Vigo Servo AR Series

Instruction Manual

- Applied models -

Servo actuator : AR15/30/60/135/H7/H17/H24/10H

Servo amplifier : ARN15-A/30-A/60-A/135-A

Software version (See page7-5 for details) : From 01.10

Before attempting to operate this product, you should thoroughly

read and fully understand all the contents of this manual.
Specifications are subject to change without notice.

Carefully note the precautions on pages 1-4,5,6,7

before turning on the power supply.

TMF00007E 01/Oct.'03
 For your safety

• To prevent accidents, strictly follow the procedures and cautions noted in this manual.
Safety information for the prevention of danger is given in "1. ON SAFETY" in this manual.
From Chapter 2, safety information is given for any task or operation that is potentially dangerous and each
of these messages is prefaced with the appropriate signal word.

• A warning label marked (electrical shock) is affixed to the servo amplifier front panel.
Be careful to avoid injury from shock, as electrical circuits are incorporated in the area near this label. (See
pages 5-1,3)

•
This manual provides general guidelines, precautions and warnings for the safe operation of this machine.
If this machine is used in ways other than those described in this manual, unforeseen problems or accidents
may occur, and we shall bear no liability or responsibility for the consequences.

• This manual contains important information you must know about the AR series servo system, which
consists of a servo actuator and a servo amplifier, its safety features, and necessary operating precautions.
Be sure to read it thoroughly before attempting to transport, install, wire, operate, service or inspect the
servo system.

• Please be sure to deliver this instruction manual to all administrators and operators charged with the
operation of this machine.
They must carefully read this manual and fully understand its contents, and should not let anyone who is
not familiar with the contents of this manual operate or inspect this machine.
Keep this manual available near the equipment at all times so that it can be immediately referred to
whenever necessary.

• Look up the name, address and phone number of our nearest dealer or branch office listed on the back
page of this manual, and post the information prominently for quick reference.

WARNING

All machine operators must read "1. ON SAFETY" in this manual carefully
and thoroughly.

Do not turn on the machine's power supply until all the noted precautions have
been studied and understood.

Very serious accidents may occur if this instruction is not observed.

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Contents
Page

To comply UL and/or CUL standard

Preface
1. ON SAFETY 1-1 Alert Symbol 1-1
1-2 WARNING 1-1
1-3 CAUTION 1-3
1-4 Precautions for Initial Turning-on of the 1-4
Power Supply
2. SPECIFICATIONS 2-1 Definitions of Model Codes 2-1
2-2 Table of Specifications 2-2
2-3 Ambient Conditions for Use 2-6
3. OVERVIEW 3-1 Equipment Features 3-1
3-2 Basic Command Methods 3-3
4. INSTALLATION 4-1 Servo Actuator 4-1
4-2 Servo Amplifier 4-4
5. WIRING 5-1 Names of Parts 5-1
5-2 Connector Pin Layout and Connections 5-4
5-3 Battery 5-19
5-4 Wiring Diagram 5-20
6. RUN 6-1 Run Sequence 6-1
6-2 Power ON 6-3
6-3 Trial Run 6-5
6-4 Origin Setting 6-7
6-5 Control Functions 6-9
7. SETTING METHODS 7-1 Overview of Setting Methods 7-1
7-2 Detailed Description of Display Modes 7-3
7-3 Display Mode Operation Methods 7-6
7-4 Parameter Setting Methods 7-7
7-5 Detailed Description of Parameters 7-9
7-6 List of Parameters 7-28
7-7 Positioning Data Setting Method 7-33
7-8 Initialization 7-35
8. COMMUNICATIONS 8-1 Specifications 8-1
8-2 Communication Contents 8-1
8-3 Transmission Format 8-1
8-4 Detailed Description of Transmission Contents 8-3
9. ALARMS 9-1

10. SELECTION 10-1 General Selection Method 10-1

10-2 Details of Selection Methods 10-2
11. EXTERNAL DIMENSIONS 11-1 Servo Actuator 11-1
11-2 Servo Amplifier 11-18

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 CAUTION

To comply UL and/or CUL standard,

please keep in mind the following points.

This equipment is to be installed in an enclosure that provides a pollution degree 2

(controlled) environment (Normally, only nonconductive pollution.
However, temporary conductivity caused by condensation may be expected.

These devices are suitable for factory wiring using Nos.2 1 AWG copper wire.
Use 60 75 wire or the equivalent for ARN15 and ARN30.
Use 75 wire or the equivalent for ARN60 and ARN135.
Tighten field wiring terminal (TB1 TB3) to 4.4 lb-in for ARN15 and ARN30.
Tighten field wiring terminal (TB1) to 11.0 lb-in for ARN60 and ARN135.
Tighten field wiring terminal (TB3) to 4.4 lb-in for ARN60 and ARN135.

Suitable for use on a circuit capable of delivering not more than

5000 rms symmetrical amperes, 240 volts maximum,
when protected by circuit breaker having an interrupting rating
not less than 15 rms symmetrical amperes, 240 volts maximum.

Suitable for use on a circuit capable of delivering not more than

5000 rms symmetrical amperes, 240 volts maximum,
when protected by circuit breaker having an interrupting rating
not less than 20 rms symmetrical amperes, 240 volts maximum.

Suitable for use on a circuit capable of delivering not more than

5000 rms symmetrical amperes, 240 volts maximum,
when protected by circuit breaker having an interrupting rating
not less than 30 rms symmetrical amperes, 240 volts maximum.

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 - Preface -

Preface
1. Purpose
Teijin Seiki's "AR servo actuator and ARN servo amplifier" (hereafter simply termed "servo system") has been
developed for use with servo systems for general industrial equipment.

When the power supply to the industrial equipment is turned on, the servo system operates in accordance with the
program set in the machine sequencer.

This program should be designated by the industrial equipment engineer.

The end user can operate the servo system by executing the program.

Operation of the servo actuator is controlled by the parameters set for the servo amplifier.
The servo amplifier is activated by the signals input to and output from the industrial equipment sequencer.

For example, the servo system is used for driving a machine tool ATC magazine, transfer unit arm, index table,
conveyor, press or other device into position.

Therefore, please keep in mind the following points.

