the point table No./Speed command
data (RWwn 6) remote register, or directly set the servo motor speed.
(a) Device/Parameter
Set the input devices and parameters as indicated below.

Item Device/Parameter Setting description

Indexer positioning operation Parameter No.PA01 1 : Select the indexer positioning
selection operation.
Speed data setting method selection Parameter No.PC30 Select the setting method for speed data.
0 : Uses the point table setting value.
1 : Uses the servo motor speed setting
value for the point table No./Speed
command data (RWwn 6) remote
register. In the case, always set the
acceleration/deceleration time
constant in the point table No.1.
(Refer to (2) (c) in this section.)
Automatic operation mode 2 Operation mode selection 1 (RYn6) Turn on RYn6.
(Rotation direction specifying indexer)
Operation mode selection 2 (RYn7) Turn on RYn7.
selection
Position/speed specifying system Position/speed specifying system Turn on RY(n 2)A.
selection selection (RY(n 2)A)

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15. INDEXER POSITIONING OPERATION

(b) Other parameter settings (Setting the number of stations)

Set the number of stations in the parameter No.PC46. Setting is the same as that for the automatic
operation mode 1. Refer to (1) (b) 2) in section 15.7.2.
In the automatic operation mode 2, the station No. direction selection (parameter No.PA14) is not
used.
(c) Setting the speed data
1) When using the speed data of point table
Set the servo motor speed, acceleration time constant, and deceleration time constant in the point
table number 1 to 7. Setting is the same as that for the automatic operation mode 1. Refer to (2) (c)
1) in section 15.7.2.

2) When directly setting the servo motor speed (only when two stations are occupied)
Set the followings because the acceleration time constant and deceleration time constant of the point
table No.1 are used. Setting is the same as that for the automatic operation mode 1. Refer to (2) (c)
2) in section 15.7.2.
(d) Operation
1) When using the speed data of point table
Set the station number for positioning by using the next station (RWwn 4) remote register. Set the
point table number in the point table No./Speed command data (RWwn 6) remote register. Turn on
the start (RYn1) to execute positioning with the speed data set in the point table.

2) When directly setting the servo motor speed (only when two stations are occupied)
Set the station number for positioning by using the next station (RWwn 4) remote register. Set the
servo motor speed in the point table No./Speed command data (RWwn 6) remote register. Turn on
the start (RYn1) to execute positioning with the servo motor speed set in RWwn 6 and the
acceleration time constant and deceleration time constant set in the point table No.1.

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15. INDEXER POSITIONING OPERATION

(e) Timing chart

POINT
Always execute a home position return. The home positioning incomplete
(A90) occurs when turning on the start (RYn1) without executing a home
position return.

The timing chart is shown below.

1) When using the speed data of point table

Operation mode selection 1 ON

(RYn6) OFF
Operation mode selection 2 ON
(RYn7) OFF
ON
Servo-on (RYn0)
OFF
Position/speed specifying system ON
selection (RYn 2)A OFF

(Note 2) No.1 No.3 No.1

Next station (RWwn 4)
Point table No./Speed command data No.1 No.1 No.2
(RWwn 6)

(Note 4)
Position instruction execution ON
demand (RY(n 2)0) OFF
Position instruction execution ON
completion (RX(n 2)0) OFF
(Note 4)
ON
Speed instruction execution
demand (RY(n 2)1) OFF
Speed instruction execution ON
completion (RX(n 2)1) OFF 4ms or more
(Note 1) (Note 3)
ON
Start (RYn1)
OFF
6ms or more

3ms or less

Forward *1 *2
(Note 5) rotation
0r/min
Servo motor speed Reverse
rotation *3

(Note 7)
ON
In position (RXn1)
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF
Station output 1 to 8 No.1 No.3 No.1
(RX(n 2)2 to RX(n 2)9)
Out of in-position Out of in-position Out of in-position
range range range
ON
Torque limit value to be effective
OFF
(Note 6) (Note 6) (Note 6)

Parameter No.PC35 Parameter No.PC35 Parameter No.PC35 Parameter No.PC35

Parameter No.PA11, PA12 Parameter No.PA11, PA12 Parameter No.PA11, PA12

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15. INDEXER POSITIONING OPERATION

Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication.
2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next
station warning (A97) occurs.
3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the
movement completion (RXnC) turns on.
4. For details of the operation timing of RY(n 2)0 and RY(N 2)1, refer to the section 3.6.2 (3).
5. The following shows the operation to be executed.

Operation *1 *2 *3
Station No.1 No.3 No.1
Servo motor speed
Acceleration/deceleration Point table No.1 Point table No.1 Point table No.2
time constant

2
3 1
1 3
Positioning 2 0 0 2
0
1 3

6. Delay time from when RXn1 turns on until the torque limit value changes to the parameter No.PC35 value can be set in the
parameter No.PD26.
7. After power-on, if the current position is with the in-position range of each station, the in position (RXn1) turns on.

15 - 56
15. INDEXER POSITIONING OPERATION

2) When directly setting the servo motor speed (only when 2 stations are occupied)

Operation mode selection 1 ON

(RYn6) OFF
Operation mode selection 2 ON
(RYn7) OFF
ON
Servo-on (RYn0)
OFF
Position/speed specifying system ON
selection (RYn 2)A OFF

(Note 2) No.1 No.3 No.1

Next station (RWwn 4)
Point table No./speed command data Speed 1 Speed 2 Speed 3
(RWwn 6)

(Note 4)
Position instruction execution ON
demand (RY(n 2)0) OFF
Position instruction execution ON
completion (RX(n 2)0) OFF
(Note 4)
ON
Speed instruction execution
demand (RY(n 2)1) OFF
Speed instruction execution ON
completion (RX(n 2)1) OFF 4ms or more
(Note 1) (Note 3)
ON
Start (RYn1)
OFF
6ms or more

3ms or less

Forward *1 *2
(Note 5) rotation
0r/min
Servo motor speed Reverse
rotation *3

(Note 7)
ON
In position (RXn1)
OFF
ON
Rough match (RXn2)
OFF
ON
Movement completion (RXnC)
OFF
Station output 1 to 8 No.1 No.3 No.1
(RX(n 2)2 to RX(n 2)9)
Out of in-position Out of in-position Out of in-position
range range range
ON
Torque limit value to be effective
OF
(Note 6) (Note 6) (Note 6)

Parameter No.PC35 Parameter No.PC35 Parameter No.PC35 Parameter No.PC35

Parameter No.PA11, PA12 Parameter No.PA11, PA12 Parameter No.PA11, PA12

15 - 57
15. INDEXER POSITIONING OPERATION

Note 1. Configure a sequence that changes RWwn 4 and RWwn 6 earlier, considering the delay time of CC-Link communication.
2. When the selected station number exceeds the value that is dividing number set in the parameter No.PC46 minus one, the next
station warning (A97) occurs.
3. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after the
movement completion (RXnC) turns on.
4. For details of the operation timing of RY(n 2)0 and RY(N 2)1, refer to the section 3.6.2 (3).
5. The following shows the operation to be executed.

Operation *1 *2 *3
Station No.1 No.3 No.1
Servo motor speed Speed 1 Speed 2 Speed 3
Acceleration/deceleration
Point table No.1 Point table No.1 Point table No.1
time constant

2
3 1
1 3
Positioning 2 0 0 2
0
1 3

6. Delay time from when RXn1 turns on until the torque limit value changes to the parameter No.PC35 value can be set in the
parameter No.PD26.
7. After power-on, if the current position is with the in-position range of each station, the in position (RXn1) turns on.

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15. INDEXER POSITIONING OPERATION

15.8 Manual operation mode

For adjusting the machine or home position, JOG operation or indexer JOG operation can be used to move the
position to any position.

15.8.1 Indexer JOG operation

(1) Setting
Set the devices and parameters as indicated below according to the purpose of use. In this case, the next
station selection 1 to 8 (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and the speed selection 1 to 3
(RY(n 2)C to RY(n 2)E) are invalid.

Item Device/Parameter Setting description

Indexer positioning operation Parameter No.PA01 1 : Select the indexer positioning
selection operation.
Manual operation mode selection Operation mode selection 1 (RYn6) Turn on RYn6.
Operation mode selection 2 (RYn7) Turn off RYn7.
Indexer JOG operation selection Parameter No.PC45 Set it to " 0 (Initial value)"
Station No. direction Parameter No.PA14 Refer to (2) in this section.
JOG speed Point table No.1 Use the servo motor speed in the point table
No.1.
Acceleration/deceleration time Point table No.1 Use the acceleration/deceleration time constant
constant in the point table No.1.

(2) Setting the allocation direction of station numbers

Select the allocation direction of station numbers using the parameter No.PA14 (Station No. direction
selection).

Parameter No.PA14 Station No. allocation direction

setting Start (RYn1) ON
0 (Initial value) Station No. is allocated in CW direction in order of 1, 2, 3…
1 Station No. is allocated in CCW direction in order of 1, 2, 3…
CCW

CW

CW CCW
direction direction

4 4
3 3
Station No. 2 1 1 2 Station No.

Parameter No.PA14: 0 (Initial value) Parameter No.PA14: 1

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15. INDEXER POSITIONING OPERATION

(3) Operation
Turn on the start (RYn1) to operate the servo motor with the servo motor speed, acceleration time constant,
and deceleration time constant set in the point table No.1. Turning off RYn1 makes the servo motor
execute positioning to the station where the servo motor can decelerate to stop. For the rotation direction,
refer to (2) in this section.

(4) Timing chart

The following timing chart shows an example when executing the indexer JOG operation from the status
where the servo motor is at a stop on the station No.0 when the servo-on is turned on.

Operation mode selection 1 ON

(RYn6) OFF
Operation mode selection 2 ON
(RYn7) OFF
4ms or more 6ms or more 4ms or more
(Note 2)
ON
Start (RYn1)
OFF
Rotation direction specifying ON
(RYn2) OFF

Forward
rotation
Servo motor speed 0r/min
Reverse
rotation

Current station No. 0 1 2 3 4 4 5 6 7 8 8 7 6 5 4

ON
In position (RXn1)
OFF
Station output 1 to 8 No.0 No.4 No.8 No.4
(RX(n 2)2 to RX(n 2)9)
Out of in-position Out of in-position Out of in-position
range range range
ON
Torque limit value to be effective
OFF
(Note 1) (Note 1) (Note 1)

Parameter No.PC35 Parameter No.PC35 Parameter No.PC35 Parameter No.PC35

Parameter No.PA11, PA12 Parameter No.PA11, PA12 Parameter No.PA11, PA12

Note 1. Torque limit delay time can be set in the parameter No.PD26.
2. The start (RYn1) is invalid even if it is turned on during operation. When executing another operation, turn on RYn1 after
the movement completion (RXnC) turns on.

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15. INDEXER POSITIONING OPERATION

15.8.2 JOG operation

(1) Setting
Set the devices and parameters as indicated below for the purpose of use. In this case, the next station
selection 1 to 8 (RYnA to RYnE and RY(n 2)3 to RY(n 2)5) and the speed selection 1 to 3 (RY(n 2)C
to RY(n 2)E) are invalid.

Item Device/Parameter Setting description

Indexer positioning operation 1 : Select the indexer positioning
Parameter No.PA01
selection operation.
Operation mode selection 1 (RYn6) Turn on RYn6
Manual operation mode selection
Operation mode selection 2 (RYn7) Turn off RYn7
JOG operation selection Parameter No.PC45 Set it to " 1".
Station No. direction Parameter No.PA14 Refer to (2) in this section.
The setting is the same as for the indexer JOG
JOG speed Point table No.1
operation. Refer to (2) in section 15.8.1.
Acceleration/deceleration time Use the acceleration/deceleration time constant
Point table No.1
constant in the point table No.1.

(2) Operation
Turn on the start (RYn1) to operate the servo motor with the servo motor speed, acceleration time constant,
and deceleration time constant set in the point table No.1. Turning off RYn1 makes the servo motor
decelerate to stop regardless of stations. For the rotation direction, refer to (2) in section 15.8.1.

(3) Timing chart

The following timing chart shows an example when executing the indexer JOG operation from the status
where the servo motor is at a stop on the station No.0 when the servo-on is turned on.
Operation mode selection 1 ON
(RYn6) OFF
Operation mode selection 2 ON
(RYn7) OFF
6ms or more 4ms or more
ON
Start (RYn1)
OFF
Rotation direction specifying ON
(RYn2) OFF

Forward
rotation
Servo motor speed 0r/min
Reverse
rotation

ON
In position (RXn1)
OFF
Station output 1 to 8 No.0 Out of in-position range
(RX(n 2)2 to RX(n 2)9)

ON
Torque limit value to be effective
OFF
(Note)
Parameter No.PC35 Parameter No.PC35 Parameter No.PC35
Parameter No.PA11, PA12 Parameter No.PA11, PA12

Note. Torque limit delay time can be set in the parameter No.PD26.

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15.9 Home position return mode

15.9.1 Outline of home position return
Home position return is performed to match the command coordinates with the machine coordinates. In the
incremental system, home position return is required every time input power is switched on. In the absolute
position detection system, once home position return is done at the time of installation, the current position is
retained if power is switched off. Hence, home position return is not required when power is switched on again.
This driver has the home position return methods given in this section. Choose the most appropriate method
for your machine structure and application.
This driver has the home position return automatic return function which executes home position return by
making an automatic return to a proper position if the machine has stopped beyond or at the proximity dog.
Manual motion by jog operation or the like is not required.

(1) Home position return types

Choose the optimum home position return according to the machine type, etc.

Type Home position return method Features

General home position return method using a
proximity dog.
Repeatability of home position return is
With deceleration started at the front end of a
excellent.
proximity dog, the position where the first
The machine is less burdened.
Torque limit changing dog Z-phase signal is given past the rear end of the dog or
Used when the width of the proximity dog can
type home position return a motion has been made over the home position shift
be set greater than the deceleration distance of
distance starting from the Z-phase signal is defined as
the servo motor.
a home position.
Torque limit value by the parameter No.PC35
(Internal torque limit 2) becomes effective while
the servo motor at stop.
Torque limit changing No proximity dog required.
data setting type home An arbitrary position is defined as a home position. Torque limit value turns to “0” in the home
position return position return mode.

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15. INDEXER POSITIONING OPERATION

(2) Home position return parameter

When performing home position return, set each parameter as follows.

(a) Choose the home position return method with parameter No.PC02 (Home position return type).
Parameter No.PC02

0 0 0
Home position return method
0:
1:
2:
3:
4:
5: Not used in indexer postioning operation.
6:
7:
8:
9:
A:
C: Torque limit changing dog type
D: Torque limit changing data setting type

(b) Choose the starting direction of home position return with parameter No.PC03 (Home position return
direction). Set "0" to start home position return in the direction in which the station No. is incremented
from the current position, or "1" to start home position return in the direction in which the address is
decremented.
Parameter No.PC03

0 0 0
Home position return direction
0: Station No. increment direction
1: Station No. decrement direction

(c) Choose the polarity at which the proximity dog is detected with parameter No.PD16 (Input polarity
setting). Set "0" to detect the dog when the proximity dog device (DOG) is OFF, or "1" to detect the dog
when the device is ON.
Parameter No.PD16
0 0 0
Proximity dog input polarity
0: OFF indicates detection of the dog
1: ON indicates detection of the dog

(3) Instructions
1) Before starting home position return, always make sure that the limit switch operates.

2) Confirm the home position return direction. Incorrect setting will cause the machine to run reversely.

3) Confirm the proximity dog input polarity. Not doing so may cause unexpected operation.

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15. INDEXER POSITIONING OPERATION

15.9.2 Torque limit changing dog type home position return

A home position return method using a proximity dog. With deceleration started at the front end of the proximity
dog, the position where the first Z-phase signal is given past the rear end of the dog or a motion has been
made over the home position shift distance starting from the Z-phase signal is defined as a home position. A
limit can be put on the servo motor torque at home position return execution and at stop separately.

(1) Devices, parameters

Set the input devices and parameters as follows.

Item Device/Parameter used Description

Home position return mode Operation mode selection 1 (RYn6) Turn off RYn6.
selection Operation mode selection 2 (RYn7) Turn off RYn7.
Torque limit changing dog type C: Torque limit changing dog type
Parameter No.PC02
home position return home position return is selected.
Refer to section 15.9.1 (2) and choose
Home position return direction Parameter No.PC03
home position return direction.
Refer to section 15.9.1 (2) and choose dog
Dog input polarity Parameter No.PD16
input polarity.
Home position return speed Parameter No.PC04 Set speed until detection of dog.
Creep speed Parameter No.PC05 Set speed after detection of dog.
Set when shifting the home position starting
Home position shift distance Parameter No.PC06 at the first Z-phase signal after passage of
proximity dog rear end.
Home position return
Use the acceleration/deceleration time
acceleration/deceleration time Point table No.1
constants of point table No.1.
constants
Set the torque limit value for the forward
Point table No.PA11 rotation direction at home position return
Torque limit value at home position execution.
return execution Set the torque limit value for the reverse
Point table No.PA12 rotation direction at home position return
execution.
Torque limit value at stop Point table No.PC35 Set the torque limit value at stop.

