Manual de Driver de Servo Apd-Vs04nm

Instruction Manual (Abridgement)
Manual Version: [ver 1.1]
Software Version: Higher than 2.35
The first edition: 2008. 10. 01.
Revised edition: 2008. 10. 01.
- This content and specifications may be changed without prior notice according to
Software Version.
- No part of this may be reproduced in any form or by any electronic or mechanical
means without permission of Mecapion.
- Mecapion holds the patent right, the trademark right, the copyright and intellectual
property rights which are related to this product. Therefore NO permission to illegal use.
Thank you for purchasing Mecapion’s Series
Read this instruction manual thoroughly before installation, operation, maintenance or inspection of
this product.
Symbols for Safe Operation
In this manual, NOTES FOR SAFE OPERATION are classified as “WARNING” or “CAUTION”.
WARNING
Indicates a potentially hazardous situation which, if not avoided, could result in death or serious
injury to personnel.
CAUTION
Indicates a potentially hazardous situation which, may result in minor or moderate injury to
personnel, and possible damage to equipment if not avoided. It may also be used to alert against
unsafe practices.
Items described in Caution may also result in a vital accident in some situations. In cither case,
follow these important notes.
2
Note for Safe Operation
INSTALLATION CAUTION
y Make sure to keep the install direction.
y Do not throw down and prevent from impact.
y Never use the equipment where it may be exposed to splashes of water, corrosive or
flammable gases, or near flammable materials.(Failure to observe this warning may
lead to electric shock or fire)
y Use the equipment in indoors.
WIRING
y For the input power supply of Servo drive, surely use AC200~230[V]
y Make sure to ground the ground terminal.
y Never connect the AC main circuit power supply to servo motor.
y Never connect the AC main circuit power supply to output terminals U,V and W.
y Use the compression terminal with insulated tube when wire the power terminal.
y Make sure that Power cable(U,V,W) and Encoder cable are separated when
connected.
y If the motor moves by Machine, please use Robot Cable.
y Disconnect the power wires surely after the input power is off and “CHARGE” Lamp is
completely OFF.
y Surely use Twist pair shield cable for pulse command signal (PF+, PF-, PR+, PR-),
speed command signal(SPDCOM), torque limit signal(TRQLIM).
OPERATION
y Before starting operation, check and adjust each menu.
y During operation, do not touch the shaft of motor.
y During operation, do not touch the heat sink.
y Do not connect or disconnect CN1,CN2,CN3 connectors while power is applied to the
circuit.
GENERAL PRECAUTIONS
y Specifications are subject to change for product modifications and improvements. In
this case, we issue the manual on updated Version NO.
3
Precaution at First Setup
y Make sure the Power Supply voltage (AC200~230[V]) and wiring before power is
applied to the circuit.
y At first power apply, applied the power on Servo-OFF status.
y Verify the model No. of motor and the No. of Encoder pulse before power is applied to
the circuit.
y Set the motor ID on menu[PE-201], number of Encoder Pulse on menu [PE-204]
y After finishing the above, set the operation mode of servo drive by linking upper
motion controller on the menu [PE-601].
y Wire CN1 if servo drive according to each operation mode referring to “1.2 System
Construction”(Refer to “5.5 Example of connecting to upper Controller”)
y The ON/OFF state of each CN1 input contacts can be verified at CN1 contacts state.
WARNNING
MAINTENANCE AND INSPECTION
y After turning OFF Control power supply L1C, L2C, and main power supply L1, L2, L3
then wait enough time (Until the charge lamp is turned off), Proceed the maintenance
and inspection. High voltage still remains in the internal condenser.
y Never touch the high-voltage terminals at first power apply.
y Do not repair, inspect, and replace the component except for authorized person.
y The alteration of products is not allowed in any case
4
Content
◈ Precaution
1.1 Product Construction

1.1.1 Checking Products……………………………………… 8
1.2 System Composition

1.2.1 Position Operation Mode…………………………………9
1.2.2 Speed Operation Mode……………………………………11
1.2.3 Torque Operation Mode……………………………………12
1.2.4 Speed/Position Operation Mode…………………………13
1.2.5 Speed/Torque Operation Mode……………………………14
1.2.6 Position/Torque Operation Mode…………………………15
1.3 Signal Explanation

1.3.1 Input contacts signal ………………………………………16
1.3.2 Analog Input signal…………………………………………17
1.3.3 Pulse input signal……………………………………………17
1.3.4 Output Contacts signal……………………………………18
1.3.5 Monitor Output Signal and Output Power supply ……18
1.3.6 Encoder Output signal ……………………………………18
2.1 Servo Motor

2.1.1 Operating Environment……………………………………19
2.1.2 Preventing Excessive Impact………………………………19
2.1.3 Wring …………………………………………………………19
2.1.4 Assembling Load System……………………………………20
2.1.5 Cable Installation……………………………………………20
2.2 Servo Drive

2.2.1 Operating Environment……………………………………21
2.2.2 Installation In a Control Board (Panel)…………………22
2.2.3 Wring…………………………………………………………23
5
3.1 Power Board Wiring
3.1.1 Wiring Diagram (Rated Output is less than 400[V])………24
3.1.2 Wiring Diagram (Rated Output is from 0.5 to 37.0[kW]) …25
3.2 Wiring control Signal

3.2.1 Contact Input Signal………………………………………………26
3.2.2 Contact Output Signal……………………………………………26
3.2.3 Analog I/O Signal…………………………………………………27
3.2.4 Pulse Input Signal…………………………………………………28
3.2.5 Encoder Output Signal……………………………………………29
3.3 Communication (Option) Signal Wiring

3.3.1 PC-Communication (for RS232C)………………………………30
4.1 How to Operate Loader

4.1.1 External View…………………………………………………………31
4.1.2 Name of each Part…………………………………………………31
4.2 Program Menu Summary

4.2.1 Operation state Indicating Menu …………………………………34
4.2.2 Alarm state indicating Menu………………………………………35
4.2.3 System variables setting Menu……………………………………36
4.2.4 System variables setting Menu (for large size) ………………37
4.2.5 Control variables setting Menu……………………………………40
4.2.6 Analog I/O variables setting Menu…………………………………41
4.2.7 I/O contacts variables setting Menu………………………………42
4.2.8 Speed operation variables setting Menu…………………………43
4.2.9 Position operation variables setting Menu………………………45
4.2.10 Operation handling Menu…………………………………………46
6
4.3 Display Operation state
4.3.1 Display State………………………………….…………………48
4.3.2 Display Speed…….……………………………….……………48
4.3.3 Display Position……………………….………………………48
4.3.4 Display torque and Load ……………………………………48
4.3.5 Display I/O State………………………………………………49
4.3.6 Display Software Version……………………………………50
4.4 Setting Up Menu

4.4.1 Setting System Variables …………………………………51
4.4.2 Setting Control Variables…………………………………55
4.4.3 Setting Analog I/O Variables …..………………………60
4.4.4 Setting I/O Connecting Variables………………………62
4.4.5 Setting Speed Operation Variables……………………66
4.4.6 Setting Position Operation Variables…………………68
5.1 Adjustment
5.1.1 Gain Tuning ……………………………………………70
5.1.2 Current Offset Tuning…………………………………70
5.2 Test Operation

5.2.1 Manual Test Operation …………………………71
5.2.2 Continuous Test Operation……………………………71
5.2.3 Operation at Z position…………………………………71
6.1 External Dimension………………………………………………72
7
1.1 Product Construction
1.1.1 Checking Products
① Check if the products are the right one you ordered.

- Check the types marked in the nameplates of Servo Drive
- Check the types marked in the nameplates of Servo Motor
② Check Product and Option Items.