(1) The servo system cannot be used with any devices that affect people's bodies or health, such as medical
appliances.
(2) The servo system must not be used with any devices that could adversely affect the environment or public
safety, such as railway vehicles, aircraft, toys and passenger elevators.
(3) The servo system cannot be used in environments, which are subject to strong vibrations, such as in
automotive vehicles, marine vessels, etc.
(4) The servo system cannot be used in certain special environments, i.e., nuclear environments with ambient
radiation, high vacuum space environments, etc.
(5) You must not modify the servo amplifier or the servo actuator.
If this servo system is to be used for any purpose or in any environment mentioned in (1) to (4) above, please
consult with us before proceeding any further.

2. Intended readers
This manual is intended for use by engineers in the development of industrial equipment.
It describes information and procedures for choosing suitable specifications for the incorporation of the servo
system into the industrial equipment, its installation, settings and equipment operation.

3. Requests to industrial equipment manufacturers

To prevent injuries or harm to any person using machines, which incorporate our servo system (hereafter
referred to as "end user"), each industrial equipment manufacturer should reprint the instructions and
precautions noted in "1. ON SAFETY" in their own machine instruction manuals for the end user.
We therefore hereby authorize each manufacturer to copy, reprint, or reproduce the contents of this manual for
these purposes only.

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 - Preface -

When incorporating the servo system into its machines, each industrial equipment manufacturer must carefully
observe all the procedures and cautionary notes included in this manual to prevent injuries or accidents caused
by its improper installation or operation.

4. Exporting the servo system

International transfer of this machine, any of its parts, components and/or software must be carried out in
compliance with the relevant laws and ordinances of the country of export and the country of equipment end-
use.
We do not assume any responsibility or liability for equipment transferred without regard to proper
export/import regulations or procedures.

5. Product warranty
The term of warranty on the servo system is either one year from installation or 2000 running hours after
incorporation into the equipment, whichever is shorter, under condition that proper setup and wiring have been
carried out in accordance with the ratings we stipulate.
However, we will not bear incidental costs, such as man-hours required to remove from and/or install to the
equipment, transportation costs, taxes, warehouse charges, etc.
We shall also not compensate losses resulting from the stoppage of any equipment that incorporates the servo
system due to problems caused by the servo system.
If we make financial compensation for the product, the maximum amount of the compensation shall not exceed
the sales price of the applicable product.

6. Usage liability

Please note that machine specifications are subject to change without notice for updates and improvements. This
may cause inconsistencies between the contents of this manual and the machine you currently possess.
We shall bear absolutely no liability or responsibility for the consequences if this machine is utilized for
purposes other than those described in this manual.
We shall not be held responsible for any damage caused by conditions beyond our control such as customer
modifications, disassembly or misuse of our products, or their use in a defective or deficient environment.
We assume no responsibility or liability for any damage or consequential and/or indirect losses resulting from
any accident or malfunction that might occur during the operation of this machine.
The data noted in this manual is only offered as sample reference data for normal usage of this machine.
We shall not bear any legal responsibility for its suitability for each customer's particular uses nor shall we be
held liable for any incidental or indirect damages caused by usage of the machine itself.

7. Copyright
© 2000: TS
The copyright for this entire manual belongs to Teijin Seiki Co., Ltd. Copying, reprinting or reproduction of this
manual in whole or in part in any media without our express consent infringes upon the copyright and the rights
of the publisher.

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 - Communications -

8. COMMUNICATIONS
Use of the communications facility enables the parameters to be written and statuses to be monitored using a
personal computer.
8-1 Specifications
Connection specifications : RS-232C Transmission configuration : 1 start bit
Transfer rate : 9600 bps 8 data bits
1 parity bit, even parity
1 stop bit
8-2 Communication Contents
Servo parameter (p7-9) reading Positioning data (p7-33) reading
Servo parameter writing Positioning data writing
Control parameter (p7-13) reading Display data (p7-3) reading
Control parameter writing Initialization (p7-35)

8-3 Transmission Format

(1) Fixed codes Code Alarm occurrence Data Description
STX (Start Text) - 51H Transmission start
No 53H
ACK (Acknowledge) Acknowledge
Yes 54H
NAK No 55H
Negative acknowledge
(Non Acknowledge) Yes 56H
ACK and NAK change as shown above when an alarm has occurred in the servo amplifier.

(2) List of commands (CMD) and sub commands (SCMD)

Description CMD SCMD1 SCMD2
Request 01H
Servo parameter reading 00H 01-20H , parameter number (BCD)
Response 81H
Request 11H
Servo parameter writing ? ?
Response 41H
Control parameter Request 02H
00H 01-79H , parameter number (BCD)
reading Response 82H
Control parameter Request 12H
? ?
writing Response 42H
Request 03H 00H or 01H or02H 01-99H
Positioning data reading High-order digits of positioning data Low-order digits of positioning data
Response 83H
number (BCD) number (BCD)
Request 13H
Positioning data writing ? ?
Response 43H
Request 04H 01-12H , 50H*
Display data reading 00H
Response 84H Display data number (BCD)
Request 15H
Initialization ABS:00H , INC:01H 00H
Response 45H

There are two kinds of initialization: one (ABS) applies when an absolute encoder is used, and the other (INC) applies
when an incremental encoder is used. (p7-35) Initilization for AR10H(p7-35) is invalid by this communication.

* : 50H is used for Number 5-9 of alarm history display data reading.

8-1
 - Communications -

(3) Data configuration

The data consists of 5 bytes as shown below, and the numerical values are transferred by BCD (binary coded
decimal).

Bit no. Low order

8 7 6 5 4 3 2 1
8
DATA1 Plus/minus sign 10 digits Plus/minus sign: plus = 0H, minus = 1H
Byte no.

7 6
DATA2 10 digits 10 digits
5 4
DATA3 10 digits 10 digits
3 2
DATA4 10 digits 10 digits
1 0
DATA5 10 digits 10 digits

Example: "-987654321" in decimal notation is shown below.

Bit no. Low order

8 7 6 5 4 3 2 1
DATA1 1H 9H
Byte no.

DATA2 8H 7H
DATA3 6H 5H
DATA4 4H 3H
DATA5 2H 1H

The data can be expressed in series as shown below.

19H , 87H , 65H , 43H , 21H

The configuration differs from what is shown above for alarm history, digital input monitor and digital output
monitor among the display data reading contents. Refer to page 8-7.

(4) BCC (block check character)

This is the one low-order byte of the value obtained by adding all the data prior to BCC.