(2) Length of proximity dog

Adjust the length of proximity dog or home position return speed so that the servo motor speed reaches to
the creep speed while detecting the proximity dog (DOG).

V td CDV
L1 360
60 2 CMX

L1 : Angle that proximity dog holds on the circumference of machine side [degree]
V : Home position return speed of motor side [r/min]
td : Deceleration time of motor side [s]

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15. INDEXER POSITIONING OPERATION

(3) Timing chart

Operation mode selection 1 ON

(RYn6) OFF
Operation mode selection 2 ON
(RYn7) (Note)
OFF
4ms or
ON more 6ms or more
Start (RYn1)
OFF
Point table No.1
Point table No.1 Home position return speed deceleration time
acceleration parameter No.PC04 constant Home position shift distance
time constant parameter No.PC06
Creep speed
3ms or less parameter No.PC05
Forward Home
rotation position
Servo motor speed 0r/min
td

Proximity dog

ON
Z-phase
OFF
ON
Proximity dog (DOG)
OFF
ON
Rough match (RXn2)
OFF
ON
In position (RXn1)
OFF

Station output 1 to 8 Out of in-position range No.0

(RX(n 2)2 to RX(n 2)9)

Home position return completion ON

(RXn3/ZP) OFF
ON
Torque limit value to be effective Parameter No.PA11, PA12 Parameter No.PC35
OFF
Parameter No.PC35

Note. Configure a sequence that changes the operation mode earlier, considering the delay time of CC-Link communication.

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15. INDEXER POSITIONING OPERATION

15.9.3 Torque limit changing data setting type home position return
POINT
Torque limit becomes effective after completing the torque limit changing data
setting type home position return, so that when the servo motor is rotated by
the external force, a difference occurs in between the command position and
the current position. In the home position return mode, even if a difference
occurs in between the command position and the current position, the error
excessive alarm (A52) does not occur. Therefore, when the mode is changed
from home position return to automatic operation, depending on the size of
difference between the command position and the current position, the error
excessive alarm (A52) occurs. Note that if the error excessive alarm (A52)
does not occur, the servo motor rotates to eliminate the difference.

Use the torque limit changing data setting type home position return to set the home position in any place. JOG
operation can be used for moving a position. For this home position return, torque generation is stopped at the
same time when the mode is changed to the home position return mode. Home position can be set for any
position by rotating the axis with external force.
The proximity dog (DOG) cannot be used. The proximity dog (DOG) is disabled even if it is turned off.

(1) Device/Parameter
Set the input devices and parameters as indicated below.

Item Device/Parameter Setting description

Operation mode selection 1 (RYn6) Turn off RYn6.
Home position return mode selection
Operation mode selection 2 (RYn7) Turn off RYn7.
Position/speed specifying system by
Position/speed specifying system
remote register Turn off RY(n 2)A.
selection (RY(n 2)A)
(only when 2 stations are occupied)
Torque limit changing data setting D: Select the torque limit changing data
Parameter No.PC02
type home position return setting type.

ON
Operation mode selection 1
(RYn6) OFF

Operation mode selection 2 ON

(RYn7) OFF (Note)
4ms or
ON more 6ms or more
Start (RYn1)
OFF
ON
In position (RXn1)
OFF

Station output 1 to 8 No.0

(RX(n 2)2 to RX(n 2)9)
3ms or more
Home position return completion ON
(RXn3/ZP) OFF
ON
Torque limit value to be effective 0
OFF
Parameter No.PC35 Parameter No.PC35

Note. Configure a sequence that changes the operation mode earlier, considering the delay time of CC-Link
communication.

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15. INDEXER POSITIONING OPERATION

15.9.4 Home position return automatic return function

If the current position is at or beyond the proximity dog in the home position return using the proximity dog, this
function starts home position return after making a return to the position where the home position return can be
made.

(1) When the current position is at the proximity dog

When the current position is at the proximity dog, an automatic return is made before home position return.
Home position return direction Proximity dog

Home position return

Makes an automatic return to a position start position
before the proximity dog, then executes
home position return at this position.

(2) When the current position is beyond the proximity dog

At a start, a motion is made in the home position return direction and an automatic return is made on
detection of the stroke end (LSP or LSN). The motion stops past the front end of the proximity dog, and
home position return is resumed at that position. If the proximity dog cannot be detected, the motion stops
on detection of the LSP or LSN switch and A90 occurs.
Stroke end
(LSP or LSN)
Home position return direction Proximity dog

Home position return

start position

Makes an automatic return to a position

before the proximity dog, then executes
home position return at this position.

Software limit cannot be used with these functions.

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15.10 Absolute position detection system

If an absolute position erase alarm (A25) or an absolute position counter warning
CAUTION (AE3) has occurred, always perform home position setting again. Not doing so
may cause unexpected operation.

POINT
If the encoder cable is disconnected, absolute position data will be lost in the
following servo motor series. LE-□-□. After disconnecting the encoder cable,
always execute home position setting and then positioning operation.
When the following parameters are changed, the home position is lost when
turning on the power after the change. Execute the home position return
again when turning on the power.
Parameter No.PA06 (Number of gears on machine-side)
Parameter No.PA07 (Number of gears on servo motor-side)
Parameter No.PA14 (Station No. direction selection)
Parameter No.PC07 (Home position return position data)

This driver contains a single-axis driver. Also, all servo motor encoders are compatible with an absolute
position detection system. Hence, an absolute position detection system can be configured up by merely
loading an absolute position data back-up battery and setting parameter values.

(1) Restrictions
In the absolute position detection system, the following restriction condition applies for the number of gears
on machine-side (parameter No.PA06 CMX) and servo motor speed (N).
When CMX 2000, N 3076.7 r/min
When CMX 2000, N 3276.7 - CMX r/min
When the servo motor is operated at servo motor speed higher than the limited value, the absolute position
counter warning (AE3) occurs.

(2) Specifications
Item Description
System Electronic battery backup system.
1 piece of lithium battery ( primary battery, nominal 3.6V)
Battery
Type: LEC-MR-J3BAT.
Maximum revolution range Home position 32767 rev.
(Note 1) Maximum speed at power failure 3000r/min
(Note 2) Battery backup time Approx. 10,000 hours (battery life with power off)
Battery storage period 5 years from date of manufacture.
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like.
2. Time to hold data by a battery with power off. It is recommended to replace the battery in three years independently of
whether power is kept on or off.

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15. INDEXER POSITIONING OPERATION

(3) Structure
Component Description
Driver
Use standard models.
Servo motor
Battery LEC-MR-J3BAT
Encoder cable Use a standard model. (Refer to section 13.1.)

(4) Outline of absolute position detection data communication

For normal operation, as shown below, the encoder consists of a detector designed to detect a position
within one revolution and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it
battery-backed, independently of whether the general-purpose PC or PLC...etc power is on or off.
Therefore, once the home position is defined at the time of machine installation, home position return is not
needed when power is switched on thereafter.
If a power failure or a fault occurs, restoration is easy.
ServoDriver
amplifier

Home position return

Position control
data

Speed control
Point table No. selection, EEP-ROM memory
I/O circuit Current position
etc. LSO
1XO
1X
Position data, speed data Backup at LS
Detection of position
power off Speed detection
(current position read) within one revolution

MR-J3BAT
LEC-MR-J3BAT

Servo motor

1 pulse/rev. Cumulative revolution counter High-speed serial

communication
Within one-revolution counter

(5) Battery installation procedure

Before installing a battery, turn off the main circuit power while keeping the control
circuit power on. Wait for 15 minutes or more until the charge lamp turns off. Then,
WARNING confirm that the voltage between P( ) and N( ) is safe with a voltage tester and
others. Otherwise, an electric shock may occur. In addition, always confirm from
the front of the driver whether the charge lamp is off or not.

POINT
The internal circuits of the driver may be damaged by static electricity.
Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical
parts, directly by hand.
Before starting battery changing procedure, make sure that the main circuit
power is switched OFF with the control circuit power ON. When battery is
changed with the control power OFF, the absolute position data is lost.

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15. INDEXER POSITIONING OPERATION

(a) For LECSC□-□

POINT
For the driver with a battery holder on the bottom, it is not possible to wire for
the earth with the battery installed. Insert the battery after executing the earth
wiring of the driver.

Insert connector into CN4.

(b) Parameter setting

Set parameter No.PA03 (Absolute position detection system) as indicated below to make the absolute
position detection system valid.
Parameter No.PA03
1

Selection of absolute position detection system

0: Incremental system
1: Absolute position detection system

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15.11 Parameters
Never adjust or change the parameter values extremely as it will make operation
CAUTION instable.

POINT
For any parameter whose symbol is preceded by *, set the parameter value
and switch power off once, then switch it on again to make that parameter
setting valid.

In this driver, the parameters are classified into the following groups on a function basis.

Parameter group Main description

Basic setting parameters Make basic setting with these parameters. Generally, the operation is possible only with these
(No.PA ) parameter settings.
Gain/filter parameters Use these parameters when making gain adjustment manually.
(No.PB )
Extension setting parameters These parameters are inherent to the LECSC□-□ driver.
(No.PC )
I/O setting parameters Use these parameters when changing the I/O devices of the driver.
(No.PD )

Mainly setting the basic setting parameters (No.PA ) allows the setting of the basic parameters at the
time of introduction.

15.11.1 Basic setting parameters (No.PA )

(1) Parameter list
Initial
No. Symbol Name Unit
value
PA01 *STY Control mode 0000h
PA02 *REG Regenerative option 0000h
PA03 *ABS Absolute position detection system 0000h
PA04 Not used in indexer positioning operation. 0000h
PA05 Do not change the parameter. 0000h
PA06 *CMX Number of gears on machine-side 1
PA07 *CDV Number of gears on servo motor-side 1
PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 12
PA10 INP In-position range 100 pulse
PA11 TLP Forward rotation torque limit 100.0 %
PA12 TLN Reverse rotation torque limit 100.0 %
PA13 For manufacturer setting 0002h
PA14 *POL Rotation direction selection 0
PA15 *ENR Encoder output pulses 4000 pulse/rev
PA16 For manufacturer setting 0000h
PA17 Do not change this valve by any means. 0000h
PA18 0000h
PA19 *BLK Parameter write inhibit 000Ch

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15. INDEXER POSITIONING OPERATION

(2) Parameter write inhibit

Parameter Initial
Unit Setting range
No. Symbol Name value
PA19 *BLK Parameter write inhibit 000Ch Refer to the text.

POINT
This parameter is made valid when power is switched off, then on after
setting.

In the factory setting, this driver allows changes to the basic setting parameter, gain/filter parameter and
extension setting parameter settings. With the setting of parameter No.PA19, write can be disabled to
prevent accidental changes.
The following table indicates the parameters which are enabled for reference and write by the setting of
parameter No.PA19. Operation can be performed for the parameters marked .

Basic setting Gain/Filter Extension setting I/O setting

Parameter No.PA19
Setting operation parameters parameters parameters parameters
setting
No.PA No.PB No.PC No.PD
Reference
0000h
Write
Reference
000Bh
Write
000Ch Reference
(initial value) Write
Reference
100Bh Parameter No.
Write
PA19 only
Reference
100Ch Parameter No.
Write
PA19 only

(3) Selection of command system

Parameter Initial
Unit Setting range
No. Symbol Name value
PA01 *STY Control mode 0000h Refer to the text.

POINT
This parameter is made valid when power is switched off, then on after
setting.

Select the command system.

Parameter No.PA01
0 0 0
Operation method
0: Point table positioning operation
1: Indexer positioning operation

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15. INDEXER POSITIONING OPERATION

(4) Selection of regenerative option

Parameter Initial
Unit Setting range
No. Symbol Name value
PA02 *REG Regenerative option 0000h Refer to the text.

POINT
This parameter is made valid when power is switched off, then on after
setting.
Wrong setting may cause the regenerative option to burn.
If the regenerative option selected is not for use with the driver, parameter
error (A37) occurs.

Set this parameter when using the regenerative option, brake unit, power regeneration converter, or power
regeneration common converter.
Parameter No.PA02
0 0
Selection
Selection ofof regenerative
regenerative option
option
00:
00：Regenerative
Regenerative option
option is
is not
not used
used
・For
Forservo
100Wamplifier of 100W, regenerative
driver regenerative resistor
resistor is not used is not used.
For servo amplifier of 200 to 7kW, built-in regenerative resistor is used.
・For 200W driver regenerative resistor is used
Supplied regenerative resistors or regenerative option is used with
02：LEC-MR-RB032
the servo amplifier of 11k to 22kW.
03：FR-BU2-(H)
01: LEC-MR-RB012 FR-RC-(H) FR-CV-(H)
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50(Cooling fan is required)
08: MR-RB31
09: MR-RB51(Cooling fan is required)
80: MR-RB1H-4
81: MR-RB3M-4(Cooling fan is required)
82: MR-RB3G-4(Cooling fan is required)
83: MR-RB5G-4(Cooling fan is required)
84: MR-RB34-4(Cooling fan is required)
85: MR-RB54-4(Cooling fan is required)
FA: When the supplied regenerative resistor is cooled by the cooling
fan to increase the ability with the servo amplifier of 11k to 22kW.

(5) Using absolute position detection system

Parameter Initial
Unit Setting range
No. Symbol Name value
PA03 *ABS Absolute position detection system 0000h Refer to the text.

POINT
This parameter is made valid when power is switched off, then on after
setting.

Set this parameter when using the absolute position detection system.
Parameter No.PA03

0 0 0
Selection of absolute position detection system (refer to section 16.10)
0: Used in incremental system
1: Used in absolute position detection system

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15. INDEXER POSITIONING OPERATION

(6) Electronic gear

Parameter Initial
Unit Setting range
No. Symbol Name value
PA06 *CMX Number of gears on machine-side 1 1 to 16384
PA07 *CDV Number of gears on servo motor-side 1 1 to 16384

CAUTION False setting will result in unexpected fast rotation, causing injury.

POINT
This parameter is made valid when power is switched off, then on after
setting.
Set the electronic gear within the following condition range.
(1) 1/9999 CMX/CDV 9999
(2) CDV STN 32767
(3) CMX CDV 100000
When a value out of the condition range is set, the parameter error (A37)
occurs. If the setting of electronic gear ratio is small, the servo motor may not
operate with the set servo motor speed.
Setting range of the parameters No.PA06 and PA07 for the indexer
positioning operation is 1 to 16384. It is different from the setting range for the
point table positioning operation.

Use the parameters No. PA06 and PA07 to adjust the rotation amount “m” on the servo motor shaft that is
necessary to rotate the machine side “n” times. A setting example for electronic gear is shown next.

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15. INDEXER POSITIONING OPERATION

(a) Example 1
When the number of pulley teeth on the machine-side is 50, and the number of pulley teeth on the servo
motor side is 20.

Number of pulley teeth on

Parameter No.PA06: 50
macine side: 50 Parameter No.PA07: 20

Number of pulley teeth on

servo motor side: 20

(b) Example 2
When the number of pulley teeth on the machine-side is 50, the number of pulley teeth on the servo
motor side is 20, and using the servo motor with 1/9 reduction gear.

Number of pulley teeth on 50 9 450

macine side: 50 20 1 20

Parameter No.PA06: 450

Parameter No.PA07: 20

Number of pulley teeth on

servo motor side: 20
Reduction ratio of servo motor with a
reduction gear: 1/9

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15. INDEXER POSITIONING OPERATION

(7) Auto tuning

Parameter Initial
Unit Setting range
No. Symbol Name value
PA08 ATU Auto tuning mode 0001h Refer to the text.
PA09 RSP Auto tuning response 12 1 to 32

Make gain adjustment using auto tuning. Refer to section 8.2 for details.
(a) Auto tuning mode (parameter No.PA08)
Select the gain adjustment mode.
Parameter No.PA08
0 0 0
Gain adjustment mode setting
Setting Gain adjustment mode Automatically set parameter No. (Note)
0 Interpolation mode PB06 PB08 PB09 PB10
1 Auto tuning mode 1 PB06 PB07 PB08 PB09 PB10
2 Auto tuning mode 2 PB07 PB08 PB09 PB10
3 Manual mode

Note. The parameters have the following names.

Parameter No. Name

PB06 Ratio of load inertia moment to servo motor inertia moment
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation

(b) Auto tuning response (parameter No.PA09)

If the machine hunts or generates large gear sound, decrease the set value. To improve performance,
e.g. shorten the settling time, increase the set value.