- Check if the cable types and length are right.
- Check if the regenerative resistance is in accordance with the standard.
- Check if the motor shaft is correct.
- Check if the Oil Seal and Brake is correct.
- Check if the reducer/gearbox and reduction ratio is correct.
- Check if the Encoder type is correct.
③ Check the External Appearance

- Check if there is no dust or moisture
- Check if there is fading, contamination, damage, and disconnection
- Check if the tightness of fitting & bolts are correct.
- Check if there is no noise or excessive friction at rotating
■ Servo drive Type Designation
APD – VS 04 N A4
AnyPack Series Type Drive Capacity Encoder Type Exclusive
VS : Standard type R5 : 50W 35 : 3.5kW N : Incremental Option
Servo Drive
VP : Controller- 01 : 100W 50 : 5.0kW
A : Absolute Code
Embedded type 02 : 200W 75 : 7.5kW
04 : 400W 110: 11.0 kW
VT : Tension
05 : 500W 150: 15.0 kW
Control type
10 : 1.0kW 220 : 22.0kW
15 : 1.5kw 300 : 30.0kW
20 : 2.0kW 370 : 37.0kW
8
■ Servo Motor Product Type
APM – S B 04 A E K 1 G1 03
AnyPack Series Motor Capacity
R3 : 30[W] Shape of Shaft
Servo Motor Reduction ratio
R5 : 50[W] N : Straight 03 : 1/3
01 : 100[W] K : One side round
10 : 1/10
02 : 200[W] (Standard) ··
03 : 300[W] ·
Motor Shape Type C : C Cut
04 : 400[W]
S : Solid Shaft D : D Cut
05 : 450[W] Reducer
H : Hollow Shaft T : Taper shape
06 : 550/600[W] None : No Reducer
B : Built-in R : Both side round
07 : 650[W] G1 : For General industry
H : Hollow Shaft (Foot Mount)
08 : 750/800[W]
09 : 850/900[W] G2 : General industry
10 : 1.0[kW] (Flange Mount)
··
G3 : Precision Gearbox
·
Flange Size 150 :15.0[kW] Encoder Type
220 :22.0[kW]
300 :30.0[kW]
A : 40 Flange A : Inc. 1024 [P/R] Oil Seal, Brake
370 :37.0[kW]
B : 60 Flange B : Inc. 2000 [P/R] None : none
C : 80 Flange
C : Inc. 2048 [P/R] 1 : Oil Seal
D : 100 Flange
D : Inc. 2500 [P/R] 2 : Brake
E : 130 Flange
Rated Speed E : Inc. 3000 [P/R] 3 : Oil Seal, Brake
F : 180 Flange
F : Inc. 5000 [P/R]
G : 220 Flange A : 3000 [rpm]
G : Inc. 6000 [P/R]
H : 250 Flange D : 2000 [rpm]
J : 280 Flange H : Abs. 1024 [P/R]
G : 1500 [rpm]
K : Abs. 2048 [P/R]
M : 1000 [rpm]
L : Abs. 4096 [P/R]
M: Abs. 8192 [P/R]
1.2. System Composition

1.2.1 Position Operating Mode
Note1) The models that are higher than VS05 have a control power terminal(L1C, L2C)
Note2) Surely use Twist pair shield cable for pulse command signal (PF+, PF-, PR+, PR-) and
torque limit signal(TRQLIM).
9
Regenerative resistance
MCCB1 MC1
B1 B2
Power supply AC L1 CN2
200-230 [V] NF L2
50/60 [Hz]
L3
Servo drive
U U
L1C
V V
L2C W
(Note1) W
E
CN3 Output
CN1
Input 38 ALARM+
DC24V ALARM-
+24V IN 50 39
40 RDY+
PCON 13 41 RDY-
GAIN2 14
42 TLOUT
PCLEAR 15
43 ZSPD
TLIMIT 16
44 BRAKE
ALMRST 17
45 INPOS
EMG 18
24 GND24
CWLIM 19
25 GND24
CCWLIM 20
MONITOR Output
EGEAR2 22 -5V ~+5V
EGEAR1 23 28 MONIT1
-5V ~+5V
SVON 47 29 MONIT2
37 GND
PULCOM 49 ENCODER Output

Line drive
32 AO
Upper PF+ 9
33 /AO
PF- 10
controller
PR+ 11 30 BO Upper
PR- 12 31 /BO controller
4 ZO
Open
collector 5 /ZO
0V ~+10V 3
Torque OPCZO
TRQLIM 1
36 GND
limit GND 8
Connect to Case of connector
10
1.2.2 Speed Operation Mode
MCCB1 MC1
B1 B2
200-230 [V] NF L2
50/60 [Hz] Servo drive
L3 U
U
L1C V
V
L2C W W
(Note1)
E
CN3 Output
CN1 ALARM+
Input 38
DC24V ALARM-
+24V IN 50 39
40 RDY+
PCON 13 41 RDY-
GAIN2 14
42 TLOUT
43 ZSPD
TLIMIT 16
44 BRAKE
ALMRST 17
45 INSPD
EMG 18
24 GND24
CWLIM 19 25 GND24
CCWLIM 20
SPD3 21 MONITOR Output
SPD2 22 -5V ~+5V
28 MONIT1
SPD1 23
DIR 46 -5V ~+5V
29 MONIT2
SVON 47
37 GND
STOP 48
ENCODER Output
32 AO
33 /AO
30 BO Upper
31 /BO controller
4 ZO
5 /ZO
-10V ~+10V OPCZO
Speed 3
SPDCOM 27
command 36 GND
GND 8
0V ~+10V
Torque TRQLIM 1
limit GND 8
Note2) Surely use Twist Pair shield cable for SPDCOM, TRQLIM, GND.
11
1.2.3 Torque Operation Mode
MCCB1 MC1
B1 B2
200-230 [V] NF L2
50/60 [Hz]
L3
Servo drive
U
L1C U
V
V
L2C W
(Note1) W
E
CN3 Output
CN1
Input 38 ALARM+
DC24V
+24V IN 50 39 ALARM-
40 RDY+
41 RDY-
42 TCONT
43 ZSPD
44 BRAKE
ALMRST 17
45 INSPD
EMG 18
24 GND24
CWLIM 19 25 GND24
CCWLIM 20
MONITOR Output
SPD2 22 -5V ~+5V
28 MONIT1
SPD1 23
-5V ~+5V
29 MONIT2
SVON 47
37 GND
STOP 48
ENCODER Output
32 AO
33 /AO
30 BO Upper
31 /BO controller
4 ZO
5 /ZO
0V ~+10V
Speed SPDLIM 27 3 OPCZO
limit 36 GND
GND 8
-10V ~+10V
Torque TRQCOM 1
command GND 8
Note2) Surely use Twist Pair shield cable for SPDCOM, TRQLIM, GND.
Note3) Surely set Speed limit type by SPDLIM, SP01, SP2D terminal.
12
1.2.4 Speed/Position Operation Mode
MCCB1 MC1
B1 B2
200-230 [V] NF L2
50/60 [Hz] Servo drive
L3
U U
L1C V
V
L2C W
(Note1) W
E
CN3 Output
CN1 38 ALARM+
Input
DC24V 39 ALARM-
+24V IN 50
40 RDY+
PCON 13 41 RDY-
GAIN2 14
42 TLOUT
PCLEAR 15
43 ZSPD
TLIMIT 16
44 BRAKE
ALMRST 17
45 INSPD/POS
EMG 18
24 GND24
CWLIM 19
25 GND24
CCWLIM 20
MODE 21 (Note2) MONITOR Output
SPD2/EGR2 22 -5V ~+5V
28 MONIT1
SPD1/EGR1 23
DIR 46 -5V ~+5V
29 MONIT2
SVON 47
STOP 37 GND
48
Line drive
32 AO
Upper PF+ 9
33 /AO
PF- 10
controller
PR+ 11 30 BO Upper
PR- 12 31 /BO controller
4 ZO
Open
collector 5 /ZO
-10V ~+10V OPCZO
Speed 27 3
SPDCOM
command 36 GND
GND 8
Torque 0V ~+10V
TRQLIM 1
limit
GND 8
Note1)The models that are higher than VS05 have a control power terminal(L1C, L2C)
Note2)Input contact MODE=ON:Speed control mode, MODE=OFF:Position control mode
13
1.2.5 Speed/Torque Operation Mode
MCCB1 MC1
B1 B2
200-230 [V] NF L2
50/60 [Hz]
L3 Servo drive
U U
L1C
V V
L2C W
(Note1) W
E
CN3 Output
CN1 38 ALARM+
Input
DC24V
+24V IN 50 39 ALARM-
40 RDY+
PCON 13 41 RDY-
GAIN2 14
42 TLOUT
43 ZSPD
TLIMIT 16
44 BRAKE
ALMRST 17
45 INSPD
EMG 18
24 GND24
CWLIM 19 25 GND24
CCWLIM 20
SPD2 22 -5V ~+5V
28 MONIT1
SPD1 23
DIR 46 -5V ~+5V
29 MONIT2
SVON 47
37 GND
STOP 48
ENCODER Output
32 AO
33 /AO
30 BO Upper
31 /BO controller
4 ZO
5 /ZO
-10V ~+10V OPCZO
Speed
SPDCOM/LIM 27 3
Command
/limit GND 36 GND
8
Torque -10V ~+10V
limit TRQLIM/COM 1
/command GND 8
Note2) Input contact MODE=ON:Speed control mode, Mode=OFF:Torque control mode
14
1.2.6 Position/Torque Operation Mode
MCCB1 MC1
B1 B2
200-230 [V] NF L2
50/60 [Hz]
L3 Servo drive
U U
L1C
V V
L2C W
(Note1) W
E
CN3 Output
CN1 38 ALARM+
Input
DC24V 39
+24V IN 50 ALARM-
40 RDY+
PCON 13 41 RDY-
GAIN2 14
42 TLOUT
PCLEAR 15
43 ZSPD
TLIMIT 16
44 BRAKE
ALMRST 17
45 INPOS
EMG 18
24 GND24
CWLIM 19 25 GND24
CCWLIM 20
EGR2/SPD2 22 -5V ~+5V
28 MONIT1
EGR1/SPD1 23
-5V ~+5V
SVON 29 MONIT2
47
STOP 37 GND
48
Line drive
Upper PF+ 9 32 AO
PF- 10 33 /AO
controller
PR+ 11
30 BO Upper
PR- 12
31 /BO controller
Open 4 ZO
collector 5 /ZO
0V ~+10V
Speed SPDLIM 27 3 OPCZO
limit 8
GND 36 GND
Torque -10V ~+10V
Limit
TRQLIM/COM 1
/command GND 8
Mote1)The models that are higher than VS05 have a control power terminal(L1C, L2C)
Note2)Input contact MODE=ON:Position control mode, MODE=OFF:Torque control mode
15
1.3 Signal Explanation
1.3.1 Input contacts signal
Application table on operation mode
Pin
Name Function and Use S S P
No. P S T /P /T /T
50 +24V IN Input contact +24[V] power supply O O O O O O
13 PCON P control operating O O X O O/X O/X
14 GAIN2 Selecting gain2 O O X O O/X O/X
15 PCLEAR Input pulse clear O X X X/O X O/X
ON : Torque limit by TRQLIM value
16 TLIMIT O O X O O/X O/X
OFF : Torque limit by parameter
17 ALMRST RESET at ALARM O O O O O O
18 EMG Emergency Stop O O O O O O
19 CWLIM Prohibit CW rotating (reverse direction) O O O O O O
20 CCWLIM Prohibit CWW rotating (forward direction) O O O O O O
SPD3 Selecting Speed3 X O X X X X
21
MODE Switching control mode X X X O O O
Selecting Command2 /
SPD2 X O O O/X O X/O
22 Selecting Speed limit2
EGEAR2 Switching electronic gear ratio2 O X X X/O X O/X
Selecting Command1 /
SPD1 X O O O/X O X/O
23 Selecting Speed limit1
EGEAR1 Switching electronic gear ratio1 O X X X/O X O/X
46 DIR Selecting rotating direction X O X O/X O/X X
47 SVON Servo Operating O O O O O O
48 STOP Motor Stop X O O O/X O X/O
Note1) P=Position, S=Speed, T=Torque
Note2) In case Speed operation, ‘DIR’ and ‘STOP’ contacts are operated as below by the
menu [PE-514]
Operating Method
Set up
CCW CW Stop
[PE-514]
DIR STOP DIR STOP DIR STOP
0 OFF OFF ON OFF × ON
ON ON
1 OFF ON ON OFF
OFF OFF
16
1.3.2 Analog Input Signal
Pin
No. P S T /P /T /T
SPDCOM Analog speed command (-10~+10[V]) X O X O/X O/X X