53H ACK
In the example shown on the right, BCC is the product of 53H +
81H CMD
Total of these bits

81H + 00H + 07H + 00H + 00H + 09H + 87H + 65H which add up
00H SCMD1
to 1D0H, yielding D0H as the low-order byte.
07H SCMD2
00H DATA1
00H DATA2
09H DATA3
87H DATA4
65H DATA5
D0H BCC

8-2
 - Communications -

8-4 Detailed Description of Transmission Contents

(1) Servo parameter (p7-9) reading

PC? ARN Example

STX 51H 51H The example applies when servo parameter 7 = 98765.
CMD 01H 01H
SCMD1 00H 00H
SCMD2 Parameter number 07H Acknowledge Negative acknowledg
BCC Check data 59H ARN? PC ARN? PC
53H ACK 53H NAK 55H
81H CMD 81H BCC 55H
00H SCMD1 00H
07H SCMD2 Parameter number
00H DATA1 Plus or minus sign/data ACK = 54H and NAK =
00H DATA2 Data 56H when an alarm has
09H DATA3 Data occurred in the servo
87H DATA4 Data amplifier.
65H DATA5 Data
D0H BCC Check data

(2) Servo parameter writing

PC? ARN Example

STX 51H 51H The example applies when servo parameter 7 = 98765.
CMD 11H 11H
SCMD1 00H 00H
SCMD2 Parameter number 07H Acknowledge Negative acknowledge
BCC Check data 69H ARN? PC ARN? PC
53H ACK 53H NAK 55H
41H CMD 41H BCC 55H
00H SCMD1 00H
07H SCMD2 Parameter number
9BH BCC Check data ACK = 54H and NAK =
STX 51H 51H 56H when an alarm has
CMD 11H 11H occurred in the servo
SCMD1 00H 00H amplifier.
SCMD2 Parameter number 07H
DATA1 Plus or minus sign/data 00H
DATA2 Data 00H
DATA3 Data 09H
DATA4 Data 87H
DATA5 Data 65H Acknowledge Negative acknowledge
BCC Check data 5EH ARN? PC ARN? PC
53H ACK 53H NAK 55H
41H CMD 41H BCC 55H
00H SCMD1 00H
07H SCMD2 Parameter number
9BH BCC Check data

8-3
 - Communications -

(3) Control parameter (p7-13) reading

PC? ARN Example

STX 51H 51H
CMD 02H 02H The example applies when servo parameter 31 = -987654321.
SCMD1 00H 00H
SCMD2 Parameter number 31H Acknowledge Negative acknowledge
BCC Check data 84H ARN? PC ARN? PC
53H ACK 53H NAK 55H
82H CMD 82H BCC 55H
00H SCMD1 00H
31H SCMD2 Parameter number
19H DATA1 Plus or minus sign/data ACK = 54H and NAK =
87H DATA2 Data 56H when an alarm has
65H DATA3 Data occurred in the servo
43H DATA4 Data amplifier.
21H DATA5 Data
6FH BCC Check data
(4) Control parameter writing

PC? ARN Example

STX 51H 51H
CMD 12H 12H The example applies when servo parameter 31 = -987654321.
SCMD1 00H 00H
SCMD2 Parameter number 31H Acknowledge Negative acknowledge
BCC Check data 94H ARN? PC ARN? PC
53H ACK 53H NAK 55H
42H CMD 42H BCC 55H
00H SCMD1 00H
31H SCMD2 Parameter number
C6H BCC Check data ACK = 54H and NAK =
STX 51H 51H 56H when an alarm has
CMD 12H 12H occurred in the servo
SCMD1 00H 00H amplifier.
SCMD2 Parameter number 31H
DATA1 Plus or minus sign/data 19H
DATA2 Data 87H
DATA3 Data 65H
DATA4 Data 43H
DATA5 Data 21H Acknowledge Negative acknowledge
BCC Check data FDH ARN? PC ARN? PC
53H ACK 53H NAK 55H
42H CMD 42H BCC 55H
00H SCMD1 00H
31H SCMD2 Parameter number
C6H BCC Check data

8-4
 - Communications -

CP-1:Encoder type 3(AR10H) (p7-13) can not be written by this communication.

Initialization (p7-35) must be executed when you use ARN30 for AR10H servo actuator.
If control parameter writing with CP-1=3 is executed by communication , ARN will respond "Negative
acknowledge".
If control parameter writing with CP-1=1 or 2 is executed when setting of CP-1=3 by communication , ARN will
respond "Negative acknowledge".

(5) Positioning data (p7-33) reading

PC? ARN Example

STX 51H 51H
CMD 03H 03H The example applies when address number = 234,
Positioning data high-order position data = -123456789 and speed data = 2345.
SCMD1 02H
digits
Positioning data low-order
SCMD2 34H
digits Acknowledge Negative acknowledge
BCC Check data 8AH ARN? PC ARN? PC
53H ACK 53H NAK 55H
83H CMD 83H BCC 55H
Positioning data high-order
02H SCMD1
digits
Positioning data low-order
34H SCMD2
digits
Positioning data

11H DATA1 Plus or minus sign/data

23H DATA2 Data
45H DATA3 Data
67H DATA4 Data
89H DATA5 Data
00H DATA1 Plus or minus sign/data
Speed data

00H DATA2 Data

00H DATA3 Data
23H DATA4 Data
45H DATA5 Data
DDH BCC Check data

ACK = 54H and NAK = 56H when an alarm has occurred in the servo amplifier.

8-5
 - Communications -

(6) Positioning data (p7-33) writing

PC? ARN Example

STX 51H 51H
CMD 13H 13H The example applies when address number = 234,
Positioning data high-order position data = -123456789 and speed data = 2345.
SCMD1 02H
digits
Positioning data low-order
SCMD2 34H
digits Acknowledge Negative acknowledge
BCC Check data 9AH ARN? PC ARN? PC
53H ACK 53H NAK 55H
43H CMD 43H BCC 55H
Positioning data high-order
02H SCMD1
digits
Positioning data low-order
34H SCMD2
digits
CCH BCC Check data
STX 51H 51H
CMD 13H 13H
Positioning data high-order
SCMD1 02H
digits
Positioning data low-order
SCMD2 34H
digits
DATA1 Plus or minus sign/data 11H
DATA2 Data 23H
DATA3 Data 45H Positioning data
DATA4 Data 67H
DATA5 Data 89H
DATA1 Plus or minus sign/data 00H
DATA2 Data 00H
DATA3 Data 00H Speed data
DATA4 Data 23H
DATA5 Data 45H Acknowledge Negative acknowledge
BCC Check data 6BH ARN? PC ARN? PC
53H ACK 53H NAK 55H
43H CMD 43H BCC 55H
Positioning data high-order
02H SCMD1
digits
Positioning data low-order
34H SCMD2
digits
CCH BCC Check data

ACK = 54H and NAK = 56H when an alarm has occurred in the servo amplifier.