Guideline for machine Guideline for machine

Setting Response Setting Response
resonance frequency [Hz] resonance frequency [Hz]
1 Low response 10.0 17 Low response 67.1
2 11.3 18 75.6
3 12.7 19 85.2
4 14.3 20 95.9
5 16.1 21 108.0
6 18.1 22 121.7
7 20.4 23 137.1
8 23.0 24 154.4
9 25.9 25 173.9
10 29.2 26 195.9
11 32.9 27 220.6
12 37.0 28 248.5
13 41.7 29 279.9
14 47.0 30 315.3
15 52.9 31 355.1
16 Middle response 59.6 32 Middle response 400.0

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15. INDEXER POSITIONING OPERATION

(8) In-position range

Parameter Initial
Unit Setting range
No. Symbol Name value
PA10 INP In-position range 100 pulse 0 to 10000

Set the range for outputting the movement completion (RXnC) and the in position (RXn1) in command
pulse unit.
Servo motor Droop pulse

Command pulse Command pulse

In-position range [pulse]
Droop pulse

ON
In position (RXn1)
OFF

(9) Torque limit

Parameter Initial
Unit Setting range
No. Symbol Name value
PA11 TLP Forward rotation torque limit 100.0 % 0 to 100.0
PA12 TLN Reverse rotation torque limit 100.0 % 0 to 100.0

The torque generated by the servo motor can be limited.

(a) Forward rotation torque limit (parameter No.PA11)
Set this parameter on the assumption that the maximum torque is 100[%]. Set this parameter when
limiting the torque of the servo motor in the CCW driving mode or CW regeneration mode. Set this
parameter to "0.0" to generate no torque.
(b) Reverse rotation torque limit (parameter No.PA12)
Set this parameter on the assumption that the maximum torque is 100[%]. Set this parameter when
limiting the torque of the servo motor in the CW driving mode or CCW regeneration mode. Set this
parameter to "0.0" to generate no torque.

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15. INDEXER POSITIONING OPERATION

(10)Station No. direction selection

Parameter Initial
Unit Setting range
No. Symbol Name value
PA14 *POL Station No. direction selection 0 0 1

POINT
This parameter is made valid when power is switched off, then on after
setting.

Select the allocation direction of station numbers using the parameter No.PA14 (Station No. direction
selection).

Parameter No.PA14 Station No. allocation direction

setting Start (RYn1) ON
0 (Initial value) Station No. is allocated in CW direction in order of 1, 2, 3...
1 Station No. is allocated in CCW direction in order of 1, 2, 3...
CCW

CW

CW CCW
direction direction

4 4
3 3
Station No. 2 1 1 2 Station No.

Parameter No.PA14: 0 (Initial value) Parameter No.PA14: 1

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15. INDEXER POSITIONING OPERATION

(11)Encoder output pulse

Parameter Initial
Unit Setting range
No. Symbol Name value
pulse/
PA15 *ENR Encoder output pulse 4000 1 to 65535
rev

POINT
This parameter is made valid when power is switched off, then on after
setting.

Used to set the encoder pulses (A-phase, B-phase) output by the driver.
Set the value 4 times greater than the A-phase or B-phase pulses.
You can use parameter No.PC19 to choose the output pulse setting or output division ratio setting.
The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses.
The maximum output frequency is 4.6Mpps (after multiplication by 4). Use this parameter within this range.
(a) For output pulse designation
Set " 0 " (initial value) in parameter No.PC19.
Set the number of pulses per servo motor revolution.
Output pulse set value [pulses/rev]
For instance, set "5600" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated
below.

A B-phase output pulses 5600 1400[pulse]

4

(b) For output division ratio setting

Set " 1 " in parameter No.PC19.
The number of pulses per servo motor revolution is divided by the set value.

Output pulse Resolution per servo motor revolution

[pulses/rev]
Set value

For instance, set "8" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated
below.

A B-phase output pulses 262144 1 8192[pulse]

8 4

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15. INDEXER POSITIONING OPERATION

15.11.2 Gain/filter parameters (No.PB )

(1) Parameter list
No. Symbol Name Initial value Unit
PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h
Vibration suppression control tuning mode
PB02 VRFT 0000h
(Advanced vibration suppression control)
PB03 For manufacturer setting 0000h
PB04 FFC Feed forward gain 0 %
PB05 For manufacturer setting 500
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 7.0 Multiplier
( 1)
PB07 PG1 Model loop gain 24 rad/s
PB08 PG2 Position loop gain 37 rad/s
PB09 VG2 Speed loop gain 823 rad/s
PB10 VIC Speed integral compensation 33.7 ms
PB11 VDC Speed differential compensation 980
PB12 For manufacturer setting 0
PB13 NH1 Machine resonance suppression filter 1 4500 Hz
PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression filter 2 4500 Hz
PB16 NHQ2 Notch shape selection 2 0000h
PB17 Automatic setting parameter
PB18 LPF Low-pass filter 3141 rad/s
PB19 VRF1 Vibration suppression control vibration frequency setting 100.0 Hz
PB20 VRF2 Vibration suppression control resonance frequency setting 100.0 Hz
PB21 For manufacturer setting 0.00
PB22 0.00
PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression control selection 0000h
PB25 For manufacturer setting 0000h
PB26 *CDP Gain changing selection 0000h
PB27 CDL Gain changing condition 10
PB28 CDT Gain changing time constant 1 ms
PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment 7.0 Multiplier
( 1)
PB30 PG2B Gain changing position loop gain 37 rad/s
PB31 VG2B Gain changing speed loop gain 823 rad/s
PB32 VICB Gain changing speed integral compensation 33.7 ms
PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 100.0 Hz
PB34 VRF2B Gain changing vibration suppression control resonance frequency setting 100.0 Hz
PB35 For manufacturer setting 0.00
PB36 0.00
PB37 100
PB38 0
PB39 0
PB40 0
PB41 1125
PB42 1125
PB43 0004h
PB44 0000h
PB45 0000h

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15. INDEXER POSITIONING OPERATION

(2) Detail list

Setting
No. Symbol Name and function Initial value Unit
range
PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h
Select the setting method for filter tuning. Setting this parameter to " 1"
(filter tuning mode 1) automatically changes the machine resonance
suppression filter 1 (parameter No.PB13) and notch shape selection (parameter
No.PB14). mechanical system

Machine resonance point

Response of

Frequency
Notch depth

Frequency
Notch frequency

0 0 0
Filter tuning mode selection

Setting Filter adjustment mode Automatically set parameter

0 Filter OFF (Note)
Parameter No.PB13
1 Filter tuning mode
Parameter No.PB14
2 Manual mode
Note. Parameter No.PB13 and PB14 are fixed to the initial values.

When this parameter is set to " 1", the tuning is completed after
positioning is done the predetermined number or times for the predetermined
period of time, and the setting changes to " 2". When the filter tuning is
not necessary, the setting changes to " 0". When this parameter is set to
" 0", the initial values are set to the machine resonance suppression filter
1 and notch shape selection. However, this does not occur when the servo off.

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15. INDEXER POSITIONING OPERATION

Setting
No. Symbol Name and function Initial value Unit
range
PB02 VRFT Vibration suppression control tuning mode (Advanced vibration suppression 0000h
control)
The vibration suppression is valid when the parameter No.PA08 (auto tuning)
setting is " 2" or " 3". When PA08 is " 1", vibration suppression
is always invalid.
Select the setting method for vibration suppression control tuning. Setting this
parameter to " 1" (vibration suppression control tuning mode)
automatically changes the vibration suppression control vibration frequency
(parameter No.PB19) and vibration suppression control resonance frequency
(parameter No.PB20) after positioning is done the predetermined number of
times.

Droop pulse Droop pulse

Automatic
Command adjustment Command
Machine side Machine side
position position

0 0 0
Vibration suppression control tuning mode

Vibration suppression
Setting Automatically set parameter
control tuning mode
Vibration suppression
0 (Note)
control OFF
Vibration suppression
control tuning mode Parameter No.PB19
1
(Advanced vibration Parameter No.PB20
suppression control)
2 Manual mode
Note. Parameter No.PB19 and PB20 are fixed to the initial values.

When this parameter is set to " 1", the tuning is completed after
positioning is done the predetermined number or times for the predetermined
period of time, and the setting changes to " 2". When the vibration
suppression control tuning is not necessary, the setting changes to " 0".
When this parameter is set to " 0", the initial values are set to the vibration
suppression control - vibration frequency and vibration suppression control -
resonance frequency. However, this does not occur when the servo off.
PB03 For manufacturer setting 0000h
Do not change this value by any means.
PB04 FFC Feed forward gain 0 % 0
Set the feed forward gain. When the setting is 100%, the droop pulses during to
operation at constant speed are nearly zero. However, sudden 100
acceleration/deceleration will increase the overshoot. As a guideline, when the
feed forward gain setting is 100%, set 1s or more as the
acceleration/deceleration time constant up to the rated speed.

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15. INDEXER POSITIONING OPERATION

Setting
No. Symbol Name and function Initial value Unit
range
PB05 For manufacturer setting 500
Do not change this value by any means.
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 7.0 Multiplier 0
Used to set the ratio of the load inertia moment to the servo motor shaft inertia ( 1) to
moment. When auto tuning mode 1 and interpolation mode is selected, the 300.0
result of auto tuning is automatically used.
(Refer to section 8.1.1)
In this case, it varies between 0 and 100.0.
PB07 PG1 Model loop gain 24 rad/s 1
Set the response gain up to the target position. to
Increase the gain to improve track ability in response to the command. 2000
When auto turning mode 1,2 is selected, the result of auto turning is
automatically used.
PB08 PG2 Position loop gain 37 rad/s 1
Used to set the gain of the position loop. to
Set this parameter to increase the position response to level load disturbance. 1000
Higher setting increases the response level but is liable to generate vibration
and/or noise.
When auto tuning mode 1,2 and interpolation mode is selected, the result of
auto tuning is automatically used.
PB09 VG2 Speed loop gain 823 rad/s 20
Set this parameter when vibration occurs on machines of low rigidity or large to
backlash. 50000
Higher setting increases the response level but is liable to generate vibration
and/or noise.
When auto tuning mode 1,2 manual mode and interpolation mode is selected,
the result of auto tuning is automatically used.
PB10 VIC Speed integral compensation 33.7 ms 0.1
Used to set the integral time constant of the speed loop. to
Lower setting increases the response level but is liable to generate vibration 1000.0
and/or noise.
When auto tuning mode 1,2 and interpolation mode is selected, the result of
auto tuning is automatically used.
PB11 VDC Speed differential compensation 980 0
Used to set the differential compensation. to
Made valid when the proportion control (RY(n 2)7) is switched on. 1000
PB12 For manufacturer setting 0
Do not change this value by any means.
PB13 NH1 Machine resonance suppression filter 1 4500 Hz 100
Set the notch frequency of the machine resonance suppression filter 1. to
Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically 4500
changes this parameter.
When the parameter No.PB01 setting is " 0", the setting of this parameter
is ignored.

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15. INDEXER POSITIONING OPERATION

Setting
No. Symbol Name and function Initial value Unit
range
PB14 NHQ1 Notch shape selection 1 0000h Refer to
Used to selection the machine resonance suppression filter 1. name and
function
0 0 column.

Notch depth selection

Setting value Depth Gain
0 Deep -40dB
1 -14dB
to
2 -8dB
3 Shallow -4dB

Notch width
Setting value Width
0 Standard 2
1 3
to
2 4
3 Wide 5

Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically

changes this parameter.
When the parameter No.PB01 setting is " 0", the setting of this parameter
is ignored.
PB15 NH2 Machine resonance suppression filter 2 4500 Hz 100
to
Set the notch frequency of the machine resonance suppression filter 2.
4500
Set parameter No.PB16 (notch shape selection 2) to " 1" to make this
parameter valid.
PB16 NHQ2 Notch shape selection 2 0000h Refer to
Select the shape of the machine resonance suppression filter 2. name and
function
0 column.

Machine resonance suppression filter 2 selection

0: Invalid
1: Valid

Notch depth selection

Setting value Depth Gain
0 Deep -40dB
1 -14dB
to
2 -8dB
3 Shallow -4dB

Notch width
Setting value Width
0 Standard 2
1 3
to
2 4
3 Wide 5

PB17 Automatic setting parameter

The value of this parameter is set according to a set value of parameter
No.PB06 (Ratio of load inertia moment to servo motor inertia moment).

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15. INDEXER POSITIONING OPERATION

Setting
No. Symbol Name and function Initial value Unit
range
PB18 LPF Low-pass filter 3141 rad/s 100
Set the low-pass filter. to
Setting parameter No.PB23 (low-pass filter selection) to " 0 " automatically 18000
changes this parameter.
When parameter No.PB23 is set to " 1 ", this parameter can be set
manually.
PB19 VRF1 Vibration suppression control vibration frequency setting 100.0 Hz 0.1
Set the vibration frequency for vibration suppression control to suppress low- to
frequency machine vibration, such as enclosure vibration. 100.0
Setting parameter No.PB02 (vibration suppression control tuning mode) to
" 1" automatically changes this parameter. When parameter No.PB02 is
set to " 2", this parameter can be set manually.
PB20 VRF2 Vibration suppression control resonance frequency setting 100.0 Hz 0.1
Set the resonance frequency for vibration suppression control to suppress low- to
frequency machine vibration, such as enclosure vibration. 100.0
Setting parameter No.PB02 (vibration suppression control tuning mode) to
" 1" automatically changes this parameter. When parameter No.PB02 is
set to " 2", this parameter can be set manually.
PB21 For manufacturer setting 0.00
PB22 Do not change this value by any means. 0.00
PB23 VFBF Low-pass filter selection 0000h Refer to
Select the low-pass filter. name and
function
0 0 0 column.

Low-pass filter selection

0: Automatic setting
1: Manual setting (parameter No.PB18 setting)

When automatic setting has been selected, select the filter that has the band
VG2 10
width close to the one calculated with [rad/s]
1 + GD2

PB24 *MVS Slight vibration suppression control selection 0000h Refer to

Select the slight vibration suppression control. name and
When parameter No.PA08 (auto tuning mode) is set to " 3", this parameter function
is made valid. column.

0 0 0
Slight vibration suppression control selection
0: Invalid
1: Valid

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15. INDEXER POSITIONING OPERATION

Setting
No. Symbol Name and function Initial value Unit
range
PB25 For manufacturer setting 0000h
Do not change this value by any means.
PB26 *CDP Gain changing selection 0000h Refer to
Select the gain changing condition. (Refer to section 9.6.) name and
function
0 0 column.

Gain changing selection

Under any of the following conditions, the gains
change on the basis of the parameter No.PB29 to
PB32 settings.
0: Invalid
1: Gain changing (RX(n 2)8) is ON
2: Command frequency (Parameter No.PB27 setting)
3: Droop pulse value (Parameter No.PB27 setting)
4: Servo motor speed (Parameter No.PB27 setting)

Gain changing condition

0: Valid at more than condition (Valid when gain
changing (RX(n 2)8) is ON)
1: Valid at less than condition (Valid when gain
changing (RX(n 2)8) is OFF)

PB27 CDL Gain changing condition 10 kpps 0

Used to set the value of gain changing condition (command frequency, droop pulse to
pulses, servo motor speed) selected in parameter No.PB26. The set value unit r/min 9999
changes with the changing condition item. (Refer to section 9.6.)
PB28 CDT Gain changing time constant 1 ms 0
Used to set the time constant at which the gains will change in response to the to
conditions set in parameters No.PB26 and PB27. (Refer to section 9.6.) 100
PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment 7.0 Multiplier 0
Used to set the ratio of load inertia moment to servo motor inertia moment when ( 1) to
gain changing is valid. 300.0
This parameter is made valid when the auto tuning is invalid (parameter No.
PA08: 3).
PB30 PG2B Gain changing position loop gain 37 rad/s 1
Set the position loop gain when the gain changing is valid. to
This parameter is made valid when the auto tuning is invalid (parameter No. 2000
PA08: 3).
PB31 VG2B Gain changing speed loop gain 823 rad/s 20
Set the speed loop gain when the gain changing is valid. to
This parameter is made valid when the auto tuning is invalid (parameter No. 20000
PA08: 3).
Note. The setting range of 50000 applies to the driver whose software version is
A3 or later. The setting range of the driver whose software version is older
than A3 is 20 to 20000. When the software version of set up software(MR
Configurator) is A3 or earlier, 20001 or more cannot be set. Use the
display/operation section of the driver to set 20001 or more.
PB32 VICB Gain changing speed integral compensation 33.7 ms 0.1
Set the speed integral compensation when the gain changing is valid. to
This parameter is made valid when the auto tuning is invalid (parameter No. 5000.0
PA08: 3).