27
SPDLIM Analog speed limit input (0~+10[V]) X X O X X/O X/O
Analog torque command input
TRQCOM X X O X X/O X/O
1 (-10~+10[V])
TRQLIM Analog torque limit input (0~+10[V]) O O X O O/X O/X
8 GND Analog Signal ground O O O O O O
Note1) P=Position, S=Speed, T=Torque
* On Analog speed command, In case of override speed operation (set up as “1” on
menu[PE-405]), operation is executed by speed command that is repeated on digital
speed command.
Speed
Digital speed command

Selecting from [PE-602] to[PE-608]
-10[V] +10[V] Voltage
1.3.3 Pulse Input Signal

Pin
No. P S T /P /T /T
Line drive(5V) : F+ pulse input
9 PF+ O X X X/O X O/X
Open collector(24V) : Not Used
Line drive(5V) : F- pulse input
10 PF- O X X X/O X O/X
Open collector(24V) : F pulse input
Line drive(5V) : R+ pulse input
11 PR+ O X X X/O X O/X
Open collector(24V) : Not Used
Line drive(5V) : R- pulse input
12 PR- O X X X/O X O/X
Open collector(24V) : R pulse input
Line drive(5V) : Not Used
49 PULCOM Open collector(24V) : O X X X/O X O/X
+24V Power supply input
17
1.3.4 Output Contacts Signal
Pin
No. P S T /P /T /T
ALARM state output
38
ALARM+/- ON : normal state O O O O O O
/39
OFF : ALARM state
40
RDY+/- ON at Complete operating ready state O O O O O O
/41
42 TLOUT Torque limit O O O O O O
43 ZSPD Output at servo stop (speed is zero) O O O O O O
Brake operating signal output

44 BRAKE O O O O O O
(ON at servo dirving)
INSPD Output complete signal of target speed reaching X O X O/X O/X X
45
INPOS Output complete signal of target position reaching O X X X/O X O/X
24 Ground for operating power supply(24V)
GND24 O O O O O O
25 of I/O contacts
1.3.5 Monitor Output Signal and Output Power Supply

Pin
No. P S T /P /T /T
28 MONIT1 Analog monitor output1(-5~+5[V]) O O O O O O

29 MONIT2 Analog monitor output2(-5~+5[V]) O O O O O O
37 GND Analog output signal ground O O O O O O
34 +15V +15[V]Power supply output terminal O O O O O O
35 -15V -15[V]Power supply output terminal O O O O O O
1.3.6 ENCODER Output Signal

Pin
No. P S T /P /T /T
32 AO
Divide the Encoder signal by set
33 /AO
values of menu [PE-501] O O O O O O
30 BO
(5[V] Line drive type)
31 /BO
4 ZO Encoder Z signal output by motor

O O O O O O
5 /ZO (5[V] Line drive type)
3 OPCZO Encoder Z signal output by motor

O O O O O O
36 GND (Open collector type)
18
2.1 Servo motor
2.1.1 Operating Environment
Item Environment Remark
In case of out of temp-range, inquire to
Temp. 0∼40[℃]
Technical department and order separately
Humidity Less than 80[%]RH There should be no steam
External Vibration Acceleration Excessive vibration might cause shortening
Vibration X, Y direction less19.6[㎨] of bearing lifetime
2.1.2 Preventing Excessive Impact