8-6
 - Communications -

(7) Display data (p7-3) reading

PC? ARN Example

STX 51H 51H
CMD 04H 04H The example applies when display data 3 = 123456789.
SCMD1 00H 00H
SCMD2 Display data number 03H Acknowledge Negative acknowledge
BCC Check data 58H ARN? PC ARN? PC
53H ACK 53H NAK 55H
84H CMD 84H BCC 55H
00H SCMD1 00H
03H SCMD2 Display data number
01H DATA1 Plus or minus sign/data
ACK = 54H and NAK = 23H DATA2 Data
56H when an alarm has 45H DATA3 Data
occurred in the servo 67H DATA4 Data
amplifier. 89H DATA5 Data
33H BCC Check data

The alarm history data is as shown below.

Bit no. Low order

8 7 6 5 4 3 2 1
DATA1 0 (latest)high order 0 (latest) low order
Byte no.

DATA2 1 high order 1 low order

DATA3 2 high order 2 low order
DATA4 3 high order 3 low order
DATA5 4 high order 4 low order

Number 0 - 4 correspond to the history numbers on p7-4.

0H is the data value when no alarms have occurred.
ALHI 0-4 (p7-4) is sent from servo amplifier when display data number is 09H , ALHI 5-9 is sent when display
number is 50H.

Example: The data is as shown below when the most recent alarm number is 15, number 4 is 1 and the
other numbers are 2.

DATA1:15H DATA2:02H DATA3:02H DATA4:02H DATA5:01H

8-7
 - Communications -

The digital input monitor (p7-5) data is as shown below. When the input is ON, the data is 1.

Bit no. Low order

8 7 6 5 4 3 2 1
DATA1 0 0 0 0 0 0 0 0
Byte no.

DATA2 0 0 0 0 0 0 0 0
DATA3 0 0 0 0 PRDY SVON MODE A MODE B
DATA4 START RESET CONT1 CONT2 CONT3 CONT4 CONT5 CONT6
DATA5 CONT7 CONT8 CONT9 CONT10 CONT11 CONT12 CONT13 CONT14

The digital output monitor (p7-5) data is as shown below. When the output is ON, the data is 1.

Bit no. Low order BAT ALM cannot be transferred.

8 7 6 5 4 3 2 1
DATA1 0 0 0 0 0 0 0 0
Byte no.

DATA2 0 0 0 0 0 0 0 0
DATA3 0 0 0 0 0 0 0 0
DATA4 INP OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7
DATA5 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15

The data in the software version are: DATA1,2,3 = "0"; DATA4 = Driver CPU; DATA5= Controller CPU.

8-8
 - Communications -

(8) Initialization (p7-35)

Bear in mind that the servo parameters, control parameters and positioning data stored in the servo amplifier will
be deleted when initialization is performed.

There are two kinds of initialization: one (ABS) applies when an absolute encoder is used, and the other (INC)
applies when an incremental encoder is used. (p7-35)

Turn servo ON (p6-9) off when performing initialization using the communication facility.
If initialization is attempted while it is on, it will fail to be performed, and the servo amplifier will return the
negative acknowledge (NAK) code.

It takes about 30 seconds from when PC sends an initialization instruction to the ARN, to perform initialization,
until the ARN returns an acknowledge or a negative acknowledge.
Perform proper settings in the communication software to avoid any communication timeout.

Performing initialization initializes servo parameters, control parameters, and positioning data stored in the
servo amplifier, thereby effecting the initial values. It is, therefore, not necessary to turn the power OFF and then
back ON.

Initialization for AR10H (p7-35) is invalid by this communication.

<1> Initialization when absolute encoder is used

PC? ARN Data

STX 51H 51H
CMD 15H 15H
SCMD1 00H 00H
SCMD2 00H 00H Acknowledge Negative acknowledge
BCC Check data 66H ARN? PC ARN? PC
53H ACK 53H NAK 55H
45H CMD 45H BCC 55H
00H SCMD1 00H
00H SCMD2 00H
98H BCC Check data

<2> Initialization when incremental encoder is used

PC? ARN Data ACK = 54H and NAK = 56H when an

STX 51H 51H alarm has occurred in the servo
CMD 15H 15H amplifier.
SCMD1 01H 01H
SCMD2 00H 00H Acknowledge Negative acknowledge
BCC Check data 67H ARN? PC ARN? PC
53H ACK 53H NAK 55H
45H CMD 45H BCC 55H
01H SCMD1 01H
00H SCMD2 00H
99H BCC Check data

8-9
 - Alarms -

9. ALARMS
When an error has been detected in the servo system, an alarm appears on the 7-segment LED display of the servo
amplifier.
When an alarm has been detected, the servo actuator turns off the servo system, and the alarm number appears on its
front panel 7-segment LED display.
In addition, the brake (p5-14) is engaged if the servo actuator is equipped with a brake.

If the "AL-17"alarm is displayed, the servo actuator does not turn off the servo system nor is the brake applied.

"Alarm detection (p6-23)" will turn on when "AL-17" alarm is displayed and will stay on untill current position is
between + and -over-travel detection position.

The alarm status can be released either by turning the power off and then back on or by inputting the reset signal (p6-
10) after the cause of the alarm has been removed.
Alarms indicated by a black dot ? (serious failures) cannot be released by the reset signal.
In this case, turn the power off and then back on.

When the reset signal (p6-10) has been turned on to release the alarm, the requested pulse (p7-3) will have the same
value as the feedback pulse.

Parameters can be changed even in the alarm status. An alarm display mode is inserted between the positioning
data edit mode and the display mode. (See page 7-1)

The BAT ALM (p6-24) battery alarm is not displayed as an alarm.