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15. INDEXER POSITIONING OPERATION

Setting
No. Symbol Name and function Initial value Unit
range
PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 100.0 Hz 0.1
Set the vibration frequency for vibration suppression control when the gain to
changing is valid. This parameter is made valid when the parameter No.PB02 100.0
setting is " 2" and the parameter No.PB26 setting is " 1".
When using the vibration suppression control gain changing, always execute
the changing after the servo motor has stopped.
PB34 VRF2B Gain changing vibration suppression control resonance frequency setting 100.0 Hz 0.1
Set the resonance frequency for vibration suppression control when the gain to
changing is valid. This parameter is made valid when the parameter No.PB02 100.0
setting is " 2" and the parameter No.PB26 setting is " 1".
When using the vibration suppression control gain changing, always execute
the changing after the servo motor has stopped.
PB35 For manufacturer setting 0.00
PB36 Do not change this value by any means. 0.00
PB37 100
PB38 0
PB39 0
PB40 0
PB41 1125
PB42 1125
PB43 0004h
PB44 0000h
PB45 0000h

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15. INDEXER POSITIONING OPERATION

15.11.3 Extension setting parameters (No.PC )

(1) Parameter list
No. Symbol Name Initial value Unit
PC01 For manufacturer setting 0000h
PC02 *ZTY Home position return type 0000h
PC03 *ZDIR Home position return direction 0001h
PC04 ZRF Home position return speed 500 r/min
PC05 CRF Creep speed 10 r/min
PC06 ZST Home position shift distance 0 m
PC07 Not used in indexer positioning operation. 0
PC08 1000
PC09 100
PC10 15.0
PC11 CRP Rough match output range 0 pulse
PC12 JOG Jog speed 100 r/min
PC13 Not used in indexer positioning operation. 0
PC14 *BKC Backlash compensation 0 pulse
PC15 For manufacturer setting 0000h
PC16 MBR Electromagnetic brake sequence output 100 ms
PC17 Not used in indexer positioning operation. 50
PC18 *BPS Alarm history clear 0000h
PC19 *ENRS Encoder output pulse selection 0000h
PC20 *SNO Station number setting 0 station
PC21 *SOP RS-422 communication function selection 0000h
PC22 *COP1 Function selection C-1 0000h
PC23 For manufacturer setting 0000h
PC24 Not used in indexer positioning operation. 0000h
PC25 For manufacturer setting 0000h
PC26 *COP5 Function selection C-5 0000h
PC27 For manufacturer setting 0000h
PC28 Not used in indexer positioning operation. 0000h
PC29 For manufacturer setting 0000h
PC30 *DSS Remote register-based position/speed specifying system selection 0000h
PC31 Not used in indexer positioning operation. 0
PC32
PC33 0
PC34
PC35 TL2 Internal torque limit 2 100.0 %
PC36 For manufacturer setting 0000h
PC37 Not used in indexer positioning operation. 0
PC38
PC39 0
PC40
PC41 For manufacturer setting 0000h
PC42 0000h
PC43 0000h
PC44 0000h
PC45 *COP9 Function selection C-9 0000h
PC46 *STN Indexer positioning operation number of stations/rotation 0000h
PC47 PSST Indexer positioning operation station home position shift distance 0000h pulse
PC48 For manufacturer setting 0000h

15 - 88
15. INDEXER POSITIONING OPERATION

No. Symbol Name and function Initial value Unit

PC49 For manufacturer setting 0000h
PC50 0000h

(2) Detail list

No. Symbol Name and function Initial value Unit Setting range
PC01 For manufacturer setting 0000h
Do not change this value by any means.
PC02 *ZTY Home position return type 0000h Refer to
Used to set the home position return system. (Refer to section 5.6.) name and
Parameter No.PC02 function
column.
0 0 0
Home position return method
0:
1:
2:
3:
4:
5: Not used in indexer postioning operation.
6:
7:
8:
9:
A:
C: Torque limit changing dog type
D: Torque limit changing data setting type

PC03 *ZDIR Home position return direction 0001h Refer to

Used to set the home position return direction. name and
Parameter No.PC03 function
column.
0 0 0
Home position return direction
0: Station No. increment direction
1: Station No. decrement direction

PC04 ZRF Home position return speed 500 r/min 0 to

Used to set the servo motor speed for home position return. permissible
(Refer to section 15.9.) speed
PC05 CRF Creep speed 10 r/min 0 to
Used to set the creep speed after proximity dog detection. permissible
(Refer to section 15.9.) speed
PC06 ZST Home position shift distance 0 m 0
Used to set the shift distance starting at the Z-phase pulse detection position to
inside the encoder. (Refer to section 15.9.) 65535
PC07 Not used in indexer positioning operation. 0
PC08 Do not change the parameter. 1000
PC09 100
PC10 15.0
STM
PC11 CRP Rough match output range 0 10 m 0
Used to set the command remaining distance range where the rough match to
(RXn2) is output. 65535
PC12 JOG Jog speed 100 r/min 0
Used to set the jog speed command. to permissible
speed

15 - 89
15. INDEXER POSITIONING OPERATION

No. Symbol Name and function Initial value Unit Setting range
PC13 Not used in indexer positioning operation. 0
Do not change the parameter.
PC14 *BKC Backlash compensation 0 pulse 0
Used to set the backlash compensation made when the command to
direction is reversed. 32000
This function compensates for the number of backlash pulses in the
opposite direction to the home position return direction.
For the home position ignorance (servo-on position as home position), this
function compensates for the number of backlash pulses in the opposite
direction to the first rotating direction after establishing the home position
by switching ON the servo-on (RYn0).
In the absolute position detection system, this function compensates for
the backlash pulse count in the direction opposite to the operating direction
at power-on.
PC15 For manufacturer setting 0000h
Do not change this value by any means.
PC16 MBR Electromagnetic brake sequence output 100 ms 0
Used to set the delay time (Tb) between when the electromagnetic brake to
interlock (MBR) switches off and when the base circuit is shut off. 1000
PC17 Not used in indexer positioning operation. 50
Do not change the parameter.
PC18 *BPS Alarm history clear 0000h Refer to
Used to clear the alarm history. name and
function
0 0 0 column.
Alarm history clear
0: Invalid
1: Valid
When alarm history clear is made valid,
the alarm history is cleared at next power-on.
After the alarm history is cleared, the setting
is automatically made invalid (reset to 0).

PC19 *ENRS Encoder output pulse selection 0000h Refer to

Use to select the, encoder output pulse direction and encoder output pulse name and
setting. function
column.
0 0
Encoder output pulse phase changing
Changes the phases of A, B-phase encoder pulses
output .
Servo motor rotation direction
Set value
CCW CW
A-phase A-phase
0
B-phase B-phase

A-phase A-phase
1
B-phase B-phase

Encoder output pulse setting selection (refer to parameter No.PA15).

0: Output pulse designation
1: Division ratio setting
2: Outputs the encoder pulse without processing it.

15 - 90
15. INDEXER POSITIONING OPERATION

No. Symbol Name and function Initial value Unit Setting range
PC20 *SNO Station number setting 0 station 0
Used to specify the station number for RS-422 serial communication and to
USB communication. 31
Always set one station to one axis of driver. If one station number is set to
two or more stations, normal communication cannot be made.
PC21 *SOP RS-422 communication function selection 0000h Refer to
Select the communication I/F and select the RS-422 communication name and
conditions. function
column.
0 0
RS-422 communication baud rate selection
0: 9600 [bps]
1: 19200 [bps]
2: 38400 [bps]
3: 57600 [bps]
4: 115200[bps]
RS-422 communication response delay time
0: Invalid
1: Valid, reply sent after delay time of 800 s or more

PC22 *COP1 Function selection C-1 0000h Refer to the

Select the encoder cable communication system selection. name and
function field.
0 0 0
Encoder cable communication system selection
0: Two-wire type
1: Four-wire type
The
The following
followingencoder
cables cables
are of are of 4-wire
2-wire type. type.
MR-EKCBL30M-L
LE-CSE-□2□
MR-EKCBL30M-H
LE-CSE-□5□
MR-EKCBL40M-H
LE-CSE-□A□
MR-EKCBL50M-H
The other encoder cables are all of 2-wire type.
Incorrect
Incorrectsetting
settinfwill
willresult
resultin in
anan
encoder
encoderalarm 1
(A16) or encoder
alarm1(A16) alarm 2 (A20).
or encoder alarm2(A20)

PC23 For manufacturer setting 0000h

Do not change this value by any means.
PC24 Not used in indexer positioning operation. 0000h
Do not change the parameter.
PC25 For manufacturer setting 0000h
Do not change this value by any means.
PC26 *COP5 Function selection C-5 0000h Refer to
Select the stroke limit warning (A99). name and
function
0 0 0 column.

Stroke limit warning (A99) selection

0: Valid
1: Invalid
When this parameter is set to "1", A99 will not
occur if the forward rotation stroke end (LSP) or
reverse rotation stroke end (LSN) turns OFF.

PC27 For manufacturer setting 0000h

Do not change this value by any means.
PC28 Not used in indexer positioning operation. 0000h
Do not change the parameter.

15 - 91
15. INDEXER POSITIONING OPERATION

No. Symbol Name and function Initial value Unit Setting range
PC29 For manufacturer setting 0000h
Do not change this value by any means.
PC30 *DSS Remote register-based position/speed specifying system selection 0000h Refer to
This parameter is made valid when Position/speed specification selection name and
(RY(n 2)A) is turned ON with 2 stations occupied. Select how to receive the function
position command and speed command. column.
When 1 station is occupied, selection of "0001" or "0002" will result in a
parameter error.

0 0 0

Set value Position command Speed command

Specify the servo point
0
table No.
Set the station No.
Specify the servo motor
1 speed. (Note)

Note. In the case, always set the acceleration/deceleration time constant in

the point table No.1.

PC31 Not used in indexer positioning operation. 0

PC32 Do not change the parameter.
PC33 0
PC34
PC35 TL2 Internal torque limit 2 100.0 % 0
Set this parameter to limit servo motor torque on the assumption that the to
maximum torque is 100[%]. 100.0
When 0 is set, torque is not produced.
PC36 For manufacturer setting 0000h
Do not change this value by any means.
PC37 Not used in indexer positioning operation. 0
PC38 Do not change the parameter.
PC39 0
PC40
PC41 For manufacturer setting 0000h
PC42 Do not change this value by any means. 0000h
PC43 0000h
PC44 0000h
PC45 *COP9 Function selection C-9 0000h 0000h
Select the manual operation mode. to
0001h
0 0 0
Manual operation for indexer positioning operation
selection (Refer to section 16.7.3)
0: Indexer JOG operation
1: JOG operation

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15. INDEXER POSITIONING OPERATION

No. Symbol Name and function Initial value Unit Setting range
PC46 *STN Indexer positioning operation number of stations/rotation 0000h Number of 0000h
Set the number of stations (dividing number) per machine rotation. When stations to
the setting value is 2 or lower, the number of stations is set to 2. 00FFh

Number of
Setting value
stations
0000 2
0001 2
0002 2
0003 3
0004 4

00FF 255

PC47 PSST Indexer positioning operation station home position shift distance 0000h pulse Refer to
This parameter is available only in the absolute position detection system. name and
Set the distance for shifting the home position toward the set home function
position in number of pulses. column
This shift distance does not become valid immediately after the home
position setting. It becomes valid after turning off and then on the power.
When the sift distance is larger than the in-position range, the in position
(RXn1) does not turn on at power-on.
Set the number of pulses to be shifted after converting it into hexadecimal.
The setting range is from 2000 to 2000 pulse.
PC48 For manufacturer setting 0000h
PC49 Do not change this value by any means. 0000h
PC50 0000h

(3) Alarm history clear

The alarm history can be confirmed by using the set up software(MR Configurator). The driver stores one
current alarm and five past alarms from when its power is switched on first. To control alarms which will
occur during operation, clear the alarm history using parameter No.PC18 (alarm history clear) before
starting operation. Clearing the alarm history automatically returns to " 0".
This parameter is made valid by switching power off, then on after setting.
Parameter No.16
0 0 0
Alarm history clear
0: Invalid (not cleared)
1: Valid (cleared)

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15. INDEXER POSITIONING OPERATION

(4) Rough match output

Rough match (RXn2) is output when the command remaining distance reaches the value set in parameter
No.PC11 (rough match output range). The setting range is 0 to 65535 [pulse].
Command remaining distance [pulse]
set in parameter No.PC11

Actual servo motor speed

Servo motor
Command pulse
speed

Rough match ON
(RXn2) OFF
ON
In position (RXnC)
OFF

15.11.4 I/O setting parameters (No.PD )

(1) Parameter list
No. Symbol Name Initial value Unit
PD01 *DIA1 Input signal automatic ON selection 1 0000h
PD02 For manufacturer setting 0000h
PD03 Not used in indexer positioning operation. 0000h
PD04 0000h
PD05 For manufacturer setting 0000h
PD06 Not used in indexer positioning operation. 002Bh
PD07 000Ah
PD08 000Bh
PD09 0002h
PD10 0003h
PD11 0024h
PD12 0C00h
PD13 For manufacturer setting 0000h
PD14 Not used in indexer positioning operation. 0800h
PD15 For manufacturer setting 0000h
PD16 *DIAB Input polarity selection 0000h
PD17 For manufacturer setting 0000h
PD18 0000h
PD19 *DIF Response level setting 0002h
PD20 *DOP1 Function selection D-1 0010h
PD21 For manufacturer setting 0000h
PD22 Not used in indexer positioning operation. 0000h
PD23 For manufacturer setting 0000h
PD24 *DOP5 Function selection D-5 0000h
PD25 For manufacturer setting 0000h
PD26 TLT Indexer positioning operation torque limit delay time 0064h
PD27 For manufacturer setting 0000h
PD28 0000h
PD29 0000h
PD30 0000h

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15. INDEXER POSITIONING OPERATION

(2) Detail list

Initial
No. Symbol Name and function Unit Setting range
value
PD01 *DIA1 Input signal automatic ON selection 1 0000h Refer to
Select the input devices to be automatically turned ON. name and
part is for manufacturer setting. Do not set the value by any means. function
column.
0 0
Initial value
Device name
BIN HEX
0
0
Forward rotation
0 0
stroke end (LSP)
Reverse rotation
0
stroke end (LSN)

Initial value
Device name
BIN HEX
Forced stop (EMG) 0
0
0
0
0
BIN 0: Used as external input signal.
BIN 1: Automatic ON

For example, to turn ON SON, the setting is " 4".

PD02 For manufacturer setting 0000h
Do not change this value by any means.
PD03 Not used in indexer positioning operation. 0000h
PD04 Do not change the parameter. 0000h
PD05 For manufacturer setting 0000h
Do not change this value by any means.
PD06 Not used in indexer positioning operation. 002Bh
PD07 Do not change the parameter. 000Ah
PD08 000Bh
PD09 0002h
PD10 0003h
PD11 0024h
PD12 0C00h
PD13 For manufacturer setting 0000h
Do not change this value by any means.
PD14 Not used in indexer positioning operation. 0800h
Do not change the parameter.
PD15 For manufacturer setting 0000h
Do not change this value by any means.
PD16 *DIAB Input polarity selection 0000h Refer to
Used to set the proximity dog input polarity. (Refer to section 5.6.) name and
function
0 0 0 column.

Proximity dog input polarity

0: OFF indicates detection of the dog
1: ON indicates detection of the dog

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15. INDEXER POSITIONING OPERATION

Initial
No. Symbol Name and function Unit Setting range
value
PD17 For manufacturer setting 0000h
PD18 Do not change this value by any means. 0000h
PD19 *DIF Response level setting 0002h Refer to
Used to select the input. name and
function
0 0 0 column.

Input filter
If external input signal causes chattering due
to noise, etc., input filter is used to suppress it.
0: None
1: 0.88[ms]
2: 1.77[ms]
3: 2.66[ms]
4: 3.55[ms]
5: 4.44[ms]

PD20 *DOP1 Function selection D-1 0010h Refer to

Select the stop processing at forward rotation stroke end (LSN)/reverse rotation name and
stroke end (LSN) OFF and the base circuit status at reset (RY(N 1)A or function
RY(n 3)A) ON. column.

0 0
Stopping method used when forward rotation stroke end
(LSP), reverse rotation stroke end (LSN) device or software
limit is valid
0: Sudden stop (home position erased)
1: Slow stop (home position erased)
2: Slow stop (Setting contents is the same as for “1”.)
3: Sudden stop (Setting contents is the same as for “0”.)
Even in this case, when LSP or LSN is detected, home
position return is required again before executing automatic
operation. However, in the absolute position detection
system (parameter No.PA03: 1), the home position
return completion (ZP) can be turned on by turning on the
servo-on. In the case, executing another home position.