- Impacting the shaft when installation or dropping the motor might cause the damage of
encoder.
CAUTION
2.1.3 Wiring
- Connecting commercial power supply directly to motor would cause damage of motor
So, the User should certainly connect to designated drive
- Ground terminal of motor should be connected to one of ground terminals (two) in drive and
another terminal should be connected to 3 class earth ground.
U–U
V-V
W–W
- F.G
- Match the U, V and W terminals of the motor with those of the driver
- Check if there are out of placed pin or fault of connection
- In case of moisture or condensation on motor, Surely check if the insulation resistance is
more than 10[㏁] and (500V), and then installation.
19
2.1.4 Assembling Load System
- Coupling assembling : Install motor shaft accurately match with load shaft within tolerance
range.
Less than 0.03[㎜](peak to peak)
Load
Motor
Less than 0.03[㎜](peak to peak)
- Pulley assembling :
Radial load Axial load
Flange Reference diagram
N kgf N kgf
40 148 15 39 4
Nr : Less than30[㎜]
60 206 21 69 7
Radial load
80 255 26 98 10
130 725 74 362 37
180 1548 158 519 53

Axial load
220 1850 189 781 90
250 5880 600 2156 220

Nr : Less than [100mm]
280 7448 760 2156 220
2.1.5 Cable Installation

- In case of vertical Installation, care about oil or water that can be flowed into joint
- Prevent Cable from the stress or flaw

Especially, while motor is moving, surely use the movable cable and cable should not be rolled.
20
2.2 Servo Drive
2.2.1 Operating Environment
- Must use Servo Drive in indoors which satisfy below conditions
Operating
Items Remarkable
environment
CAUTION Avoid heat by installing fans in order to

Temp. 0∼50[℃]
keep the proper ambient temperature.
CAUTION
Stopping for long time, drive can be
Less than damaged by condensation or tree zing
Humidity
90[%]RH Therefore, operate after removing the
moisture of drive sufficiently.
External Vibration Acceleration Excessive vibration might cause shortening the lifetime
Vibration Less than 5.9[㎨] and malfunction.
- Avoid direct sunlight

- Avoid corrosive and flammable gas.
Environment
- Avoid oil mist or dust.
- Keep ventilation on closed place.
21
2.2.2 Installing in a Control Board(Panel)
- Installation space is as below.
More than More than

100mm 100mm
More than More than More than More than

30mm 30mm 30mm 30mm
More than More than More than

50mm 50mm 10mm
Install 1 drive Install more than 2 drives
Note1) Install heat sources, such as regenerative resistance, away from the driver
주의
- Exercise caution to prevent chips produced by drilling from getting into the drive when
drilling control panels.
- Take appropriate measures to prevent oils, water and metal powder from getting into the
driver from openings in the control panels.
- If the drive is used in a place with large amount of toxic gases and dust, protect the drive
with and air purge.
22
2.2.3 Wiring
- Check the input voltage, and keep it within range.
CAUTION Drive may be damaged when over voltage is supplied.
- Connecting commercial power supply to the U,V,W terminals of drive may cause damage.
( Certainly connect power supply to L1, L2, L3 terminals )
- Certainly use the standard resistance value for regenerative resistance that is to be
connected to B1, B2 terminals of drive.
Model Resistance Standard Capacity *Remarkable

VS02~VS04 50[Ω] Internal 50[W] CAUTION
VS05~VS10 40[Ω] External 140[W] When expanding regenerative

capacity, the resistance value
VS15~VS20 23[Ω] External 300[W]
should be referred to “7.3 Option
VS35~VS75 11.5[Ω] External 300[W]×2 and peripherals”
- If there is additional control power supply (more than VS05), construct system in which
control power supply (L1C, L2C) is supplied first and then main power supply (L1, L2, L3) is
to be supplied.
- “High voltage” still remains for a while even after power is turned off.
.CAUTION To prevent electric shock, carry out wiring work after charge lamp is turned
off
- Ground the terminals at the shortest distance

Long ground distance can lead to wrong operation by noise effect.
23
3.1 Power Board Wiring
3.1.1 Wiring (Rated output is less than 400[W])
[APD-VSR5 ~ APD-VS04]
R S T (200~230V)
Main Main (Note1) 1MC

1MCCB OFF ON
RA Servo Drive Servo Motor
NF U
1MC 1Ry 1SK 1MC
L1
L2
V
W
M
L3
E
CN2 Encoder
1Ry
RA Alarm+ B1
+24V 38
B2
Alarm- External Option
39 B3
(Note2)
Regenerative Resistor
CN1 (140W,40Ω)
(note1) : It takes approximately 1~2 seconds before alarm signal is activated after power is
connected. Press main power on switch for at least 2 seconds of longer.
(Note2) : B2-B3 short pin and regenerative resistor is installed in APD-VS02, VS04 Type (but,
there are no regenerative circuit, and regenerative resistor in APD-VSR5~01 type)
Open short pin(B2-B3), and connect external regenerative resistor to (B1-B2) in case
of regenerative capacity is large due to frequent acceleration / deceleration. At this
time, Make sure that the optional Brake resistor should be 140[W], 40[Ω].
(Note3) : For the electric wire that is to be used at Main circuit power board, strip the coating
of wire about 10~12[㎜] as below and use the exclusive terminal which is Ferule UA-
F1512 (Made by Suh-il Electronics).
(Note4) : Connect or remove the wiring of10~12㎜

main circuit power board after press the
button ( ) of terminal.
24
3.1.2 Wiring (Rated output is from 0.5 to 37.0[kW]
[APD-VS05~APD-VS370]
R S T (200~230V)
Main
Main 1MC
1MCCB ON
OFF Servo Drive
RA Servo Motor
NF U
1MC 1Ry 1SK 1MC
L1
L2
V
W
M
L3
L1C
E
L2C
Encoder
1Ry
RA Alarm+ B1
+24V 38
B2
(note1)
Alarm- Regenerative
39
Resistor
CN1
(Note1) : If regenerative capacity is large due to frequent acceleration/deceleration, the
same value of resistor and larger capacity of regenerative resistor than that of normal
resistor provided should be used.
The resistor value of standard regenerative resistor for each capacity of drive is as below.
25
3.2 Wiring of Control Signal
3.2.1 Input Contact Signal
CAUTION The input contacts are classified into A contact and B contact depending
on the contact characteristics and can be reset by the menu [PC-807],
And special caution is required because each contacts can forcibly be
ON/OFF.
Servo dirve
+24V 24V IN
Input signal1
Input Signal2
3.2.2 Output Contact Signal
CAUTION The output contact internally uses transistor switch. Take precaution
because over voltage or over current may cause damage to the system.
- Power supply : DC24[V]±10%, 150[㎃]
Servo drive
(Note1)
Output signal1
RA
+24V
Output signal2 GND24
RA
Output signal3
GND24
(Note1) For the output signal of Alarm and Ready, the GND24 terminal is
separated.
26
3.2.3 Analog I/O Signal
Servo drive
Twist Pair
Command/Output signal Shield Wire
Command/Output signal
GND GND
FG
① GND terminal must be 0[V] of the control power supply.

② Input signal command voltage is within ±10[V], and input impedance is 10[㏀].
③ Output signal voltage of Monitor1(No.28), Monitor2(No.29) is ±5[V].
Addition to this, when controlling analog input by variable resistance using offered power
by drive, wiring is as under.
The output capacity of this power is 30[㎃] at maximum.
Do not exceed this capacity.
+15[V](34)
330[Ω] 1/4[W]
2[kΩ]
Analog command
(1),(27)
104
330[Ω] 1/4[W] GND

(8)
-15[V](35)
27
3.2.4 Pulse Input Signal
(1) Line driver(5[V]) Pulse input
Upper control system Servo drive
Twist Pair
Shield Wire
PF+
PF
PF-
PR+
PR
PR-
Line drive Line receiver
FG
(2) Open collector(24[V]) Pulse input

Upper control system Servo drive
GND24 +24[V] Pulse COM
Shield Wire PF-
PR-
GND24 FG
(3) 12[V] or 5[V] NPN Open Collector Pulse Command
Upper controller system Servo Drive

PR+
R PF+
R
NPN Power (Note1)
PF-
GND12
PR-
(Note1) When the power supply 12[V] is used : Resistance R=560~680[ohm], 1/2W
When the power supply 5[V] is used : Resistance R=100~150[ohm], 1/2W
When the power supply 24[V] is used : Resistance R=1.5[ohm], 1/2W
28
(4) PNP Open Collector type pulse command
Upper controller system Power (Note2) Servo Drive