Display Trouble/symptom criteria Probable cause Remedy

AL-1 Overload Load torque constantly exceeds the rated Review the machine system.
torque. Review the selection of the frame
number.
An overload was detected in
The acceleration/deceleration time is too Increase the
the motor by the electronic
short; the load torque during acceleration/deceleration time
thermal protector inside the
acceleration/deceleration is too high. constant.
servo amplifier.
Hunting. Reduce the inertial load.
Re-adjust the gain.
AL-2 Overheating of motor Load is too high, and the motor Review the machine system.
? overheated. Review the selection of the frame
The motor heated up, number.
causing the thermostat inside Cool down the servo actuator using
the motor to trip. a fan.
CN1 (p5-4) OH1 and OH2 were Check the wiring connections and
disconnected between the servo amplifier repair the wiring.
and servo actuator.

In case of AR10H, OH1 OH2 at CN1

are not connected.(refer to p5-5)

Ambient temperature is too high. Reduce the ambient temperature.

9-1
 - Alarms -

Display Trouble/symptom criteria Probable cause Remedy

AL-3 Overheating of Inertial load is too high. Reduce the inertial load.
regenerative resistance
Regenerative frequency (p10-11) is too Review the operating pattern.
The regenerative resistance high.
(p10-11) heated up, causing
Servo actuator was rotated by an Prevent it from being rotated.
the thermostat inside the
external force.
regenerative resistance to
trip.

AL-4 Overvoltage Input supply voltage (p5-10,13) is too

Normalize the input supply voltage.
high.
No short-circuiting between Short-circuit.
Internal DC voltage
RGEN/DCC (p5-12,13) of TB.
exceeded the allowable limit.
Faulty connection of external Contact us.
regenerative resistance (p5-12).
AL-5 Overcurrent Connect the cable properly.
Grounding or short-circuiting of servo
?
actuator's power cable (p5-12,13).
Output current exceeded the
allowable limit. Excessively high load. Review the machine system.
Review the selection of the frame
A power transistor number.
overheated. Re-adjust the gain (p7-9).
Acceleration/deceleration time is too Review operating pattern.
short. Re-adjust the gain (p7-9).
Ambient temperature of servo Reduce the ambient temperature.
amplifier is too high.
AL-6 Low voltage Input supply voltage (p5-10,13) is too Set the input supply voltage to the
low. appropriate level.
Main power (p5-10,13) is not being Turn on the main power.
Internal DC voltage is low.
input.
AL-7 Excessively high speed Overshoot of servo actuator. Increase the
acceleration/deceleration time
Motor rotation speed has constant.
exceeded 3300 rpm (or 2800 Hunting in servo actuator. Re-adjust the gain (p7-9).
rpm for AR135).
AL-8 Excessively high Excessive deviation width (p7-19) value Increase the value.
position deviation is too low.
Torque limiting enable signal (p6-12) is Turn off the signal.
on.
Deviation pulse (p7-3) has Excessively high load. Review the machine system.
exceeded excessive deviation
Review the selection of the frame
width set in control
number.
parameter 25 (p7-19).
Release the lock.
Output shaft is locked mechanically.

AL-9 Signal cable disconnection Faulty wiring of encoder signal cable Connect the cable properly.
? between CN1 (p5-4) and servo
Trouble with encoder actuator.
signals. Turn on the power while the servo
Power was turned on while the servo
actuator is shut down.
actuator was allowed to rotate.

9-2
 - Alarms -

Display Trouble/symptom criteria Probable cause Remedy

AL-10 Brake power supply Brake power supply (p5-14) is not Connect the power supply.
disconnection connected.

A servo actuator without a brake is Set to "2" (unavailable).

Brake power is not being being used but "1" (available) has
supplied. been selected as the brake
available/unavailable CP-7 (p7-15)
setting.
AL-11 Encoder trouble Faulty wiring of encoder signal cable Connect the cable properly.
? between CN1 (p5-4) and servo
actuator.
Trouble in communication
with absolute encoder.
Encoder cable is too long. Correct the encoder cable wiring
Cross-sectional area of encoder cable according to p5-5.
is too small.
AL-12 Power cable disconnection Motor power cable (p5-12,13) has been Connect the cable properly.
disconnected.
No current is flowing to
power cable.
AL-13 Encoder system down
Voltage of the battery (p5-19) used for Remove the cause and then perform
?
the absolute encoder has dropped. the origin setting by following the
The data stored in the
instructions on page 6-7. (The origin
absolute encoder memory Battery is not connected.
setting must be carried out in the
has been lost. Faulty wiring of encoder signal cable current position since the servo
between CN1 (p5-4) and servo actuator cannot be operated.)
actuator.
AL-14 Encoder type mismatch Faulty setting of CP-1: Encoder type Follow p1-4,5,6,7 to set the
? (p7-13) or Encoder selector switch (p5- parameters and switches to ensure
2,3). that they match.
The encoder type CP-1 (p7-
13) setting, encoder selector
switch (p5-2,3) setting and the
actual encoder do not match.

AL-15 Overflow Motor shaft has rotated more than Perform the origin setting by
? ±32767 rotations from the origin. (p3- following the instructions on page 6-
17)
7. (The origin setting must be
The absolute encoder has
carried out in the current position,
exceeded its rotation limit.
since the servo actuator cannot be
operated.)
Current position has
exceeded the limit of the In the case of an incremental
coordinate axes. encoder, the origin setting is not
necessary.

9-3
 - Alarms -

Display Trouble/symptom criteria Probable cause Remedy

AL-16 Address error
In the equal pitch multi-rotation
coordinates (p3-6), the 0 address or
addresses exceeding CP- 10 "total
number of addresses" have been
activated.

In the optional division

360°coordinates (p3-7), infinite linear
coordinates (p3-8), or finite linear
coordinates (p3-9), the 0 address, or Faulty setting of address Specify the address and the
the addresses where the motor numbers(p6-11) or positioning positioning data properly.
rotational speed is set to "0", have data(p7-33).
been activated.

In the optional division

360°coordinates mode, the address
of a value less than 0 or equal to or
greater than 360 was started.

In either the infinite linear

coordinates or the finite linear
coordinates mode, positioning with a
value more than the limit of the
coordinates-- 32767 rotations from
the origin-- was instructed.

AL-17 Soft over-travel detection Same as the left. Move the servo actuator to the
position between the CP-31 and
The current position is farther from the CP-32 .
the origin than the CP-31 soft +
over-travel detection position (p7-20).

The current position is farther from

the origin than the CP-32 soft - over-
travel detection position (p7-20).