Selection of base circuit status at reset (RY(n 1)A or

RY(n 3)A)ON
0: Base circuit not switched off
1: Base circuit switched off

PD21 For manufacturer setting 0000h

Do not change this value by any means.
PD22 Not used in indexer positioning operation. 0000h
Do not change the parameter.
PD23 For manufacturer setting 0000h
Do not change this value by any means.

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15. INDEXER POSITIONING OPERATION

Initial
No. Symbol Name and function Unit Setting range
value
PD24 *DOP5 Function selection D-5 0000h
Select the output status of the warning (RXnA).

0 0 0
Selection of output device at warning occurrence
Select the warning (RXnA) and trouble (RX(n 1)A or
RX(n 3)A) output status at warning occurrence.
Setting (Note) Device status
1
RXnA
Remote 0
output RX(n+1)A or 1
0 RX(n+3)A 0
Output ON
ALM
device OFF Warning
occurred.
1
RXnA
Remote 0
output RX(n+1)A or 1
RX(n+3)A 0
1 Output ON
ALM
device OFF
Warning
occurred.
Note. 0: OFF
1: ON

PD25 For manufacturer setting 0000h

Do not change this value by any means.
PD26 TLT Indexer positioning operation torque limit delay time 0064h ms Refer to
Set the delay time from when the in position (RXn1) turns on until the internal name and
torque limit 2 (parameter No.PC35) becomes effective. function
Set the delay time after converting it into hexadecimal. The setting range is from 0 column.
to 1000 ms.
PD27 For manufacturer setting 0000h
PD28 Do not change this value by any means. 0000h
PD29 0000h
PD30 0000h

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15. INDEXER POSITIONING OPERATION

(3) Stopping method when the forward stroke end (LSP) or reverse stroke end (LSN) is valid
The setting of the first digit of parameter No.PD20 enables to select a stopping method of the servo motor
when the forward rotation stroke end (LSP) or reverse rotation stroke end (LSN) turns off.
Parameter No.PD20

Stopping method when the forward rotation stroke end (LSP) or

reverse rotation stroke end (LSN) is valid
0: Sudden stop (home position erased)
1: Slow stop (home position erased)
2: Slow stop (Setting contents is the same as for “1”.)
3: Sudden stop (Setting contents is the same as for “0”.)

Setting
value of Operation status
Remarks
parameter
No.PD20 When rotating at constant speed When decelerating to stop

0 Without S-pattern Without S-pattern Clears droop pulses

acceleration/deceleration acceleration/deceleration
(Initial With S-pattern With S-pattern
and stops.
value)
acceleration/deceleration acceleration/deceleration Erases the home
position.
A difference occurs
3
Servo motor
0r/min
Servo motor
0r/min
between the command
speed speed
position and the current
LSP LSP position.
or ON or ON
LSN LSN
Execute a home
OFF OFF
position return again.
1 Without S-pattern Without S-pattern Moves for the amount
acceleration/deceleration acceleration/deceleration of droop pulse and
With S-pattern With S-pattern
acceleration/deceleration acceleration/deceleration stops.
2
Amount of Amount of Erases the home
droop pulse droop pulse
position.
A difference occurs
Servo motor Servo motor
speed 0r/min speed 0r/min between the command
position and the current
LSP LSP position.
or ON or ON
LSN OFF LSN OFF
Execute a home
position return again.

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15. INDEXER POSITIONING OPERATION

15.12 TROUBLESHOOTING
15.12.1 Trouble at start-up
Excessive adjustment or change of parameter setting must not be made as it will
CAUTION make operation instable.

POINT
Using the set up software(MR Configurator), you can refer to unrotated servo
motor reasons, etc.

The following faults may occur at start-up. If any of such faults occurs, take the corresponding action.

No. Start-up sequence Fault Investigation Possible cause Reference

1 Power on LED is not lit. Not improved if connectors 1. Power supply voltage fault
LED flickers. CN2, CN3 and CN6 are 2. Driver is faulty.
disconnected.
Improved when connectors Power supply of CN6 cabling is
CN6 is disconnected. shorted.
Improved when connector 1. Power supply of encoder
CN2 is disconnected. cabling is shorted.
2. Encoder is faulty.
Improved when connector Power supply of CN3 cabling is
CN3 is disconnected. shorted.
Alarm occurs. Refer to section 15.12.4 and remove cause. Section
15.12.4
2 Switch on servo-on Alarm occurs. Refer to section 15.12.4 and remove cause. Section
(RYn0) signal. 15.12.4
Servo motor shaft is 1. Check the external I/O 1. Servo-on (RYn0) is not input.
not servo-locked signal indication to see if (Wiring mistake)
(is free). the servo-on (RYn0) signal 2. 24VDC power is not supplied
is ON. to DICOM.
3 Gain adjustment Rotation ripples Make gain adjustment in the Gain adjustment fault Chapter 8
(speed fluctuations) following procedure.
are large at low 1. Increase the auto tuning
speed. response level.
2. Repeat acceleration and
deceleration several times
to complete auto tuning.
Large load inertia If the servo motor may be run Gain adjustment fault Chapter 8
moment causes the with safety, repeat
servo motor shaft to acceleration and deceleration
oscillate side to side. several times to complete
auto tuning.
4 Cyclic operation Position shift occurs Confirm the cumulative Pulse counting error, etc.
command pulses, cumulative due to noise.
feedback pulses and actual
servo motor position.

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15. INDEXER POSITIONING OPERATION

15.12.2 Operation at error occurrence

An error occurring during operation will result in any of the statuses indicated in the following table.

Operation mode
Error location Description
Test operation CC-Link operation
Servo side alarm Servo operation Stop Stop
occurrence CC-Link data communication Continued Continued
Option unit Servo operation Stop Stop
communication error CC-Link data communication Stop Stop
CC-Link Servo operation Stop Stop
communication error CC-Link data communication Stop Stop
PC or PLC...etc Servo operation Continued Stop
error/STOP CC-Link data communication Stop Stop
Servo side warning Servo operation Stop Continued
occurrence CC-Link data communication Continued Continued

15.12.3 CC-Link communication error

This section gives the definitions of the indications given in the communication alarm display section.
The driver has four LED indications.

L.RUN : Lit at normal receive of refresh data. Extinguished when data is not received for a given period of time.
SD : Lit when send data is "0".
RD : Lit when the carrier of receive data is detected.
L.ERR : Lit when the data addressed to the host is in CRC or abort error.

(Note) Communication alarm display LED

Operation
L.RUN SD RD L.ERR
Normal communication is made, but a CRC error sometimes occurs due to noise.
Normal communication
Hardware fault
Hardware fault
Receive data results in CRC error, disabling a response.
Data does not reach the host.
Hardware fault
Hardware fault
Polling response is made, but refresh receive is in CRC error.
Hardware fault
Hardware fault
Hardware fault
Data addressed to the host resulted in CRC error.
Data does not reach the host, or the data addressed to the host cannot be received due to
noise.
Hardware fault
Baud rate setting illegal
Station number setting illegal
Baud rate or station number setting changed midway (ERROR flickers for about 4s)
Data cannot be received due to power-off, power supply failure, open cable, etc.
WDT error occurrence (hardware fault)
Note. : Lit : Extinguished : Flicker

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15. INDEXER POSITIONING OPERATION

15.12.4 When alarm or warning has occurred

POINT
Configure up a circuit which will detect the trouble (ALM) signal and turn off
the servo-on (RYn0) at occurrence of an alarm.
(1) Alarms and warning list
When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or
warning has occurred, refer to (2), (3) in this section and take the appropriate action. When an alarm occurs,
ALM turns off.
After its cause has been removed, the alarm can be deactivated in any of the methods marked in the
alarm deactivation column.
Alarm deactivation Display Name
(Note 3) Home positioning incomplete
(Note 2) A90
MR warning
Display Name Power Alarm
Configurator A92 Open battery cable warning
OFF ON reset
parameter A96 Home position setting error
(RES)
unit A97 Next station warning
A10 Undervoltage A99 Stroke limit warning
A12 Memory error 1 (RAM) A9D CC-Link warning 1
A13 Clock error A9E CC-Link warning 2

Warnings
Memory error 2 A9F Battery warning
A15
(EEP-ROM) AE0 Excessive regeneration warning
Encoder error 1 AE1 Overload warning 1
A16
(At power on) AE3 Absolute position counter warning
A17 Board error AE6 Servo forced stop warning
Memory error 3 Cooling fan speed reduction
A19 AE8
(Flash-ROM) warning
A1A Motor combination error AE9 Main circuit off warning
A20 Encoder error 2 AEC Overload warning 2
A24 Main circuit error AED Output watt excess warning
A25 Absolute position erase
(Note 1) (Note 1) (Note 1)
A30 Regenerative error

A31 Overspeed
Alarms

A32 Overcurrent
A33 Overvoltage
A37 Parameter error
(Note 1) (Note 1) (Note 1)
A45 Main circuit device overheat

(Note 1) (Note 1) (Note 1)

A46 Servo motor overheat

A47 Cooling fan alarm

(Note 1) (Note 1) (Note 1)
A50 Overload 1

(Note 1) (Note 1) (Note 1)

A51 Overload 2

A52 Error excessive

A61 Operation alarm
Serial communication time-out
A8A
error
A8D CC-Link alarm
A8E Serial communication error
888 Watchdog
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. Turns on RY(n 1)A or RY(n 3)A.
3. Clicking the "Alarm reset" button on the "Alarm display" screen of set up software(MR Configurator) allows an alarm to be
deactivated.
Pressing the "STOP RESET" key of the parameter unit allows an alarm to be deactivated.
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15. INDEXER POSITIONING OPERATION

(2) Remedies for alarms

When any alarm has occurred, eliminate its cause, ensure safety, then reset the
alarm, and restart operation. Otherwise, injury may occur.
CAUTION If an absolute position erase (A25) occurred, always make home position setting
again. Not doing so may cause unexpected operation.
As soon as an alarm occurs, turn off Servo-on (RYn0) and power off.

POINT
When any of the following alarms has occurred, do not deactivate the alarm
and resume operation repeatedly. To do so will cause the driver/servo motor
to fail. Remove the cause of occurrence, and leave a cooling time of more
than 30 minutes before resuming operation.
Regenerative error (A30)
Overload 1 (A50)
Overload 2 (A51)
For the alarm deactivation method, refer to (1) in this section.

When an alarm occurs, the trouble (ALM) switches off and the dynamic brake is operated to stop the servo
motor. At this time, the display indicates the alarm No.
The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. Use the
set up software(MR Configurator) to refer to a factor of alarm occurrence.

Display Name Definition Cause Action

A10 Undervoltage Power supply 1. Power supply voltage is low. Check the power supply.
voltage dropped. 2. There was an instantaneous control
LECSC2-□: power failure of 60ms or longer.
160VAC or less 3. Shortage of power supply capacity
LECSC1-□: caused the power supply voltage to
83VAC or less drop at start, etc.
4. The bus voltage dropped to the
following value or less.
LECSC2-□: 200VDC
LECSC1-□: 158VDC
5. Faulty parts in the driver. Change the driver.
Checking method
Alarm (A10) occurs if power is
switched on after disconnection
of all cables but the control
circuit power supply cables.

A12 Memory error 1 RAM, memory fault Faulty parts in the driver. Change the driver.
(RAM) Checking method
A13 Clock error Printed board fault Alarm (any of A12 and A13)
occurs if power is switched on
after disconnection of all cables
but the control circuit power
supply cables.

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15. INDEXER POSITIONING OPERATION

Display Name Definition Cause Action

A15 Memory error 2 EEP-ROM fault 1. Faulty parts in the driver Change the driver.
(EEP-ROM) Checking method
Alarm (A15) occurs if power is
switched on after disconnection
of all cables but the control circuit
power supply cables.

2. The number of write times to EEP-

ROM exceeded 100,000.
3. The multi-revolution data, which is Execute a home position setting.
saved as a home position, read from
EEP-ROM is abnormal.
A16 Encoder error 1 Communication 1. Encoder connector (CN2) Connect correctly.
(At power on) error occurred disconnected.
between encoder 2. Encoder fault Change the servo motor.
and driver. 3. Encoder cable faulty Repair or change the cable.
(Wire breakage or shorted)
4. Encoder cable type (2-wire, 4-wire) Correct the setting in the fourth digit of
selection was wrong in parameter parameter No.PC22.
setting.
A17 Board error CPU/parts fault Faulty parts in the driver Change the driver.
A19 Memory error 3 ROM memory fault Checking method
(Flash ROM) Alarm (A17 or A19) occurs if
power is switched on after
disconnection of all cables but the
control circuit power supply cable.

A1A Motor Wrong combination Wrong combination of driver and servo Use correct combination.
combination of driver and servo motor connected.
error motor.
A20 Encoder error 2 Communication 1. Encoder connector (CN2) Connect correctly.
error occurred disconnected.
between encoder 2. Encoder cable faulty Repair or change the cable.
and driver. (Wire breakage or shorted)
3. Encoder fault Change the servo motor.
A24 Main circuit Ground fault 1. Power input wires and servo motor Connect correctly.
error occurred at the power wires are in contact.
servo motor power 2. Sheathes of servo motor power Change the cable.
(U,V and W phases) cables deteriorated, resulting in
of the driver. ground fault.
3. Main circuit of driver failed. Change the driver.
Checking method
Alarm (A24) occurs if the servo is
switched on after disconnecting
the U, V, W power cables from
the servo amplifier.

A25 Absolute Absolute position 1. Voltage drop in encoder After leaving the alarm occurring for a few
position erase data in error (Battery disconnected.) minutes, switch power off, then on again.
Always make home position setting again.
2. Battery voltage low Change the battery.
3. Battery cable or battery is faulty. Always make home position setting again.

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15. INDEXER POSITIONING OPERATION

Power was switched 4. Home position not set. After leaving the alarm occurring for a few
on for the first time minutes, switch power off, then on again.
in the absolute Always make home position setting again.
position detection
system.

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15. INDEXER POSITIONING OPERATION

Display Name Definition Cause Action

A30 Regenerative Permissible 1. Wrong setting of parameter No. Set correctly.
error regenerative power PA02
of the built-in 2. Built-in regenerative resistor or Connect correctly
regenerative resistor regenerative option is not connected.
or regenerative 3. High-duty operation or continuous 1. Reduce the frequency of positioning.
option is exceeded. regenerative operation caused the 2. Use the regenerative option of larger
permissible regenerative power of capacity.
the regenerative option to be 3. Reduce the load.
exceeded.
Checking method
Call the status display and check
the regenerative load ratio.

4. Power supply voltage is abnormal. Check the power supply

LECSC2-□ :260VAC or more
LECSC1-□ :More than 135VAC
5. Built-in regenerative resistor or Change the driver or regenerative option.
regenerative option faulty.
Regenerative 6. Regenerative transistor faulty. Change the driver.
transistor fault Checking method
1) The regenerative option has
overheated abnormally.
2) The alarm occurs even after
removal of the built-in
regenerative resistor or
regenerative option.

A31 Overspeed Speed has 1. Input command pulse frequency Set command pulses correctly.
exceeded the exceeded the permissible
instantaneous instantaneous speed frequency.
permissible speed. 2. Small acceleration/deceleration time Increase acceleration/deceleration time
constant caused overshoot to be constant.
large.
3. Servo system is instable to cause 1. Re-set servo gain to proper value.
overshoot. 2. If servo gain cannot be set to proper
value.
1) Reduce load inertia moment ratio; or
2) Reexamine acceleration/
deceleration time constant.
4. Electronic gear ratio is large Set correctly.
(parameters No.PA06, PA07)
5. Encoder faulty. Change the servo motor.

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15. INDEXER POSITIONING OPERATION

Display Name Definition Cause Action

A32 Overcurrent Current that flew is 1. Short occurred in servo motor power Correct the wiring.
higher than the (U, V, W).
permissible current 2. Transistor (IPM, IGBT) of the driver Change the driver.
of the driver. (If the faulty.
alarm (A32) occurs Checking method
again when turning Alarm (A32) occurs if power is
ON the servo after switched on after U,V and W are
resetting the alarm disconnected.
by turning OFF/ON
3. Ground fault occurred in servo motor Correct the wiring.
the power when the
power (U, V, W).
alarm (A32) first
4. External noise caused the Take noise suppression measures.
occurred, the
overcurrent detection circuit to
transistor (IPM,
misoperate.
IGBT) of the driver
may be at fault. In
the case, do not
repeat to turn
OFF/ON the power.
Check the transistor
with the checking
method of “Cause
2”.)
A33 Overvoltage The following shows 1. Regenerative option is not used. Use the regenerative option.
the input value of 2. Though the regenerative option is Set correctly.
converter bus used, the parameter No.PA02 setting
voltage. is " 00 (not used)".
LECSC□-□: 3. Lead of built-in regenerative resistor 1. Change the lead.
400VDC or more or regenerative option is open or 2. Connect correctly.
disconnected.
4. Regenerative transistor faulty. Change the driver
5. Wire breakage of built-in 1. For wire breakage of built-in
regenerative resistor or regenerative regenerative resistor, change the
option. driver.
2. For wire breakage of regenerative
option, change the regenerative option.
6. Capacity of built-in regenerative Add regenerative option or increase
resistor or regenerative option is capacity.
insufficient.
7. Power supply voltage high. Check the power supply.
8. Ground fault occurred in servo motor Correct the wiring.
power (U, V, W).