PNP PF+
GND24
R PF-
GND24 PR+
R
PR-
GND24
FG
(Note 2) When the power supply 24[V] is used: Resistance R=1.5[kohm], 1/2W
When the power supply 12[V] is used: Resistance R=560~680 [ohm], 1/2W
When the power supply 5 [V] is used: Resistance R=100~150[ohm], 1/2W
3.2.5 Encoder Output Signal

The encoder signal is produced based on 0[V](GND) of control power supply. Connect 0[V]
terminal of the circuit which receives this signal from the upper control system to the ‘GND’
terminal of CN1. Encoder signal is produced in line drive system after the AC servo motor encoder
signal received from CN2 is divided according to the frequency dividing ratio set by the menu
[PE-510](Pulse Out Rate). Or in case of Z phase, there is also open collector output.
Upper control system

Servo Drive
Line Drive Line receiver

PA AO
/AO
GND
+15[V] +15[V]
GND
OPCZO Z상
(R 1/4[W] 1[kΩ]connected)
GND
29
3.3 Wiring of Communication (Option) Signal
3.3.1 PC-Communication (for RS232C)
This cable is for only PC-communication option cable to set servo drive menu by serial
communicating of servo drive and PC.
[ PC- Serial Port ] [ Servo Drive- CN3 ]
Content PC-Serial Port Servo Drive-CN3

Connector name HDEB-9S 10114-3000VE
Case name 3600-09-G-L 10314-52A0-008
NO.2(RXD) NO.6(TXD)
NO.3(TXD) NO.5(RXD)
Wiring
NO.5(GND) NO.11,NO.12(GND)
× Case(Shield)
Cable length 1,2,3,5[m]
In Windows98, Serial Port(COM1) setting is as below.

(Setting > Control panel > System > Device manager > Port >
Communication port(COM1) > Port setting)
Bps : 9600[bps] or 19200[bps] (Set it as the same speed
in the menu [PE-202])
Data bit : 8
Parity : none
Stop bit : 1
Flow control : Xon/Xoff
30
4.1 How to Operate Loader
4.1.1 External View
Left Right Up Enter
4.1.2 Name of each Part

① Move Menu
Right Right Right Right

Pd-001 Pd-002 Pd-020
Left Left Left
Up
Right Right Right

PA-101 PA-102 PA-120
Left Left Left
Up
Right Right Right

PE-201 PE-202 PE-220
Left Left Left
Up
Right Right Right

PE-701 PE-702 PE-720
Left Left Left
Up
Right Right Right Right
PC-801 PC-802 PC-820

Left Left Left
Up
31
② Editing Menu
Enter
PE-201
Enter
*Change Position : Left/Right
Initial Blinking digit
*Change Value : Up
- Shift to the menu for editing in the same method of ①

- After above, press[Enter] Key, then data of menu is displayed “ 13 ”
And, the last digit is blinking ; you can change the value where blink is located.
- For moving the blinking position, press [Left] or [Right].
- For changing value, press [Up] Key, then value is increased. At this time, the numerical
value turns back to “0” when it exceeds “9”.
- When editing is completed, press [Enter] Key, then value is saved and return to menu.
③ Error in menu editing

- Error is as below.
Display Cause
notuSE Menu that is used or impossible to set up
- In case of the menu is impossible to edit at Servo ON.
- Error in editing Motor relative constant.
Err1 - Input the value that does not have Motor ID.
- In case of editing detailed constant on the state that Motor
ID is not “0”
Err2 When setting the data that is out of range
Menu setting is Iocked.
Err3
It should be unlocked.
32
4.2 Program Menu Summary
Menu consists of 9 menu groups, and function of each menu is as below.
Comm. Code Name of Menu Group Function
Pd-001 Indicate operation status information of

Status Menu
~ Pd-020 Each Servo.
PA-101 Save & Indicate records of Alarm that is

Alarm Menu
~ PA-120 Happened before.
PE-201
System Menu Save information of system construction
~ PE-220
PE-301 Save set variables that are related to control.

Control Menu
~ PE-320
PE-401 Save set variables that are related to analog

Analog Menu
~ PE-420 I/O.
PE-501 Save set variables that are related to I/O

InOut Menu
~ PE-520 connection.
PE-601 Stores set variables that is related to Speed

Speed Operation Menu
~ PE-620 operation
PE-701 Save set variables that are related to position

Pulse Operation Menu
~ PE-720 pulse operation
PC-801
Command Menu Execute operation handling
~ PC-820
From the below menu table, the abbreviation for each mode means ;
P : Used at Position control mode
S : Used at Speed control mode
T : Used at Torque control mode
33
4.2.1 Operation State Indicating Menu
MENU UNIT INI
App
Comm. Description
CODE NAME MIN MAX Mode
Code
- - Indicates current operation status.
0 Pd-001 Current State PST
- - (Normal : nor , Alarm : Alarm No.)
r/min 0.0
1 Pd-002 Current Speed Indicates current speed. PST
-9999.9 9999.9
Command r/min 0.0
2 Pd-003 Indicates current command speed. ST
Speed -9999.9 9999.9
- 0 Indicates cumulative value of position command
3 Pd-004 Current Pulse P
-99999 99999 Pulse that are input from external device.
- 0
4 Pd-005 Feedback Pulse Indicates feedback pulse when controlling position. PST
-99999 99999
- 0
5 Pd-006 Pulse Error Indicates remained position pulse that is to be operated. P
0 99999
- 1000
6 Pd-007 E-Gear N0 Indicates numerator 0 of electronic gear ratio. P
1 99999
Command [%] 0 Indicates current command torque at torque limit
7 Pd-008 T
Torque -999.99 999.99 operation.
[%] 300
8 Pd-009 Torque Limit Indicates torque limit setting value. PST
0 300
[%] 0
9 Pd-010 Current Load Indicates current load ratio compared to rated. PST
-99999 99999
[%] 0
10 Pd-011 Average Load Indicates the average load ratio for 5 seconds Compared to rated. PST
0 99999
[%] 0 Indicates instantaneous max. load ratio compared to
11 Pd-012 Maximum Load PST
-99999 99999 rated.
DC Link Volt 0.0
12 Pd-013 Indicates DC Link voltage of current main power. PST
Voltage 0.0 999.9
CN1connection - -
13 Pd-014 Indicates contactsCN1 I/O status. PST
state I/O SET - -
- - Indicates input status that is handled forcibly by external(Handy
14 Pd-015 Input EXT SET PST
- - Loader, PC) (refer to PC-808)
- - Indicates I/O status that is perceived last
15 Pd-016 I/O State PST
- - (It is perceived and indicated when A contact:ON, B contact:OFF)
- -
16 Pd-017 Input Logic Set
- -
Input Logic - -
17 Pd-018 Menu that is related to communication. PST
Save - -
- -
18 Pd-019 Alarm bit
- -
Software - -
19 Pd-020 Indicates the Software Version. PST
Version - -
※ Communication code is to be used for selecting the menu when using TOUCH or PC .
34
4.4.2 Alarm state indicating Menu
MENU UNIT INI
App
Comm. Description
Code
Alarm history 01 ~ 20 - -
20 PA-101 Alarm History01
Indicates Alarm state that happened before PST
~ ~ ~ - -
39 PA-120 Alarm History20
# Alarm code and details

CODE Menu title Cause Checking Items
Nor-oF Normal svoff Servo OFF Normal condition -