Specify the CP-31 and CP-32

The CP-31 soft + over-travel Faulty setting of CP-31 or CP-32.
settings properly.
detection position set value is less
than the CP-32 soft - over-travel
detection position set value.

9-4
 - Alarms -

Display Trouble/symptom criteria Probable cause Remedy

AL-18 CPU error CPU operation stopped. Turn power switch ON again.
? CPU problem Communication problem between Perform initialization (p7-35).
CPUs
AL-19 Position defect Position memory of absolute encoder Replace a servo actuator.
? has problem.
| Position ON - Position OFF
Servo actuator is rotated when control
| > CP-79 (refer to p7-27) Stop the rotation when power off.
power is off.
Increase the value in CP-79
(p7-27).

Set CP-78 to 2(unvailable) to invalid

this alarm.

Remove the cause and then perform

the origin setting by following the
instructions on page 6-7. (The origin
setting must be carried out in the
current position since the servo
actuator cannot be operated.)

9-5
 - General Selection Method -

10. SELECTION
10-1 General Selection Method
Follow the steps below to select the servo actuator.

(1) Figuring out the load (p10-2)

Decide on the load and operating pattern.

(2) Figuring out the torque area (p10-2)

Make sure that the torque and rotation speed required by the operating pattern are within the torque range of
the servo actuator.

(3) Figuring out the effective torque (p10-4)

Calculate the effective torque from the operating pattern, and check that it is less than the rated torque of the
servo actuator.

(4) Figuring out the brake torque (p10-5)

If the servo actuator is to be held by the brake incorporated inside the servo actuator, check that the brake
torque satisfies the requirement.

(5) Figuring out the reduction gear's service life (p10-5)

Calculate the anticipated service life of the reduction gear from the operating pattern, and check that it is
more than the required service life.

(6) Figuring out the positioning accuracy (p10-7)

Make sure that the backlash, lost motion, angle transmission error and spring constant satisfy the
requirements.

(7) Figuring out the bearing capacity (p10-8)

Make sure that the thrust weight and moment applied to the main bearing of the servo actuator are less than
the specification values.

(8) Figuring out the moment of inertia of the load (p10-10)

Make sure that the moment of inertia of the load is less than the specification value.

(9) Figuring out the regeneration capacity (p10-11)

When the servo actuator decelerates, the inertial energy is converted into heat by the regenerative resistance
inside the servo amplifier.
Make sure that the regenerative power calculated from the operating pattern is within the capacity of the
regenerative resistance.

10-1
 - Details of Selection Methods -

10-2 Details of Selection Methods

(1) Figuring out the load

Decide on the operating pattern from the load conditions, and plot the load torque versus time and output
rotation speed versus time as graphs.

T1
Operating pattern
Load torque

T1 : Acceleration torque [N•m]

T2
T2 : Torque in steady state [N•m]
T3 : Torque at shutdown [N•m]
T3
T4 : Torque during deceleration [N•m]
T4
Output rotation speed

N1
N1 : Maximum rotation speed [rpm]
t1 : Acceleration/deceleration time [sec]
t2 : Steady-state operation time [sec]
t3 : Shutdown time [sec]
0
t1 t2 t1 t3 Time

Decide on the operating pattern.

(2) Figuring out the torque area

Make sure that the torque and rotation speed required by the operating pattern are within the maximum torque
range of the servo actuator.

The maximum torque ranges of the servo actuators are provided below.

Maximum torque [N•m] AR15 Maximum torque [N•m] AR30

i= 152
i= 120
1000
i= 104
i=140
200 i= 80
i= 120
i= 56
i= 104
500
100
i= 80
i= 56

0 20 40 60 0 20 40 60
Rotation speed [rpm] Rotation speed [rpm]

"i" = in the graph, indicates the reduction gear ratio.

10-2
 - Details of Selection Methods -

Maximum torque [N•m] AR60 Maximum torque [N•m] AR135

2000 4000
i= 120 i=144
i=100

1000 2000
i=65 i=170
80 i=128
i=152 i=80 i=100
i=80

0 10 20 30 40 0 10 20 30
Rotation speed [rpm] Rotation speed [rpm]

Maximum torque [N•m] ARH7 Maximum torque [N•m] ARH17

i= 153/5 i= 31
200

i= 21
400

i=21
100
i= 461/41

200
i=11

0 100 200 300

Rotation speed [rpm]
0 100 200 300
Rotation speed [rpm]

Maximum torque [N•m] ARH24 Maximum torque [N•m] AR10H

800
i= 31

i=21

400
i=11

0 100 200 300

Rotation speed [rpm] Rotation speed [rpm]

"i" = in the graph, indicates the reduction gear ratio.

Make sure that the operating pattern is within the

maximum torque range of the servo actuator.

10-3
 - Details of Selection Methods -

(3) Figuring out the effective torque

Calculate the anticipated effective torque from the operating pattern, and check that it is less than the rated torque
of the servo actuator.

The effective torque is calculated using the following formula for the operating patterns presented below.
2 2 2 2
t1×T1 + t2×T2 + t3×T3 + t1×T4
Effective torque Trms = [N•m]
2×t1 + t2 + t3

Operating pattern T1 : Acceleration torque [N•m]

Load torque

T2 : Torque in steady state [N•m]

T2
T3 : Torque at shutdown [N•m]
T4 : Torque during deceleration [N•m]
T3

T4
Output rotation speed

N1
N1 : Maximum rotation speed [rpm]
t1 : Acceleration/deceleration time [sec]
t2 : Steady-state operation time [sec]
t3 : Shutdown time [sec]
0
t1 t2 t1 t3 Time

The rated torques of the servo actuators are shown below.

Frame number Unit AR15 AR30

Reduction gear ratio A, B
- 56 80 104 120 140 56 80 104 120 152
type
Reduction gear ratio C
- 57 81 105 121 141 57 81 105 121 153
type
N•m 66 94 122 141 167 132 188 245 282 363
Rated torque
kgf•m 6.7 9.6 12 14 17 13 19 25 29 37

Frame number Unit AR60 AR135

Reduction gear ratio A, B
- 65 80 100 120 152 80 100 128 144 170
type
Reduction gear ratio C
- 66 81 101 121 153 81 101 129 145 171
type
N•m 304 376 470 564 715 753 941 1204 1352 1599
Rated torque
kgf•m 31 38 48 58 73 77 96 123 138 163

Frame number Unit ARH7 ARH17 ARH24 AR10H

Reduction gear ratio - 461/41 21 153/5 11 21 31 11 21 31 45
N•m 26 49 73 52 99 146 103 198 292 72
Rated torque
kgf•m 2.6 5.0 7.4 5.3 10 15 11 20 30 7

Make sure that the effective torque is less than the rated torque of the servo actuator.