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15. INDEXER POSITIONING OPERATION

Display Name Definition Cause Action

A37 Parameter Parameter setting is 1. Driver fault caused the parameter Change the driver.
error wrong. setting to be rewritten.
2. Regenerative option not used with Set parameter No.PA02 correctly.
driver was selected in parameter
No.PA02.
3. Value outside setting range has Set parameters No.PA06, PA07 correctly.
been set in electronic gear.
4. The number of write times to EEP- Change the driver.
ROM exceeded 100,000 due to
parameter write, etc.
5. The MR-J3-D01 is connected to the The MR-J3-D01 cannot be used for the
driver for the indexer positioning indexer positioning operation.
operation.
Point table setting is 6. Setting value is out of the setting Set it correctly.
wrong. range.
A45 Main circuit Main circuit device 1. Driver faulty. Change the driver.
device overheat.
overheat
2. The power supply was turned on and The drive method is reviewed.
off continuously by overloaded
status.
3. Ambient temperature of servo motor Check environment so that ambient
is over 55 (131 ). temperature is 0 to 55 (32 to 131 ).
4. Used beyond the specifications of Use within the range of specifications.
close mounting.
A46 Servo motor Servo motor 1. Ambient temperature of servo motor Check environment so that ambient
overheat temperature rise is over 40 (104 ). temperature is 0 to 40 (32 to 104 ).
actuated the thermal 2. Servo motor is overloaded. 1. Reduce load.
sensor. 2. Check operation pattern.
3. Use servo motor that provides larger
output.
3. Thermal sensor in encoder is faulty. Change the servo motor.
A47 Cooling fan The cooling fan of Cooling fan life expiration (Refer to Change the cooling fan of the driver.
alarm the driver stopped, section 2.5.)
or its speed Foreign matter caught in the cooling Remove the foreign matter.
decreased to or fan stopped rotation.
below the alarm The power supply of the cooling fan Change the driver.
level. failed.

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15. INDEXER POSITIONING OPERATION

Display Name Definition Cause Action

A50 Overload 1 Load exceeded 1. Driver is used in excess of its 1. Reduce load.
overload protection continuous output current. 2. Check operation pattern.
characteristic of 3. Use servo motor that provides larger
driver. output.
2. Servo system is instable and 1. Repeat acceleration/deceleration to
hunting. execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
3. Machine struck something. 1. Check operation pattern.
2. Install limit switches.
4. Wrong connection of servo motor. Connect correctly.
Driver's output terminals U, V, W do
not match servo motor's input
terminals U, V, W.
5. Encoder faulty. Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do not
vary in proportion to the rotary angle
of the shaft but the indication skips
or returns midway.

6. After Overload 2 (A51) occurred, turn 1. Reduce load.

OFF/ON the power supply to clear 2. Check operation pattern.
the alarm. Then the overload 3. Use servo motor that provides larger
operation is repeated. output.
A51 Overload 2 Machine collision or 1. Machine struck something. 1. Check operation pattern.
the like caused max. 2. Install limit switches.
For the time of the 2. Wrong connection of servo motor. Connect correctly.
alarm occurrence, Driver's output terminals U, V, W do
refer to the section not match servo motor's input
12.1. terminals U, V, W.
3. Servo system is instable and 1. Repeat acceleration/deceleration to
hunting. execute auto tuning.
2. Change auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
4. Encoder faulty. Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do not
vary in proportion to the rotary angle
of the shaft but the indication skips
or returns midway.

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15. INDEXER POSITIONING OPERATION

Display Name Definition Cause Action

A52 Error excessive The difference 1. Acceleration/deceleration time Increase the acceleration/deceleration
between the model constant is too small. time constant.
position and the 2. Forward rotation torque limit Increase the torque limit value.
actual servo motor (parameter No.PA11) or reverse
position exceeds rotation torque limit (parameter
three rotations. No.PA12) are too small.
(Refer to the 3. Motor cannot be started due to 1. Check the power supply capacity.
function block torque shortage caused by power 2. Use servo motor which provides larger
diagram in section supply voltage drop. output.
1.1.2.) 4. Position loop gain (parameter Increase set value and adjust to ensure
No.PB08) value is small. proper operation.
5. Servo motor shaft was rotated by 1. When torque is limited, increase the
external force. limit value.
2. Reduce load.
3. Use servo motor that provides larger
output.
6. Machine struck something. 1. Check operation pattern.
2. Install limit switches.
7. Encoder faulty. Change the servo motor.
8. Wrong connection of servo motor. Connect correctly.
Driver’s output terminals U, V, W do
not match servo motor’s input
terminals U, V, W.
A61 Operation Setting mistake of "1" or "3" is set for the auxiliary function Set "0" or "2" for the value of auxiliary
alarm auxiliary function. of point table No.255. function.
A8A Serial Communication 1. Communication cable breakage. Repair or change the communication
communication stopped for longer cable.
time-out error than the specified 2. Communication cycle longer than Shorten the communication cycle.
time. regulated time.
3. Wrong protocol. Correct protocol.
A8D CC-Link alarm Normal 1. The station number switch Set the station number to within the range
communication with (STATION NO.) setting is 0 or not 1 to 64, and switch power on.
the master station less than 65.
cannot be made. 2. The baud rate switch (MODE) setting Set the baud rate switch (MODE) to
is outside the range 0 to 4. within the range 0 to 4.
3. The transmission status is abnormal. Reexamine the wiring.
4. CC-Link twisted cable wiring 1. Repair or change the CC-Link twisted
incorrect. cable.
5. CC-Link twisted cable faulty. 2. Connect the cable or connector
6. The CC-Link connector has come correctly.
off.
7. The terminating resistor is not Connect the terminating resistor correctly.
connected.
8. Noise entered the CC-Link twisted
cable.
9. The PC or PLC...etc CC-Link unit
was reset.
A8E Serial Serial 1. Communication cable fault Repair or change the cable.
communication communication error (Open cable or short circuit).

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15. INDEXER POSITIONING OPERATION

error occurred between 2. Communication device (e.g. personal Change the communication device (e.g.
driver and computer) faulty. personal computer).
communication
device (e.g. personal
computer).

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15. INDEXER POSITIONING OPERATION

Display Name Definition Cause Action

(Note) Watchdog CPU, parts faulty. Fault of parts in driver. Change the driver.
888 Checking method
Alarm (888) occurs if power is
switched on after disconnection of
all cables but the control circuit
power supply cable.

Note. At power-on, "888" appears instantaneously, but it is not an error.

(3) Remedies for warnings

If an absolute position counter warning (AE3) occurred, always make home

CAUTION position setting again. Not doing so may cause unexpected operation.

POINT
When any of the following alarms has occurred, do not resume operation by
switching power of the driver OFF/ON repeatedly. The driver and servo motor
may become faulty. If the power of the driver is switched OFF/ON during the
alarms, allow more than 30 minutes for cooling before resuming operation.
Excessive regenerative warning (AE0)
Overload warning 1 (AE1)
Always execute a home position return when the forward rotation stroke end
(LSP) or the reverse rotation stroke end (LSN) turns off.

15 - 111
15. INDEXER POSITIONING OPERATION

If AE6 occur, the servo off status is established. If any other warning occurs, operation can be continued
but an alarm may take place or proper operation may not be performed.
Remove the cause of warning according to this section. Use the set up software(MR Configurator) to refer
to a factor of warning occurrence.

Display Name Definition Cause Action

A90 Home position Positioning 1. Positioning operation was performed Perform home position return.
return incomplete operation was without home position return.
performed without
home position
return.
Home position 2. Home position return speed could not be Check home position return
return ended decreased to creep speed. speed/creep speed/moving
In incremental system

abnormally. 3. Limit switch was actuated during home distance after proximity dog.
position return starting at other than
position beyond dog.
Home position 4. Indexer JOG operation (in automatic/ Perform home position return.
return is manual operation) was executed without This warning is automatically
incomplete. home position return. cleared after executing a home
5. The operation method (parameter position return.
No.PA01), electronic gear (parameter
No.PA06 and PA07), station No.
direction selection (parameter No.PA14),
or number of stations/rotation
(parameter No.PC46) is changed.
Positioning 1. Positioning operation was performed Perform home position setting.
operation was without home position setting.
performed without
home position
setting.
Home position 2. Home position setting speed could not Check home position setting
setting ended be decreased to creep speed. speed/creep speed/moving
abnormally. 3. Limit switch was actuated during home distance after proximity dog.
In absolute position detection system

position setting starting at other than

position beyond dog.
Operation was 4. Voltage drop in encoder After leaving the alarm occurring
performed without (Battery disconnected.) for a few minutes, switch power
making home off, then on again. Always make
position setting home position setting again.
while an absolute 5. Battery voltage low Change the battery.
position erase 6. Battery cable or battery is faulty. Always make home position
(A25) is being setting again.
occurred.
Home position 7. Indexer JOG operation (in automatic/ Perform home position setting.
setting is manual operation) was executed without This warning is automatically
incomplete. home position setting. cleared after executing a home
8. The operation method (parameter position setting.
No.PA01), electronic gear (parameter
No.PA06 and PA07), station No.
direction selection (parameter No.PA14),
or number of stations/rotation
(parameter No.PC46) is changed.

15 - 112
15. INDEXER POSITIONING OPERATION

Display Name Definition Cause Action

A92 Open battery Absolute position 1. Battery cable is open. Repair cable or changed.
cable warning detection system battery 2. Battery voltage supplied from the driver Change the battery.
voltage is low. to the encoder fell to about 3V or less.
(Detected with the encoder)
A96 Home position Home position setting 1. Droop pulses remaining are greater than Remove the cause of droop
setting error could not be made. the in-position range setting. pulse occurrence
2. Command pulse entered after clearing of Do not enter command pulse
droop pulses. after clearing of droop pulses.
3. Creep speed high. Reduce creep speed.
A97 Next station Automatic operation is 1. Automatic operation has been started Specify the station number up to
warning executed with invalid when station number that exceeded the the maximum number of
next station setting. setting value of parameter No.PC46 stations set in the parameter
(number of stations/rotation) is specified. No.PC46 (indexer positioning
2. Automatic operation has been started operation number of
when the next station selection 1 to 8 stations/rotation).
(RYnA to RYnE, and RY(n 2)3 to
RY(n 2)5) are all set to on.
A99 Stroke limit The limit switch become The stroke end (LSP or LSN) of the Reexamine the operation
warning valid. direction which gave instructions was pattern to turn LSP/LSN ON.
turned off.
A9D CC-Link warning The station number 1. The station number switch position was Return to the setting at power-
1 switch or baud rate changed from the setting at power-on. on.
switch position was 2. The baud rate switch position was
changed from the setting changed from the setting at power-on.
at power-on. 3. The occupied station count switch
position was changed from the setting at
power-on.
A9E CC-Link warning Communication error of 1. The transmission status is abnormal. Take measures against noise.
2 cable. 2. CC-Link twisted cable wiring incorrect. 1. Change the CC-Link twisted
3. CC-Link twisted cable faulty. cable.
4. The CC-Link connector has come off. 2. Connect the cable or
connector correctly.
5. The terminating resistor is not Connect the terminating resistor
connected. correctly.
6. Noise entered the CC-Link twisted cable.
A9F Battery warning Voltage of battery for Battery voltage fell to 3.2V or less. Change the battery.
absolute position (Detected with the driver)
detection system
reduced.
AE0 Excessive There is a possibility that Regenerative power increased to 85% or 1. Reduce frequency of
regenerative regenerative power may more of permissible regenerative power of positioning.
warning exceed permissible built-in regenerative resistor or regenerative 2. Change the regenerative
regenerative power of option. option for the one with larger
built-in regenerative Checking method capacity.
Call the status display and check
resistor or regenerative 3. Reduce load.
regenerative load ratio.
option.
AE1 Overload warning There is a possibility that Load increased to 85% or more of overload Refer to A50, A51.
1 overload alarm 1 or 2 alarm 1 or 2 occurrence level.
may occur. Cause, checking method
Refer to A50, A51.

15 - 113
15. INDEXER POSITIONING OPERATION

Display Name Definition Cause Action

AE3 Absolute position Absolute position 1. Noise entered the encoder. Take noise suppression
counter warning encoder pulses faulty. measures.
2. Encoder faulty. Change the servo motor.
The multi-revolution 3. The movement amount from the home Make home position setting
counter value of the position exceeded a 32767 rotation or again.
absolute position 37268 rotation in succession.
encoder exceeded the
maximum revolution
range.
The update cycle for Refer to POINT in section 15.7. Refer to POINT in section 15.7.
writing the multi-
revolution counter value
of the absolute position
encoder to EEPROM is
short.
AE6 Servo forced stop EMG is off. External forced stop was made valid. (EMG Ensure safety and deactivate
warning was turned off.) forced stop.
AE8 Cooling fan The speed of the driver Cooling fan life expiration (Refer to section Change the cooling fan of the
speed reduction decreased to or below 2.5.) driver.
warning the warning level.

The power supply of the cooling fan is Change the driver.

broken.

AE9 Main circuit off Servo-on (SON) was Switch on main circuit power.
warning switched on with main
circuit power off.
AEC Overload warning Operation, in which a During a stop, the status in which a current 1. Reduce the positioning
2 current exceeding the flew intensively in any of the U, V and W frequency at the specific
rating flew intensively in phases of the servo motor occurred positioning address.
any of the U, V and W repeatedly, exceeding the warning level. 2. Reduce the load.
phases of the servo 3. Replace the driver/
motor, was repeated. servo motor with the one of
larger capacity.
AED Output watt The status, in which the Continuous operation was performed with 1. Reduce the servo motor
excess warning output wattage (speed the output wattage (speed torque) of the speed.
torque) of the servo servo motor exceeding 150% of the rated 2. Reduce the load.
motor exceeded the output.
rated output, continued
steadily.

15 - 114
15. INDEXER POSITIONING OPERATION

15.12.5 Point table error

When a point table error occurs, the parameter error (A37) occurs. After the parameter No. of parameter error
(A37), the point table error details are displayed.
AL37 #00
PB10 PB11
PB12 PB16
Spd001

Point table error details

For the point table No.1 speed data error

Point table No. with error

Error item
Spd: speed
Acc: acceleration time constant
Dec: deceleration time constant

15 - 115
APPENDIX

App. 1 Parameter list .........................................................................................................................................2

App. 2 Signal layout recording paper ................................................................................................................4
App. 3 Twin type connector: outline drawing for 721-2105/026-000(WAGO) ...................................................5
App. 4 Parameter list .........................................................................................................................................6
App. 5 Program example with MELSEC-A series programmable PC or PLC...etc...........................................8
App. 5.1 Function-by-function programming examples .................................................................................8
App. 5.1.1 System configuration example..................................................................................................8
App. 5.1.2 Reading the driver status ..........................................................................................................9
App. 5.1.3 Writing the operation commands ............................................................................................10
App. 5.1.4 Reading the data.....................................................................................................................11
App. 5.1.5 Writing the data.......................................................................................................................14
App. 5.1.6 Operation ................................................................................................................................17
App. 5.2 Continuous operation program example .......................................................................................20
App. 5.2.1 System configuration example when 1 station is occupied ....................................................20
App. 5.2.2 Program example when 1 station is occupied ........................................................................21
App. 5.2.3 System configuration example when 2 stations are occupied................................................23
App. 5.2.4 Program example when 2 stations are occupied....................................................................24

App. - 1
APPENDIX

App. 1 Parameter list

POINT
For any parameter whose symbol is preceded by *, set the parameter value
and switch power off once, then switch it on again to make that parameter
setting valid.