Nor-on Normal svon Servo ON Normal condition -
RS232Comm.error, Control circuit
L1.01 L1.01 Replace the drive
operation error
AL-01 Emergency Stop EMG input contact turned OFF Check external DC24V power supply
Main power shut off during Servo ON
AL-02 Power Fail Check the wiring of main power supply
status
Check set values and CN2 wiring, U,V,W wiring,
AL-03 Line Fail Motor and encoder miswriting
Changing the Motor
AL-04 Motor Output Error of Output (U.V.W) open phase Check U,V,W wiring and IPM module damage
AL-05 Encoder Pulse No. of encoder pulse set error Check set value[PE-204] and CN2 wiring.
Check the [PE-502] position command pulse set
AL-06 Following Error Position pulse following error
value, wiring and Limit contact, gain set value
AL-07 Not Used Not Used -
Check the output terminal wiring motor, phrase
AL-08 Over Current Over current
resistance encoder set value, wiring, Replace drive
Check Load condition, Brake operating condition,
AL-09 Over Load Over load
wiring, motorㆍencoder set value.
Check input voltage, wiring of braking resistance,
AL-10 Over Voltage Over voltage damage of braking resistance, excessive regenerative
operation
Over speed,
AL-11 Over Speed Check encoder set value, encoder wiring, gain set
Input power when a Motor take free-run
AL-12 Not Used Not used -
AL-14 ABS Data Error Absolute encoder data error Check the initial reset [PC-811], Encoder overflow
Check the initial reset [PC-811] and if battery is
AL-15 ABS Battery Error Absolute encoder battery error
discharged
Absolute encoder multi-rotation data
AL-16 ABS Multi Error Check the initial reset [PC-811]
transmission error
AL-17 ABS Read Fail Absolute encoder reading error Check encoder
AL-20 Flash Erase Fail Deleting error of flash ROM data Replace drive
AL-21 Flash Write Fail Writing error of flash ROM data Replace drive
AL-22 Data Init Error Error of data initialization Replace drive
AL-23 EPWR Hardware error [PE-203] set error
Input of parameters, which cannot be
Err1 Error1 Turn OFF the servo and change the set value
changed, is attempted during Servo ON
Err2 Error2 Input of data which is out of set range Input values within the set range
Change the menu which is locked by
Err3 Error3 Change the menu [PC-810] with unlock condition
[PC-810](Menu Data Lock)
35
4.2.3 System variables setting menu
Menus marked with “*” cannot be corrected during Servo-On
MENU UNIT INI
App
Comm Description
Code
- - Sets Motor ID (Refer 4.4.1), When setting motor ID: Be
40 *PE-201 Motor ID PST
0 99 set automatically from [PE-210] to [PE-217]
RS232 Comm. speed [bps] 0 Sets RS232 communication speed of CN3
(Applicable after re-power on)
41 *PE-202 PST
Baud Rate 0 3 0=9600[bps], 1=19200[bps]
2=38400[bps],3=57600[bps]
- 0 Sets applied encoder type (0 : A phase lead, 1 : B
42 *PE-203 Encoder Type PST
0 9 phase lead, 6 : Absolute encoder)
P/r 3000
43 *PE-204 Encoder Pulse Sets the number of encoder pulse. PST
1 99999
[%] 300
44 PE-205 CCW TRQ Limit Sets torque limit value at CCW. PST
0 300
[%] 300
45 PE-206 CW TRQ Limit Sets torque limit value at CW. PST
0 300
- 0
46 *PE-207 System ID Sets drive ID on communication PST
0 99
- 0
47 *PE-208 System Group ID Sets drive group ID on communication PST
0 99
- 2 Sets the operation status display menu with
48 PE-209 Start Menu No. PST
1 20 [Pd-001]~[Pd-020] at power on.
2
gf⋅cm⋅s ID Sets inertia of motor. (Modification is possible when
49 *PE-210 Inertia PST
0.01 999.99 [PE-201] is “0”)
kgf⋅cm/A ID Sets torque constant of motor
50 *PE-211 Trq Con PST
0.01 999.99 (Modification is possible then [PE-201] is “0”)
mH ID Sets phase inductance of motor
51 *PE-212 Phase Ls PST
0.001 99.999 (Modification is possible when [PE-201] is “0”)
mohm ID Sets phase resistance of motor
52 *PE-213 Phase Rs PST
A ID Sets rated current of motor
53 *PE-214 Rated Is PST
0.01 999.99 (Modification is possible when [PE-201] is “0” .)
r/min ID Sets max.speed of motor
54 *PE-215 Max Speed PST
r/min ID Sets rated speed of motor
55 *PE-216 Rated Speed PST
- 8 Sets pole number of motor
56 *PE-217 Pole Number PST
2 98 (Modification is possible when [PE-201] is “0”)
- -
57 PE-218 Not Used
- -
- -
58 PE-219 Not Used
- -
- -
59 PE-220 Not Used
- -
※ Communcation code is to be used for selecting the menu when using TOUCH or PC .
36
4.2.4 System variables setting menu (for Special Large size: APD-VS220, VS300, VS370)
MENU UNIT INI
App
Comm Description
Code
- - Sets Motor ID (Refer 4.4.1), When setting motor ID: Be
40 *PE-201 Motor ID PST
0 99 set automatically from [PE-210] to [PE-218]
RS232 Comm. speed [bps] 0 Sets RS232 communication speed of CN3
41 *PE-202 0=9600[bps], 1=19200[bps] PST
Baud Rate 0 1 2=38400[bps],3=57600[bps]
- 0 Sets applied encoder type (0 : A phase lead, 1 : B
42 *PE-203 Encoder Type PST
0 9 phase lead, 6 : Absolute encoder)
[p/r] 3000
43 *PE-204 Encoder Pulse Sets the number of encoder pulse. PST
1 99999
[%] 300
44 PE-205 CCW TRQ Limit Sets torque limit value at CCW. PST
0 300
[%] 300
45 PE-206 CW TRQ Limit Sets torque limit value at CW. PST
0 300
- 0
46 *PE-207 System ID Sets drive ID on communication PST
0 99
- 0
47 *PE-208 System Group ID Sets drive group ID on communication PST
0 99
- 2 Sets the operation status display menu with
48 PE-209 Start Menu No. PST
1 20 [Pd-001]~[Pd-020] at power on.
2
gf⋅cm⋅s ID Sets inertia of motor. (Modification is possible when
49 *PE-210 Inertia PST
0.1 9999.9 [PE-201] is “0”)
kgf⋅cm/A ID Sets torque constant of motor
50 *PE-211 Trq Con PST
0.001 99.999 (Modification is possible then [PE-201] is “0”)
mH ID Sets Q-axis inductance of motor
51 *PE-212 Q-axis Inductance PST
mH ID Sets D-axis inductance of motor
52 *PE-213 D-axis Inductance PST
mohm ID Sets phase resistance of motor
53 *PE-214 Phase Rs PST
A ID Sets rated current of motor
54 *PE-215 Rated Is PST
0.01 999.99 (Modification is possible when [PE-201] is “0” .)
r/min ID Sets max.speed of motor
55 *PE-216 Max Speed PST
r/min ID Sets rated speed of motor
56 *PE-217 Rated Speed PST
- 8 Sets pole number of motor
57 *PE-218 Pole Number PST
2 98 (Modification is possible when [PE-201] is “0”)
A 0 Sets current offset of motor
58 PE-219 Ibs Offset Save PST
-99.999 99.999 (Modification is possible when [PE-201] is “0”)
A 0 Sets current offset of motor
59 PE-220 Ics Offset Save PST
-99.999 99.999 (Modification is possible when [PE-201] is “0”)
※ Communcation code is to be used for selecting the menu when using TOUCH or PC
37
Motor type and ID
Model ID Watt Remark Model ID Watt Remark
SAR3A 1 30 SE09A 61 900
SAR5A 2 50 SE15A 62 1500
SA01A 3 100 SE22A 63 2200
SE30A 64 3000
SB01A 11 100 SE06D 65 600
SB02A 12 200 SE11D 66 1100
SB04A 13 400 SE16D 67 1600
SB03A 14 250 Customized type SE22D 68 2200
HB02A 15 200 Hollow Shaft SE03M 69 300
HB04A 16 400 Hollow Shaft SE06M 70 600
SE09M 71 900
SC04A 21 400 SE12M 72 1200
SC06A 22 600 SE05G 73 450
SC08A 23 800 SE09G 74 850
SC10A 24 1000 SE13G 75 1300
SC03D 25 300 SE17G 76 1700
SC05D 26 450 HE09A 77 900 Hollow Shaft
SC06D 27 550 HE15A 78 1500 Hollow Shaft
SC07D 28 650 SE11M 79 1050 Customized type
SC01M 29 SE07D 80 650 Customized type
SC02M 30 SF30A 81 3000
SC03M 31 SF50A 82 5000
SC04M 32 SF22D 85 2200
HC06H 33 600 Only S/T SF35D 86 3500
SC05A 34 450 Only S/S SF55D 87 5500
SC05H 35 500 Only S/S SF75D 88 7500
SC08A 36 750 Only S/S SF12M 89 1200
SF20M 90 2000
HB01A 37 100 Hollow Shaft SF30M 91 3000
HC10A 38 1000 Hollow Shaft SF44M 92 4400
HE30A 39 3000 Hollow Shaft SF20G 93 1800
Only
HB03H 40 250 Semiconductor
SF30G 94 2900
Only
HC03H 41 250 Semiconductor
SF44G 95 4400
Only
HC03HC6 42 300 Semiconductor
SF60G 96 6000
HC05H 99 500 Customized type
SE15D 50 1500 Special type
SC20B 51 2000 Special type
38
# Motor type and ID
Model ID Watt Remark Model ID Watt Remark
SE35D 101 3500 Only DS
SE30D 102 3000 Customized type
SF44ML 103 4400 Only LG
SF75G 104 7500 Customized type
SE35A 105 3500 Customized type
SF55G 106 5500 Customized type
SF60M 107 6000 Customized type
SF35A 108 3500 Customized type
SG22D 111 2200