Make sure that the servolock torque is 70% or less than the rated torque of the servo actuator.

10-4
 - Details of Selection Methods -

(4) Figuring out the brake torque

If the servo actuator is to be held by the brake (p5-14) incorporated inside the servo actuator, check that the brake
torque satisfies the requirement.

The brake torques of the servo actuators are shown below.

Frame number Unit AR15 AR30

Reduction gear ratio A, B type - 56 80 104 120 140 56 80 104 120 152
Reduction gear ratio C type - 57 81 105 121 141 57 81 105 121 153
N•m 86 115 143 162 186 212 282 353 400 494
Brake torque
kgf•m 8.8 12 15 17 19 22 29 36 41 50

Frame number Unit AR60 AR135

Reduction gear ratio A, B type - 65 80 100 120 152 80 100 128 144 170
Reduction gear ratio C type - 66 81 101 121 153 81 101 129 145 171
N•m 451 539 657 774 962 1051 1286 1615 1803 2109
Brake torque
kgf•m 46 55 67 79 98 107 131 165 184 215

Frame number Unit ARH7 ARH17 ARH24 AR10H

Reduction gear ratio - 461/41 21 153/5 11 21 31 11 21 31 45
N•m 60 89 119 81 157 225 167 314 461 245
Brake torque
kgf•m 6.1 9.1 12 8.3 16 23 17 32 47 25

Make sure that the brake torque of the servo actuator is higher than the brake torque requirement.

(5) Figuring out the reduction gear's service life

Calculate the anticipated service life of the reduction gear from the operating pattern, and check that it is more
than the required service life.
How to calculate the service life of the reduction gear is provided for the operating pattern below.

T1
Operating pattern
Load torque

T1 : Acceleration torque [N•m]

T2
T2 : Torque in steady state [N•m]
T3 : Torque at shutdown [N•m]
T3
T4 : Torque during deceleration [N•m]
T4
Output rotation speed

N1
N1 : Maximum rotation speed [rpm]
t1 : Acceleration/deceleration time [sec]
t2 : Steady-state operation time [sec]
t3 : Shutdown time [sec]
0
t1 t2 t1 t3 Time

10-5
 - Details of Selection Methods -

Calculate the mean load torque (Tm).

10/3
10/3 10/3 10/3 [N•m]
Tm = t1×(N1/2)×T1 + t2×N1×T2 + t1×(N1/2)×T4
2×t1×(N1/2) + t2×N1

Torque at shutdown (T3) and shutdown time (t3) are not used in this calculation.

Calculate the mean output rotation speed (Nm).

2×t1×(N1/2) + t2×N1
Nm = [rpm]
2×t1 + t2

Calculate the service life of the reduction gear in hours (Lh). (Rotation shutdown time t3 is not factored into this
calculation.)

N0 T0 10/3 T0 :
Lh = 6000 × × ( ) [hour] Rated torque [N•m] of reduction gear
Nm Tm
N0 : Rated rotation speed [rpm] of reduction
gear

Calculate the service life of the reduction gear in years (Ly).

(Rotation shutdown time t3 and the annual operation rate are factored into this calculation.)

Lh×(2×t1 + t2 + t3)×100 d : Annual operation rate [%]

Ly = [year]
(2×t1 + t2)× ×24×365

The table below shows the torque and rotation speed ratings of the reduction gears.
The rated rotation speed resulting from the calculation of the reduction gear's service life differs from the rated
output rotation speed of the servo actuator (p2-2).

Frame number Unit AR15 AR30 AR60 AR135 ARH7 ARH17 ARH24 AR10H
N•m 137 412 784 1568 68.6 167 235 98
Rated torque T 0
kgf• 14 42 80 160 7 17 24 10
Rated rotation speed N 0 rpm 15 50 15

Make sure that the service life of the reduction gear is longer than the required service life.

10-6
 - Details of Selection Methods -

(6) Figuring out the positioning accuracy

Make sure that the backlash, lost motion, angle transmission error and spring constant satisfy the requirements.

Calculate the backlash, lost motion, angle transmission error and spring constant as shown below.

When the input shaft of the servo actuator (servo motor shaft) is secured and torque is applied to the output
shaft side, twisting corresponding to the torque applied is generated.
The hysteresis curve shown in the figure below expresses this correspondence.
The spring constant, lost motion and backlash are defined in the figure below.

Backlash
Twist angle
a

b
Torque
50%

Lost motion
±3% rate torque

Rated torque Rated torque

-100% 100%

Rated torque/2 b
Spring constant = = [N•m/arc min]
Twist angle at rated torque - Twist angle at 50% of rated torque a

Lost motion :
Twist angle at intermediate point of hysteresis curve width at ±3% of rated torque. [arc min]

Backlash : Twist angle at "zero" torque of hysteresis curve [arc min]

The following formula is used to calculate the twist angle and twisting amount when the load torque (offset load,
etc.) is applied to the servo actuator from one direction.

Lost motion [arc min] Load torque [N•m]

Twist angle = + [arc min]
2 Spring constant [N•m/arc min]

The total twist angle when the load is applied in one direction and also in its opposite direction is the value
obtained by adding the backlash amount to twice the value calculated using the formula above.

Twist amount = L × tan (twist angle [arc min]/60) [mm] L : Distance from rotary center of servo
actuator to load point [mm]

The table below shows the spring constants, lost motion and backlash of the servo actuators.

AR15 AR30 AR60 AR135 ARH7 ARH17 ARH24 AR10H

N•m/arc min 34 108 196 392 15 29 44 47
Spring constant
kgf• /arc min 3.5 11 20 40 1.5 3.0 4.5 4.8
Lost motion arc min 1 6 1
Backlash arc min 1 6 1

10-7
 - Details of Selection Methods -

The definition and specification of the angle transmission error are provided below.

Angle transmission error

Angle transmission
The "angle transmission error" is the difference error specification
between the theoretical output rotation angle when
any rotation angle (?in) is supplied to the servo
actuator and the actual output rotation angle (?out).