Basic setting parameters (PA ) Gain/filter parameters (PB )

No. Symbol Name No. Symbol Name
PA01 *STY Control mode PB01 FILT Adaptive tuning mode (Adaptive filter )
PA02 *REG Regenerative option Vibration suppression control tuning mode
PB02 VRFT
PA03 *ABS Absolute position detection system (Advanced vibration suppression control)
PA04 *AOP1 Function selection A-1 PB03 For manufacturer setting
PA05 *FTY Feeding function selection PB04 FFC Feed forward gain
PA06 *CMX Electronic gear numerator PB05 For manufacturer setting
PA07 *CDV Electronic gear denominator Ratio of load inertia moment to servo motor
PB06 GD2
PA08 ATU Auto tuning inertia moment
PA09 RSP Auto tuning response PB07 PG1 Model loop gain
PA10 INP In-position range PB08 PG2 Position loop gain
PA11 TLP Forward rotation torque limit PB09 VG2 Speed loop gain
PA12 TLN Reverse rotation torque limit PB10 VIC Speed integral compensation
PA13 For manufacturer setting PB11 VDC Speed differential compensation
PA14 *POL Rotation direction selection PB12 For manufacturer setting
PA15 *ENR Encoder output pulses PB13 NH1 Machine resonance suppression filter 1
PA16 PB14 NHQ1 Notch form selection 1
to For manufacturer setting PB15 NH2 Machine resonance suppression filter 2
PA18 PB16 NHQ2 Notch form selection 2
PA19 *BLK Parameter write inhibit PB17 Automatic setting parameter
PB18 LPF Low-pass filter
Vibration suppression control vibration
PB19 VRF1
frequency setting
Vibration suppression control resonance
PB20 VRF2
frequency setting
PB21
For manufacturer setting
PB22
PB23 VFBF Low-pass filter selection
PB24 *MVS Slight vibration suppression control selection
PB25 For manufacturer setting
PB26 *CDP Gain changing selection
PB27 CDL Gain changing condition
PB28 CDT Gain changing time constant
Gain changing ratio of load inertia moment to
PB29 GD2B
servo motor inertia moment
PB30 PG2B Gain changing position loop gain
PB31 VG2B Gain changing speed loop gain
PB32 VICB Gain changing speed integral compensation
Gain changing vibration suppression control
PB33 VRF1B
vibration frequency setting
Gain changing vibration suppression control
PB34 VRF2B
resonance frequency setting
PB35
to For manufacturer setting
PB45

App. - 2
APPENDIX

Extension setting parameters (PC ) I/O setting parameters (PD )

No. Symbol Name No. Symbol Name
PC01 For manufacturer setting PD01 *DIA1 Input signal automatic ON selection 1
PC02 *ZTY Home position return type PD02 For manufacturer setting
PC03 *ZDIR Home position return direction PD03 *DIA3 Input signal automatic ON selection 3
PC04 ZRF Home position return speed PD04 *DIA4 Input signal automatic ON selection 4
PC05 CRF Creep speed PD05 For manufacturer setting
PC06 ZST Home position shift distance PD06 *DI2 Input signal device selection 2 (CN6-2)
PC07 *ZPS Home position return position data PD07 *DI3 Input signal device selection 3 (CN6-3)
PC08 DCT Moving distance after proximity dog PD08 *DI4 Input signal device selection 4 (CN6-4)
Stopper type home position return PD09 *DO1 Input signal device selection 1 (CN6-14)
PC09 ZTM
stopper time PD10 *DO2 Input signal device selection 2 (CN6-15)
Stopper type home position return PD11 *DO3 Input signal device selection 3 (CN6-16)
PC10 ZTT
torque limit value PD12 DIN1 External DI function selection 1
PC11 CRP Rough match output range PD13 For manufacturer setting
PC12 JOG Jog speed PD14 DIN3 External DI function selection 3
S-pattern acceleration/deceleration PD15 For manufacturer setting
PC13 *STC
time constant PD16 *DIAB Input polarity selection
PC14 *BKC Backlash compensation PD17
For manufacturer setting
PC15 For manufacturer setting PD18
Electromagnetic brake sequence PD19 *DIF Response level setting
PC16 MBR
output PD20 *DOP1 Function selection D-1
PC17 ZSP Zero speed PD21 For manufacturer setting
PC18 *BPS Alarm history clear PD22 *DOP3 Function selection D-2
PC19 *ENRS Encoder output pulse selection PD23 For manufacturer setting
PC20 *SNO Station number setting PD24 *DOP5 Function selection D-5
RS-422 communication function PD25
PC21 *SOP
selection to For manufacturer setting
PC22 *COP1 Function selection C-1 PD30
PC23 For manufacturer setting
PC24 *COP3 Function selection C-3
PC25 For manufacturer setting
PC26 *COP5 Function selection C-5
PC27 For manufacturer setting
PC28 *COP7 Function selection C-7
PC29 For manufacturer setting
Remote register-based position/speed
PC30 *DSS
specifying system selection
PC31 LMPL
Software limit
PC32 LMPH
PC33 LMNL
Software limit
PC34 LMNH
PC35 TL2 Internal torque limit 2
PC36 For manufacturer setting
PC37 *LPPL
Position range output address
PC38 *LPPH
PC39 *LNPL
Position range output address
PC40 *LNPH
PC41
to For manufacturer setting
PC50

App. - 3
APPENDIX

App. 2 Signal layout recording paper

CN6

1 14
2 15

3 16
4 17
DOCOM
5 18
6 DICOM
19
OPC
PP NP
7 20
8 21

9 22
10 23
LG
11 24
12 25
LA LAR
LB LBR
13 26
LZ LZR

App. - 4
APPENDIX

App. 3 Twin type connector: outline drawing for 721-2105/026-000(WAGO)

[Unit: mm]
Latch Coding finger

Detecting hole

4 5( 20) 26.45 25
2.75 5 15.1 2.9 5.25 5 4.75
10.6
5.8
20.8

2.7 Driver slot Wire inserting hole

App. - 5
APPENDIX

App. 4 Parameter list

POINT
For any parameter whose symbol is preceded by *, set the parameter value
and switch power off once, then switch it on again to make that parameter
setting valid.

Basic setting parameters (PA ) Gain/filter parameters (PB )

No. Symbol Name No. Symbol Name
PA01 *STY Control mode PB01 FILT Adaptive tuning mode (Adaptive filter )
PA02 *REG Regenerative option Vibration suppression control tuning mode
PB02 VRFT
PA03 *ABS Absolute position detection system (Advanced vibration suppression control)
PA04 Not used in indexer positioning operation. PB03 For manufacturer setting
PA05 PB04 FFC Feed forward gain
PA06 *CMX Number of gears on machine-side PB05 For manufacturer setting
PA07 *CDV Number of gears on servo motor-side Ratio of load inertia moment to servo motor
PB06 GD2
PA08 ATU Auto tuning inertia moment
PA09 RSP Auto tuning response PB07 PG1 Model loop gain
PA10 INP In-position range PB08 PG2 Position loop gain
PA11 TLP Forward rotation torque limit PB09 VG2 Speed loop gain
PA12 TLN Reverse rotation torque limit PB10 VIC Speed integral compensation
PA13 For manufacturer setting PB11 VDC Speed differential compensation
PA14 *POL Rotation direction selection PB12 For manufacturer setting
PA15 *ENR Encoder output pulses PB13 NH1 Machine resonance suppression filter 1
PA16 For manufacturer setting PB14 NHQ1 Notch form selection 1
to PB15 NH2 Machine resonance suppression filter 2
PA18 PB16 NHQ2 Notch form selection 2
PA19 *BLK Parameter write inhibit PB17 Automatic setting parameter
PB18 LPF Low-pass filter
Vibration suppression control vibration
PB19 VRF1
frequency setting
Vibration suppression control resonance
PB20 VRF2
frequency setting
PB21 For manufacturer setting
PB22
PB23 VFBF Low-pass filter selection
PB24 *MVS Slight vibration suppression control selection
PB25 For manufacturer setting
PB26 *CDP Gain changing selection
PB27 CDL Gain changing condition
PB28 CDT Gain changing time constant
Gain changing ratio of load inertia moment to
PB29 GD2B
servo motor inertia moment
PB30 PG2B Gain changing position loop gain
PB31 VG2B Gain changing speed loop gain
PB32 VICB Gain changing speed integral compensation
Gain changing vibration suppression control
PB33 VRF1B
vibration frequency setting
Gain changing vibration suppression control
PB34 VRF2B
resonance frequency setting
PB35 For manufacturer setting
to
PB45

App. - 6
APPENDIX

Extension setting parameters (PC ) I/O setting parameters (PD )

No. Symbol Name No. Symbol Name
PC01 For manufacturer setting PD01 *DIA1 Input signal automatic ON selection 1
PC02 *ZTY Home position return type PD02 For manufacturer setting
PC03 *ZDIR Home position return direction PD03 Not used in indexer positioning operation.
PC04 ZRF Home position return speed PD04
PC05 CRF Creep speed PD05 For manufacturer setting
PC06 ZST Home position shift distance PD06 Not used in indexer positioning operation.
PC07 Not used in indexer positioning PD07
PC08 operation. PD08
PC09 PD09
PC10 PD10
PC11 CRP Rough match output range PD11
PC12 JOG Jog speed PD12
Not used in indexer positioning PD13 For manufacturer setting
PC13
operation. PD14 Not used in indexer positioning operation.
PC14 *BKC Backlash compensation PD15 For manufacturer setting
PC15 For manufacturer setting PD16 *DIAB Input polarity selection
Electromagnetic brake sequence PD17
PC16 MBR For manufacturer setting
output PD18
Not used in indexer positioning PD19 *DIF Response level setting
PC17
operation. PD20 *DOP1 Function selection D-1
PC18 *BPS Alarm history clear PD21 For manufacturer setting
PC19 *ENRS Encoder output pulse selection PD22 Not used in indexer positioning operation.
PC20 *SNO Station number setting PD23 For manufacturer setting
RS-422 communication function PD24 *DOP5 Function selection D-5
PC21 *SOP
selection PD25 For manufacturer setting
PC22 *COP1 Function selection C-1 Indexer positioning operation torque limit delay
PD26 TLT
PC23 For manufacturer setting time
Not used in indexer positioning PD27 For manufacturer setting
PC24
operation. to
PC25 For manufacturer setting PD30
PC26 *COP5 Function selection C-5
PC27 For manufacturer setting
PC28 *COP7 Function selection C-7
PC29 For manufacturer setting
Remote register-based position/speed
PC30 *DSS
specifying system selection
PC31 Not used in indexer positioning
PC32 operation.
PC33
PC34
PC35 TL2 Internal torque limit 2
PC36 For manufacturer setting
PC37 Not used in indexer positioning
PC38 operation.
PC39
PC40
PC41 For manufacturer setting
to
PC44
PC45 *COP9 Function selection C-9
Indexer positioning operation number
PC46 *STN
of stations/rotation
Indexer positioning operation station
PC47 PSST
home position shift distance
PC48 For manufacturer setting
to
PC50

App. - 7
APPENDIX

App. 5 Program example with MELSEC-A series programmable PC or PLC...etc

(point table positioning operation)

App. 5.1 Function-by-function programming examples

This section explains specific programming examples for servo operation, monitor, parameter read and write,
and others on the basis of the equipment makeup shown in appendix 8.1.1.

App. 5.1.1 System configuration example

As shown below, the CC-Link system master local unit is loaded to run two drivers (1 station occupied / 2
stations occupied).
Programmable controller
Master station Input module
Power supply CPU
A1SJ61BT11 A1SX40
A1S62PN A1SHCPU
(X/Y00 to 1F) (X20 to X2F)

Terminating X20 to
resistor
Station No.1 Station No.2

Servo
Driver amplifier Servo
Driver amplifier
(1 station occupied) (2 stations occupied)

Terminating
resistor

App. - 8
APPENDIX

App. 5.1.2 Reading the driver status

Read the driver status from the master station buffer memory. The driver status is always stored in the remote
input RX (addresses E0H to 15FH) Read the driver status of station 1 to M0 to M31.

Reads remote input (RX00 to RX1F) of

buffer memory to M0 to M31.

Address Remote input

Station E0H RX0F to RX00

No.1 1 Station FROM command
E1H RX1F to RX10 M15 M10 M5 M0
E2H RX2F to RX20 RXF to RX0 * 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1
2 Station
Station E3H RX3F to RX30
No.2 E4H RX4F to RX40
3 Station In position Ready
E5H RX5F to RX50

M31 M26 M21 M16

15EH RX7EF to RX7E0 RX1F to RX10 * * * * 1 0 * * * * * * * * * *
64 Station
15FH RX7FF to RX7F0

Note. area is for one servo amplifier. Remote station communication ready
*: Set 0 or 1 as the bit is not used.

Driver status (1 station occupied)

M0: Ready (RD) M8: Monitoring (MOF) M16: M24:
M1: In position (INP) M9: Instruction code execution completion M17: M25:
M2: Rough match (CPO) (COF) M18: M26: Trouble (ALM)
M3: Home position return completion (ZP) M10: Warning (WNG) M19: M27: Remote station
M4: Limiting torque (TLC) M11: Battery warning (BWNG) M20: communication
M5: M12: Movement completion (MEND) M21: ready (CRD)
M6: Electromagnetic brake interlock M13: Dynamic brake interlock (DB) M22: M28:
(MBR) M14: Position range (POT) M23: M29:
M7: Temporary stop (PUS) M15: M30:
M31:

App. - 9
APPENDIX

App. 5.1.3 Writing the operation commands

To operate the driver, write the operation commands to the remote output RY (addresses 160H to 1DFH).
Perform positioning operation of point table No.2 for the driver of station 2.
Start the operation by turning on X20.

Servo-on command (RY00)

Point table No. selection 2 command (RY0B)

Automatic/manual selection command (RY06)

Point table establishment time 10ms *1

Forward rotation start command (RY01)

Operation command
Command demand time 10ms *1

Forward rotation start command reset

Writes M100 to M131 to remote output (RY00 to
RY1F) of buffer memory.

*1: Setting time for the timer should be larger than the command processing
time or twice the link scan time whichever larger. When the setting time is
short, the command cannot be received properly.

Address
M115 M110 M105 M100 160H RY0F to RY00
1 Station Station
RY0F to RY00 * 0 0 0 1 0 0 0 0 1 1 1 0 0 1 1 TO instruction 161H RY1F to RY10 No.1

162H RY2F to RY20

2 Station
163H RY3F to RY30
Point table selection 2 Automatic/manual selection Forward rotation start Servo-on Station
164H RY4F to RY40 No.2
3 Station
M131 M126 M121 M116 165H RY5F to RY50
RY1F to RY10 * * * * * 0 * * * * * * * * * *

1DEH RY7EF to RY7E0

64 Station
1DFH RY7FF to RY7F0

Note. area is for one servo amplifier.

*: Set 0 as the bit is not used.

Operation commands (1 station occupied)

M100: Servo-on (SON) M108: Monitor output execution demand M116: M124:
M101: Forward rotation start (ST1) (MOR) M117: M125:
M102: Reverse rotation start (ST2) M109: Instruction code execution demand M118: M126: Reset (RES)
M103: Proximity dog (DOG) (COR) M119: M127:
M104: Forward rotation stroke end (LSP) M110: Point table No. selection 1 (DI0) M120: M128:
M105: Reverse rotation stroke end (LSN) M111: Point table No. selection 2 (DI1) M121: M129:
M106: Automatic/manual selection (MDO) M112: Point table No. selection 3 (DI2) M122: M130:
M107: Temporary stop/Restart (TSTP) M113: Point table No. selection 4 (DI3) M123: M131:
M114: Point table No. selection 5 (DI4)
M115: Clear (CR)

App. - 10
APPENDIX

App. 5.1.4 Reading the data

Read various data of the driver.

(1) Reading the monitor value

Read the (feedback pulse value) of the driver of station 2 to D1.

Data No. Description

H000A Cumulative feedback pulse data (hexadecimal)

Read the cumulative feedback pulse monitor by turning on X20.

Reads remote input (RX20 to RX5F) of buffer

memory to M200 to M263.

Read Sets monitor code (H000A) of feedback pulse

command in RWw4.

Turns on Monitor output execution demand

(RY28).
Reads RWr4 and RWr5 of buffer memory to
D10 and D11 when monitoring (RX28) turns on.
Writes M100 to M163 to remote output (RY20 to
RY5F) of buffer memory.
Monitor stop

App. - 11
APPENDIX

(2) Reading the parameter

Read parameter No.PA04 "Function selection A-1" of the driver of station 2 to D1.

Data No. Description

H8200 Parameter group selection
H2024 Parameter No.PA04 setting (hexadecimal)

Read the parameter No.PA04 by turning on X20.

The respond code at instruction code execution is set to D9.

Reads remote input (RX20 to RX5F) of buffer

memory to M200 to M263.

Read command

Writes parameter group No. write (H8200) to

RWw6 and parameter group PA (H0000) to
RWw7.

Turns on instruction code execution demand

(RY29).

Turns off instruction code execution demand

(RY29) when instruction code execution
completion (RX29) turns on.
Writes parameter No.PA04 read (H0204) to
RWw6.

Turns on instruction code execution demand

(RY29).

Reads RWr7 and RWr6 of buffer memory to

D1 and D9 when instruction code execution
completion (RX29) turns on.
Turns off instruction code execution demand
(RY29).
Writes M100 to M163 to remote output (RY20 to
RY5F) of buffer memory.