SG35D 112 3500
SG55D 113 5500
SG75D 114 7500
SG110D 115 11000
SG12M 121 1200

SG20M 122 2000
SG30M 123 3000
SG44M 124 4400
SG60M 125 6000
SG20G 131 1800

SG30G 132 2900
SG44G 133 4400
SG60G 134 6000
SG85G 135 8500
SG110G 136 11000
SG150G 137 15000
SH220G 141 22000

SH300G 142 30000
SJ370G 143 37000
39
4.2.5 Control Variables Setting Menu
Menus marked with “*” cannot be corrected during Servo-ON
MENU UNIT INI
Appl.
Comm Description
Code
2.0
60 PE-301 Inertia Ratio Sets inertia ratio of load (Refer to chapter 4.4.2) PST
1.0 500.0
1/s 50
61 PE-302 Position P Gain1 Sets position control proportional gain 1 P
0 500
1/s 50
62 PE-303 Position P Gain2 Sets position control proportional gain 2 P
0 500
[%] 0
63 PE-304 P Feedforward Sets position feed-forward control ratio P
0 100
msec 0
64 PE-305 P FF FLT TC Sets the time-constant of position feed-forward control filter P
0 10000
msec 0
65 PE-306 P CMD FLT TC Sets the time-constant of position command filter P
0 10000
rad/s Sets speed proportional gain 1
66 PE-307 Speed P Gain1 PST
0 5000 (APD-VSR5~04:500, VS05~10:300, VS15~75:200)
[%] 50.0 Sets zero speed gain rate which will be applied for the speed
67 PE-308 ZSPD Gain Rate PS
1.0 100.0 lower than that of [PE-313].
msec Sets speed integral time constant 1
68 PE-309 Speed I TC1 PST
1 10000 (APD-VSR5~04:20, VS05~10:30, VS15~75:50)
msec Sets speed integral time constant 2
69 PE-310 Speed I TC2 PST
1 10000 (APD-VSR5~04:20, VS05~10:30, VS15~75:50)
msec 0.0
70 PE-311 Speed IN FT Sets speed command filter S
0.0 100.0
msec 0.5
71 *PE-312 Speed FB FT Sets speed feed-back filter PS
0.0 100.0
r/min 0.0
72 PE-313 Zero Speed Gain Sets the speed range of zero speed gain PST
0.0 100.0
msec 0.0
73 PE-314 TORQ. CMD FLT Sets torque command filter PST
0.0 1000.0
- 0 Sets avoid resonance driving operation
74 PE-315 DE-Resonance PST
0 1 ( 0 : no operation, 1 : operation)
Hz 300
75 PE-316 Notch Frequency Sets avoid resonance driving frequency PST
0 1000
- 100
76 PE-317 Notch Bandwidth Sets avoid resonance band width PST
0 1000
- 1.1 Set the time of Overload characteristics
77 PE-318 Overload offset PST
1.0 3.0 (User is requested not to change it)
r/min 100.0 Sets the changed speed at PI-P control (‘PCON’ input)(P
78 PE-319 Speed P Control PST
0.0 9999.9 control is operated at less than set speed)
- 1 Automatically switch from speed control to position control at
79 PE-320 Zero Speed Lock ‘STOP’ input or command 0 voltage at [PE-403](SClamp PST
0 1 Mode)=1,(0:not used, 1:operation)
※ Communication code is to be used for selecting the menu when using TOUCH or PC .
40
4.2.6 Analog I/O variables setting menu
MENU UNIT INI
App
Comm Description
Code
r/min 2000.0 Sets analog speed command at 10[V]
80 *PE-401 Analog Speed ST
0.0 max -Max values is max speed of motor(Refer 4.4.3)
mV 0.0
81 PE-402 Speed Offset Sets the offset of speed command S
-1000.0 1000.0
- 0
82 PE-403 SClamp Mode Sets zero speed clamp operation S
0 1
mV 0.0
83 PE-404 SClamp Volt Sets zero speed clamp operating voltage S
0.0 2000.0
- 0 Sets speed override operation
84 *PE-405 Speed Override S
0 1 (0 : Not used, 1 : Override operation)
[%] 100
85 *PE-406 Analog Torque Sets analog torque command at 10[V] PST
0 300
mV 0.0
86 PE-407 Torque Offset Sets the offset of torque command T
-1000.0 1000.0
- 0
87 PE-408 TClamp Mode Sets zero torque clamp operation T
0 1
mV 0.0
88 PE-409 TClamp Volt Sets zero torque clamp operation voltage T
-1000.0 1000.0
- 1
89 PE-410 Monitor Type1 Sets type of analog output1 for monitoring PST
0 10
- 0 Sets mode of analog output1 for monitoring
90 PE-411 Monitor Mode1 (0:mark direction sorting,1:mark absolute value without PST
0 1
direction sort)
- 1.0
91 PE-412 Monitor Scale1 Sets scale of analog output1 for monitoring PST
0.1 9999.0
mV 0.0
92 PE-413 Monitor Offset1 Sets offset of analog output1 for monitoring PST
-100.0 100.0
- 3
93 PE-414 Monitor Type2 Sets type of analog output2 for monitoring PST
0 10
- 0 Sets mode of analog output2 for monitoring
94 PE-415 Monitor Mode2 (0:mark direction sorting, 1:mark absolute value without PST
0 1
direction sort)
- 1.0
95 PE-416 Monitor Scale2 Sets scale of analog output2 for momitoring PST
0.1 9999.0
mV 0.0
96 PE-417 Monitor Offset2 Sets offset of analog output2 for monitoring PST
-100.0 100.0
- -
97 PE-418 Not Used
- -
- -
98 PE-419 Not Used
- -
- -
99 PE-420 Not Used
- -
※ Communication code is to be used for selecting the menu when using TOUCH or PC
41
4.2.7 I/O Contacts Variables Setting Menu
MENU UNIT INI
App
Comm Description
Code
Pulse 100 Sets the output range of position operation completed signal
100 PE-501 Inposition P
0 99999 (Refer to chapter 4.4.4)
Pulse 90000
101 PE-502 Follow Error Sets the output range of position operation follow error signal P
0 999999
r/min 10.0
102 PE-503 0 Speed RNG Sets the output range of zero speed signal PST
0.0 9999.9
r/min 100.0
103 PE-504 Inspeed Sets the output range of speed reaching signal S
0.0 9999.9
r/min 50.0
104 PE-505 Brake SPD Sets the output speed of break operating signal PST
0.0 9999.9
msec 10
105 PE-506 Brake Time Sets the output delay time of break operating signal PST
0 10000
- 0 Sets operation reset mode of main power error
106 PE-507 PowerFail Mode [ 0 : less than VS041(reset by hand), PST
0 1 1 : more than VS05(automatic reset)]
- 1 Sets generating brake control operation
107 PE-508 DB Control 0:SVOFFat stop,less than [PE-503](zerospeed):Free-run PST
0 1 1:SVOFF at stop, generating brake function is always operated
- 2 Sets position pulse clear operating mode
0 : Edge operating
108 PE-509 Pulse Clear Mode P
0 2 1 : Level operation(response instantly)
2 : Level operation(filter operating)
- 1 Sets divide ratio of encoder signal output
109 PE-510 Pulse Out Rate PST
1 16 -Divide ratio : 1,2,3…..16
- -
110 PE-511 Not Used
- -
- 1 Automatically Cancel after ESTOP operation
111 PE-512 ESTOP Reset PST
0 1 (0 : Reset by manual, 1 : Automatic reset)
- -
112 PE-513 Not Used
- -
- 0 0: DIR→Switching direction, STOP→stop
113 PE-514 Dir Select Mode S
0 1 1: DIR→CW operation, STOP→CCW operation
- 30 Sets Logic of output contacts.
114 PE-515 Output Logic PST
0 63 (30=ZSPD output, 26=TGON signal output)
msec 0
115 PE-516 PWM off Delay Sets the delayed time(PWM-off) when command SV-off PST
10 1000
116~ PE-517~ - -
Not Used
117 PE-518 - -
[%] 50.0 Set zero speed gain ratio that are to be applied to the speed
118 PE-519 ZSPD Gain rate
1.0 100.0 range that is below the value which were set in PE-313.
- 0 Set Gain1, Gain 2 switching mode. 0: Use Gain1 only.