This accuracy is expressed in terms of angle

[arc sec]
transmission error (?er).
1 rotation of output shaft

? in ?in : Input angle [arc min]

Angle transmission error (?er) = - ? out [arc min]
i ?out : Output angle [arc min]
i : Reduction gear ratio [-]

The angle transmission error (? er) of the AR series is not more than 1 arc min.
(The angle transmission error of the ARH**F and ARH**S does not stipulate to any particular value.)

Make sure that the positioning accuracy of the servo

actuator satisfies the positioning accuracy requirement.

(7) Figuring out the bearing capacity

Make sure that the thrust weight and moment applied to the main bearing of the servo actuator are less than the
specification values.

The "thrust weight" refers to the weight which is applied in Allowable thrust weight
Frame number
the direction shown in the figure below, and its specification N kgf
is shown in the table on the right. AR15 1960 200
AR30 5194 530
AR60 7840 800
AR135 14700 1500
ARH7 1470 150
ARH17 1960 200
ARH24 2940 300
AR10H 5880 600

Make sure that the thrust weight is less than the value allowed for the servo actuator.

10-8
 - Details of Selection Methods -

The "moment" refers to the weight which is applied in the direction shown in the figure below.

The moment is calculated as follows.

A, B type : Moment [N•m] = W1×(L1-a)+W2×L2

C, F, S type, AR10H : Moment [N•m] = W1×(L1-b)+W2×L2

W1, W2 : Weight [N] from load

L1,L2 : Distance [m] up to weight action point
a,b : Constants [m]

The table below shows the allowable moment and constants a and b of the servo actuators.

Allowable moment a b
Frame number
N•m kgf•m m
AR15 608 62 0.042 0.005
AR30 1666 170 0.052 0.011
AR60 1735 177 0.057 -0.002
AR135 3920 400 0.071 -0.011
ARH7 461 47 - 0.025
ARH17 804 82 - 0.031
ARH24 843 86 - 0.030
AR10H 686 70 - 0.017

Make sure that the load moment is less than the allowable moment of the servo actuator.

10-9
 - Details of Selection Methods -

(8) Figuring out the moment of inertia of the load

Make sure that the moment of inertia of the load is less than the specification value of the servo actuator.

The table below shows the servo actuators' allowable moments of inertia of the load.

Example : Calculation for the Load which diameter = D[m], weight = W[kg] and circular shape is shown below.

2 2 1 1 2
Moment of inertia of the load [kg m (GD /4)]= W[kg] D [m]
4 2

Frame number Unit AR15 AR30

Reduction gear ratio
- 56 80 104 120 140 56 80 104 120 152
A, B type
Reduction gear ratio
- 57 81 105 121 141 57 81 105 121 153
C type
2
Allowable moment of kg•m
5.2 11 18 24 32 15 31 53 71 113
inertia of load 2
(GD /4)

Frame number Unit AR60 AR135

Reduction gear ratio
- 65 80 100 120 152 80 100 128 144 170
A, B type
Reduction gear ratio
- 66 81 101 121 153 81 101 129 145 171
C type
2
Allowable moment of kg•m
51 77 120 173 277 253 395 647 819 1142
inertia of load 2
(GD /4)

Frame number Unit ARH7 ARH17 ARH24 AR10H

Reduction gear ratio - 461/41 21 153/5 11 21 31 11 21 31 45
2
Allowable moment of kg•m
0.59 2.2 4.7 1.5 5.3 12 5.0 17 38 9.6
inertia of load 2
(GD /4)

Make sure that the moment of inertia of the load is less

than the specification value of the servo actuator.

10-10
 - Details of Selection Methods -

(9) Figuring out the regeneration capacity

When the servo actuator decelerates, the inertial energy is converted into heat by the regenerative resistance
inside the servo amplifier.

Make sure that the regenerative power calculated from the operating pattern is within the capacity of the
regenerative resistance.

T1
Operating pattern
Load torque

T1 : Acceleration torque [N•m]

T2
T2 : Torque in steady state [N•m]
T3 : Torque at shutdown [N•m]
T3
T4 : Torque during deceleration [N•m]
T4
Output rotation speed

N1
N1 : Maximum rotation speed [rpm]
t1 : Acceleration/deceleration time [sec]
t2 : Steady-state operation time [sec]
t3 : Shutdown time [sec]
0
t1 t2 t1 t3 Time

When the inertial load has been positioned in the above operating pattern, the shaded area represents the
regeneration range.
The method used to calculate the regenerative power and the allowable values for the servo amplifier are shown
below.

T4×(N1/2)×0.105×t1
Regenerative power [W] =
2×t1 + t2 + t3

Servo amplifier Allowable regenerative

frame number power [W]
ARN15 20
ARN30 20
ARN60 60
ARN135 60

Make sure that the regenerative power is less

than the allowable value of the servo amplifier.

10-11
 Product disposal

To protect the environment, choose a recycling contractor, if possible, when

disposing of the servo system.

If you have any questions concerning the disposal of servo system, consult with
the dealership where you purchased the product or contact our sales office.

Service information

When you have any questions concerning the servo system or servicing, please
contact us at any of the following addresses.

When you request service, please inform us of the basic information (model and
serial numbers) on your servo system's nameplate.

Nabtesco Precision USA Inc

31731 Northwestern Hwy.,Suite 113E, Farmington Hills,Michigan 48334 U.S.A.
Phone : +1-248-538-9165 Fax : +1-248-538-9170
Email : info@nabtesco-precision.com
Home page : www.nabtesco-precision.com

In Europe and Africa

Nabtesco Precision Europe GmbH
Klosterstrße 49, D-40211 Düsseldorf Germany
Phone : +49-211-17379-0 Fax : +49-211-364677
Email : info@nabtesco-precision.de
Home page : www.nabtesco-precision.de

In Asia and others

Tokyo Head Office
1-9-18 Kaigan,Minato-ku, Tokyo 105-0022,Japan
Phone : +81-3-3578-7461 Fax : +81-3-3578-7471
Email : info-ps@teijinseiki.co.jp
Home page : www.ts-corporasion.co.jp

Tsu Plant (Engineering Department)

594,Ichimachida,Katada-cho,Tsu-shi,Mie-Pref. 514-8533,Japan
Phone : +81-59-237-4602 Fax : +81-59-237-4612

The contents of this instruction manual are subject to change without prior notice.