App. - 12
APPENDIX

(3) Reading the alarm definition

Read the alarm definition of the driver of station 2 to D1.

Data No. Description

H0010 Occurring alarm/warning No. (hexadecimal)

Read current alarms by turning on X20.

The respond code at instruction code execution is set to D9.

Reads remote input (RX20 to RX5F) of buffer

memory to M200 to M263.

Read command

Writes current alarm read (H0010) to RWw6.

Turns on instruction code execution demand

(RY29).

Reads RWr7 and RWr6 of buffer memory to

D1 and D9 when instruction code execution
completion (RX29) turns on.
Turns off instruction code execution demand
(RY29).

Writes M100 to M163 to remote output (RY20 to

RY5F) of buffer memory.

App. - 13
APPENDIX

App. 5.1.5 Writing the data

This section explains the programs for writing various data to the driver.

(1) Writing the servo motor speed data of point table

Change the servo motor speed data in the point table No.1 of the driver of station 2 to "100".
The following shows a program example for writing data to the driver when two stations are occupied.
Writing is disabled for the driver when one station is occupied.

Code No. Description

Write of servo motor speed data of point table No.1
H8D01
(hexadecimal)

Set data Description

Servo motor speed data of point table No.1
K100
(decimal)

Write the data to the servo motor speed data of point table No.1 by turning on X20.
The respond code at instruction code execution is set to D2.

Reads remote input (RX20 to RX5F) of buffer

memory to M200 to M263.

Write In position
command

Writes speed data (H8D01) of point table No.1

to RWw6, and speed data (K100) to RWw7.

Turns on instruction code execution demand

(RY29).

Reads respond code (RWr6) to D2 when

instruction code execution completion (RX29)
turns on.
Turns off instruction code execution demand
(RY29).

Writes M100 to M163 to remote output (RY20 to

RY5F) of buffer memory.

App. - 14
APPENDIX

(2) Writing the parameter

The following shows a program example when two stations are occupied.
Change parameter No.PC12 (JOG speed) of the driver of station 2 to "100".
The parameter group PC is specified as follows.

Code No. Description

8200h Parameter group selection

Set data Description

H0002 Set data (hexadecimal)

The parameter No.12 is changed to "100" as follows.

Code No. Description

H820C Parameter No.PC12 write (hexadecimal)

Set data Description

K100 Set data (decimal)

Write the data to the parameter No.PC12 by turning on X20.

The respond code at instruction code execution is set to D2.

Reads remote input (RX20 to RX5F) of buffer

memory to M200 to M263.

Write command

Writes parameter group No. write (H8200) to

RWw6 and parameter group PC (H0002) to
RWw7.

Turns on instruction code execution demand

(RY29).

Turns off instruction code execution demand

(RY29) when instruction code execution
completion (RX29) turns on.

Writes parameter No.PC12 write (H820C) to

RWw6 and data (K100) to RWw7.

Turns on instruction code execution demand

(RY29).

Reads RWw6 to D2 when instruction code

execution completion (RX29) turns on.
Turns on instruction code execution demand
(RY29).

Writes M100 to M163 to remote output (RY20 to

RY5F) of buffer memory.

App. - 15
APPENDIX

(3) Driver alarm resetting program examples

(a) Deactivate the alarm of the driver of station 2 by issuing a command from the programmable PC or
PLC...etc.
Reset the driver on the occurrence of a servo alarm by turning on X20.

Reads remote input (RX20 to RX5F) of buffer

memory to M200 to M263.
Turns on reset command (RY5A).
Reset
command

Turns off reset command (RY5A) when trouble

flag (RX5A) turns off.

Writes M100 to M163 to remote output (RY20 to

RY5F) of buffer memory.

(b) Deactivate the alarm of the driver of station 2 using the instruction code.

Code No. Description

H8010 Alarm reset command (hexadecimal)

Set data Description

H1EA5 Execution data (hexadecimal)

Reset the driver by turning on X20.

The respond code at instruction code execution is set to D2.

Reads remote input (RX20 to RX5F) of buffer

memory to M200 to M263.

Reset command

Writes alarm reset command (H8010) to

RWw6 and execution data (H1EA5) to RWw7.

Turns on instruction code execution demand

(RY29).

Reads respond code (RWr6) to D2 when

instruction code execution completion (RX29)
turns on.
Turns off instruction code execution demand
(RY29).

Writes M100 to M163 to remote output (RY20 to

RY5F) of buffer memory.

App. - 16
APPENDIX

App. 5.1.6 Operation

This section explains the operation programs of the driver.

(1) JOG operation

Perform JOG operation of the driver of station 1 and read the "current position" data.

Code No. Description

H0001 Lower 16-bit data of current position (hexadecimal)
H0002 Upper 16-bit data of current position (hexadecimal)

Start the forward rotation JOG operation by turning on X22.

Start the reverse rotation JOG operation by turning on X23.

Reads remote input (RX00 to RX1F) of buffer

memory to M200 to M231.
Servo-on command (RY00).
Trouble Remote station communication ready
Forward rotation start (RY01).
Forward rotation JOG command
Reverse rotation start (RY02).
Reverse rotation JOG command

Sets monitor code (H0001) of current position

(lower 16 bits) to RWw0.
Sets monitor code (H0002) of current
position (upper 16 bits) to RWw1.

Turns on monitor command (RY08).

Reads RWr0 and RWr1 of buffer memory to D120
and D121 when monitoring (RX08) turns on.
Writes M100 to M131 to remote output (RY00 to
RY1F) of buffer memory.

App. - 17
APPENDIX

(2) Remote register-based position data/speed data setting

The following program example is only applicable when two stations are occupied.
Operate the driver of station 2 after specifying the position data as "100000" and the speed data as "1000"
in the direct specification mode.
Preset " 2" in parameter No.PC30.

Set data Description

K100000 Position command data (decimal)
K1000 Speed command data (decimal)

Execute positioning operation with position and speed settings specified in the remote register by turning on
X20.

Reads remote input (RX20 to RX5F) of buffer

memory to M200 to M263.
Servo-on command (RY20)

Automatic operation mode selection (RY26)

Position/speed specifying system selection
(RY4A)

Operation In position
command

Writes position command data (K100000) to

RWw8, RWw9, and speed data (K1000) to
RWwA.

Turns on position instruction demand (RY40).

Turns on speed instruction demand (RY41).

Reads respond code (RWr6) to D2 when position
instruction execution completion (RX40) and speed
instruction execution completion (RX41) turn on.
Position and speed data establishment time
10ms *1
Turns on forward rotation start command
(RY21).

Command request time 10ms *1

Turns off forward rotation start command
(RY21).
Turns off position instruction demand (RY40).

Turns off speed instruction demand (RY41).

Writes M100 to M163 to remote output (RY20 to

RY5F) of buffer memory.

*1: Setting time for the timer should be larger than the command processing
time or twice the link scan time whichever larger. When the setting time is
short, the command cannot be received properly.

App. - 18
APPENDIX

(3) Remote register-based point table No. setting (incremental value command system)
The following program example is only applicable when two stations are occupied.
Operate the driver of station 2 with incremental values after specifying the point table No.5 in the direct
specification mode.
Preset " 0" in parameter No.PA01 and " 0" in parameter No.PC30.

Set data Description

K5 Point table No. (decimal)

Execute positioning operation to the point table No.5 by turning on X20.

Reads remote input (RX20 to RX5F) of buffer

memory to M200 to M263.
Servo-on command (RY20)

Automatic operation mode selection (RY26)

Position/speed specifying system selection
(RY4A)
Incremental value selection (RY4B)

Operation In position
command

Writes point table No.5 (K5) to RWw8.

Turns on position instruction demand (RY40).

Reads respond code (RWr6) to D2 when position
instruction execution completion (RX40) turns on.
Point table establishment time 10ms *1
Turns on forward rotation start command
(RY21).

Command request time 10ms *1

Turns off forward rotation start command
(RY21).
Turns off position instruction demand (RY40).
Writes M100 to M163 to remote output (RY20 to
RY5F) of buffer memory.

*1: Setting time for the timer should be larger than the command processing
time or twice the link scan time whichever larger. When the setting time is
short, the command cannot be received properly.

App. - 19
APPENDIX

App. 5.2 Continuous operation program example

This section shows a program example which includes a series of communication operations from a servo start.
The program will be described on the basis of the equipment makeup shown in appendix 8.2.1, appendix 8.2.3.

App. 5.2.1 System configuration example when 1 station is occupied

As shown below, the CC-Link system master local unit is loaded to run one driver (1 station occupied).
Programmable controller

Power supply CPU Master station Input module

A1S62PN A1SHCPU A1SJ61BT11 A1SX40
(X/Y00 to 1F) (X20 to X2F)

Terminating X20 to X2C

resistor
Station No.1

Servo
Driveramplifier
Terminating (1 station occupied)
resistor

Input signal assignment

Input signal Signal name General operation when the input is on
X20 Reset command Resets the driver on an occurrence of a servo alarm.
X21 Servo-on command Turns on the servo motor. (Servo-on status)
Forward rotation JOG
X22 Executes a forward JOG operation in the manual operation mode.
command
Reverse rotation JOG
X23 Executes a reverse JOG operation in the manual operation mode.
command
OFF: Manual operation mode
X24 Automatic/manual selection
ON: Automatic operation mode
Home position return Executes a dog type home position return when home position return
X25
command is incomplete in the automatic operation mode.
OFF: Proximity dog is on. (Note)
X26 Proximity dog command
ON: Proximity dog is off.
Executes a positioning operation to the point table number specified
X27 Positioning start command by X28 to X2C when home position return is incomplete in the
automatic operation mode.
X28 No. selection 1 Specifies the position for the point table No. selection 1
X29 No. selection 2 Specifies the position for the point table No. selection 2
X2A No. selection 3 Specifies the position for the point table No. selection 3
X2B No. selection 4 Specifies the position for the point table No. selection 4
X2C No. selection 5 Specifies the position for the point table No. selection 5
Note. This is when the parameter No.PD16 is set to " 0 (initial value)" (detects the dog at off).

App. - 20
APPENDIX

App. 5.2.2 Program example when 1 station is occupied

POINT
To execute a dog type home position return with the CC-Link communication
functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG)
with the remote input (RY03) in this example.

Operate the driver of station 1 in the positioning mode and read the "current position" data.

Operation: Alarm reset, dog type home position return, JOG operation, automatic operation under point table
command

Code No. Description

H0001 Lower 16-bit data of current position (hexadecimal)
H0002 Upper 16-bit data of current position (hexadecimal)

Check the status of CC-Link.

Reads remote input (RX00 to RX1F) of buffer

memory to M200 to M231.

Writes current alarm read (H0010) to RWw2 at

trouble (RX1A) occurrence.

Turns on instruction code execution demand

(RY09).

Reads RWr3 and RWr2 of buffer memory to

D11 and D12 when instruction code execution
completion (RX09) turns on.
Turns off instruction code execution demand
(RY09).

Alarm reset command (RY1A)

Reset command
Servo-on command (RY00)
Servo-on command
Automatic operation mode selection (RY06)
Automatic/manual selection

Manual operation mode selection (RY06)

Automatic/manual selection
Home position return request
Home position return Home position return completion
command

Point table establishment time 10ms *1

Forward rotation start request

Command request time 10ms *1

Forward rotation start request reset

Proximity dog command (RY03)

Proximity dog command

App. - 21
APPENDIX

Forward rotation start request

Forward rotation JOG command
Reverse rotation start request
Positioning start command Reverse rotation JOG command
Positioning start command
In Rough Home position
position match return completion

Point table establishment time 10ms *1

Forward rotation start request

Command request time 10ms *1

Forward rotation start request reset

Point table No. selection 1 (RY0A)

No. selection 1
Point table No. selection 2 (RY0B)
No. selection 2

Point table No. selection 3 (RY0C)

No. selection 3
Point table No. selection 4 (RY0D)
No. selection 4

Point table No. selection 5 (RY0E)

No. selection 5
Forward rotation start (RY01)

Reverse rotation start (RY02)

Sets monitor code (H0001) of current position

(lower 16 bits) in RWw0.
Sets monitor code (H0002) of current position
(upper 16 bits) in RWw1.

Turns on monitor output execution demand

(RY08).
Reads RWr0 and RWr1 of buffer memory to D120
and D121 when monitoring (RX08) turns on.
Writes M100 to M131 to remote output (RY00 to
RY2F) of buffer memory.

*1: Setting time for the timer should be larger than the command processing
time or twice the link scan time whichever larger. When the setting time is
short, the command cannot be received properly.

App. - 22
APPENDIX

App. 5.2.3 System configuration example when 2 stations are occupied

As shown below, the CC-Link system master local unit is loaded to run one drivers (2 station occupied).
Programmable controller

Power supply CPU Master station Input module

A1S62PN A1SHCPU A1SJ61BT11 A1SX40
(X/Y00 to 1F) (X20 to X2F)

Terminating X20 to X28

resistor
Station No.1

Servo
Driveramplifier
Terminating (2 stations occupied)
resistor

Input signal assignment

Input signal Signal name General operation when the input is on
X20 Reset command Resets the driver on an occurrence of a servo alarm.
X21 Servo-on command Turns on the servo motor. (Servo-on status)
Forward rotation JOG
X22 Executes a forward JOG operation in the manual operation mode.
command
Reverse rotation JOG
X23 Executes a reverse JOG operation in the manual operation mode.
command
OFF: Manual operation mode
X24 Automatic/manual selection
ON: Automatic operation mode
Home position return Executes a dog type home position return when home position return
X25
command is incomplete in the automatic operation mode.
OFF: Proximity dog is on. (Note)
X26 Proximity dog command
ON: Proximity dog is off.
Executes a positioning operation with position and speed settings
X27 Positioning start command specified in the remote register when home position return is
completed in the automatic operation mode.
Position/speed setting system
X28 Changes to position/speed specification by the remote register.
changing command
Note. This is when the parameter No.PD16 is set to " 0 (initial value)" (detects the dog at off).

App. - 23
APPENDIX

App. 5.2.4 Program example when 2 stations are occupied

POINT
To execute a dog type home position return with the CC-Link communication
functions, set " 0 " in parameter No.PD14 and use Proximity dog (DOG)
with the remote input (RY03) in this example.

Operate the driver of station 1 in the positioning mode and read the "motor speed" data.
Preset the parameter No.PC30 to " 2".
Operation: Alarm reset, dog type home position return, JOG operation, automatic operation under point table
command

Code No. Description

H0016 32-bit data of motor speed (hexadecimal)

Code No. Description

K50000 Position command data (decimal)
K100 Speed command data (decimal)

Check the status of CC-Link.

Reads remote input (RX00 to RX3F) of buffer

memory to M200 to M263.

Writes current alarm read (H0010) to RWw2 at

trouble (RX3A) occurrence.

Turns on instruction code execution demand

(RY09).

Reads RWr3 and RWr2 of buffer memory to

D11 and D12 when instruction code execution
completion (RX09) turns on.
Turns off instruction code execution demand
(RY09).

Alarm reset command (RY3A)

Reset command

Servo-on command (RY00)

Servo-on command
Automatic operation mode selection (RY06)
Automatic/manual selection
Manual operation mode selection (RY06)
Automatic/manual selection
Home position return request
Home position return Home position return completion
command

Point table establishment time 10ms *1

Forward rotation start request

Command request time 10ms *1

Forward rotation start request reset

Proximity dog command (RY03)

Proximity dog command

App. - 24
APPENDIX

Positioning start command

Forward rotation start request

Forward rotation JOG command
Reverse rotation start request
Reverse rotation JOG command
Position/speed specifying system selection
Position/speed setting system changing command (RY4A)

In Rough Home position

position match return completion

Writes position command data (K50000) to

RWw4, RWw5, and speed data (K100) to
RWw6.

Turns on position instruction demand (RY20).

Turns on speed instruction demand (RY21).

Reads respond code (RWr2) to D2 when
position instruction execution completion (RX20)
and speed instruction execution completion
(RX21) turn on.
Position and speed data establishment time
10ms *1
Positioning start command

Command request time 10ms *1

Positioning start command reset

Turns off position instruction demand (RY20).

Turns off speed instruction demand (RY21).

Forward rotation start (RY01)

Reverse rotation start (RY02)

Sets monitor code (H0016) of motor speed to

RWw0.

Turns on monitor output execution demand

(RY08).
Reads RWr0 and RWr1 of buffer memory to
D120 and D121 when monitoring (RX08) turns
on.
Writes M100 to M163 to remote output (RY00 to
RY3F) of buffer memory.

*1: Setting time for the timer should be larger than the command processing
time or twice the link scan time whichever larger. When the setting time is
short, the command cannot be received properly.

App. - 25
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