1: When gain2 off, use gain1, gain2 on use gain 2
119 PE-520 Gain Conv Mode
0 3 2. When [PE-503] IS over 0speed: Gain2, below 0speed: Gain1
3. Pulse error is bigger than [PE-501], convert Gain 1 -> Gain 2
42
4.2.8 Speed operation variables setting menu
MENU UNIT INI
Appl.
Comm Description
Code
- 1 Sets operation mode (Refer to chapter 4.4.5)
0 : torque control mode
1 : speed control mode
2 : position control mode
3 : speed/position control mode
(‘MODE’ contact=OFF: position mode)
120 *PE-601 Operation Mode 4 : speed/torque control mode PST
0 5
(‘MODE’ contact=OFF: torque mode)
5 : position/torque control mode
(‘MODE’ contact=OFF: torque mode)
(Surely set ‘0’ for [PE-320] when using the operation mode 3
& 4)
r/min 10.0
121 PE-602 Speed Command1 Be selected as per the status of speed ST
-Max +Max
command input contact
r/min 200.0
122 PE-603 Speed Command2 [SPD1][SPD2][SPD3] ST
-Max +Max [X]: OFF, [O]: ON
r/min 500.0
123 PE-604 Speed Command3 ST
-Max +Max [X][X][X] : Analog speed command
r/min 1000.0 [O][X][X] : Internal speed command 1
124 PE-605 Speed Command4 [X][O][X] : Internal speed command 2 S
-Max +Max [O][O][X] : Internal speed command 3
r/min 1500.0 [X][X][O] : Internal speed command 4
125 PE-606 Speed Command5 S
-Max +Max [O][X][O] : Internal speed command 5
r/min 2000.0 [X][O][O] : Internal speed command 6
126 PE-607 Speed Command6 [O][O][O] : Internal speed command 7 S
-Max +Max
r/min 3000.0 * Used as Speed limit when Torque control
127 PE-608 Speed Command7 S
-Max +Max
msec 0
128 PE-609 Accel Time Sets the accelerating time S
0 100000
msec 0
129 PE-610 Decel Time Sets the decelerating time S
0 100000
- 0 Sets S shape control on speed control
130 *PE-611 S Type Control S
0 1 ( 0 : Linear Accel/Decel , 1 : S shape Accel/Decel )
r/min 100.0
131 PE-612 Test Run Speed0 Sets speed 0 at continuous test operation PST
-Max +Max
r/min -500.0
-Max +Max
r/min 1000.0
-Max +Max
r/min -2000.0
-Max +Max
sec 5
135 PE-616 Test Run Time0 Sets time 0 at continuous test operation PST
1 50000
※ Communication mode is to be used for selecting the menu when using TOUCH or PC .
43
MENU UNIT INI
App
Comm Description
Code
sec 5
1 50000
sec 5
1 50000
sec 5
1 50000
- -
139 PE-620 Not Used
- -
※ Communication mode is to be used for selecting the menu when using TOUCH or PC
44
4.2.9 Position opreration variables setting menu
Menu marked with “*” cannot be corrected during Servo-ON
MENU UNIT INI
App
Comm Description
Code
- 1 Sets the input pulse logic of position operation
140 *PE-701 Pulse Logic P
0 5 (Refer to chapter 4.4.6)
- 1000
141 *PE-702 Electric Gear N0 Sets numerator 0 or electronic gear ratio P
1 99999
- 1000
142 *PE-703 Electric Gear D0 Sets denominator 0 or electronic gear ratio P
1 99999
- 1000
1 99999
- 2000
1 99999
- 1000
1 99999
- 3000
1 99999
- 1000
1 99999
- 4000
1 99999
Pulse 0 Sets backlash compensation in position operation
149 *PE-710 Backlash P
0 10000 (Standard : 4 interpolation pulse)
- 0 0:electronic gear ratio 0~3 selecting 1:Offset value
150 PE-711 E-Gear Mode override function to numerator 0 of electronic gear P
0 1
ratio (data up/down function)
- 0 Directly setting numerator 0 of offset value on menu
151 PE-712 E-Gear offset of EGEAR1 contact ON→increase, EGEAR2 contact P
-99999 99999
ON→decrease
- 0 Switch the direction by pulse in position operation
Position Pulse Direction
152 PE-713 0 : Operating in the direction of command P
Pulse Dir 0 1 1 : Operating in the counter direction of command
- -
153 PE-714 Not Used
- -
- -
154 PE-715 Not Used
- -
- -
155 PE-716 Not Used
- -
- -
156 PE-717 Not Used
- -
- -
157 PE-718 Not Used
- -
- - Absolute encoder’s Multi Turn Data.
158 PE-719 ABS Multi Turn Menu display is not possible as this is for
- -
Communication only.
- - Absolute encoder’s Single Turn Data.
159 PE-720 ABS Single Turn Menu display is not possible as this is for
- -
communication only.
45
4.2.10 Operation handling menu
Menu marked with “*” cannot be corrected during Servo-ON
MENU UNIT INI
Comm Description
CODE NAME MIN MAX
Code
- -
160 PC-801 Alarm Reset Reset current alarm (Refer to chapter 5)
- -
- -
161 PC-802 Alarm His Clear Clear alarm history
- -
- - Execute test operation by hand
[Left] : forward rotating [Right] : reverse rotating
[Up] : test operation speed changing
162 PC-803 Manual Test Run ([PE-602]~[PE-608])
- -
[Enter] : End
Operating is not related to input status of CN1
- - Continuous operation by speed and time that are set on menu, press
163 PC-804 Auto Test Run [Enter] for end
- - Operating is not related to input status of CN1
- 1 Sets automatic tuning operation of load inertia.
0: no auto tuning operation
1: auto tuning within 1~5 of inertia range
164 PC-805 Gain Tune Run 5: auto tuning within 50~100 of inertia range
1 5
(Procedure)
①sets the range with[Left], [Right] key
②execute forward/reverse operation about 10 times at 1000[r/min]
③Press [Enter] key, then auto tuning result is saved at [PE-301],
[PE-307], [PE-309], and set as “0” automatically
- - Press [Enter] key, then motor rotate as forward
165 PC-806 Z POS Search Direction, and search for Z phase of encoder for stop
- -
- - After setting the input contact number(0~d) with
[Left], [Right] key, press [Up]key, then the status of input contact
166 PC-807 IN Logic Set is changed.
- - Segment “Off” : Normal – A contact
Segment “On” : Normal – B contact
- - After setting the input contact number (0~d) with [Left], [Right]
key, press [Up] key, then input contact is “ON” forcibly.
167 PC-808 EXT Input Set Segment “Off” : Switch status of CN1
- - Segment “On” : Make “On” forcibly.
All contacts are OFF at power off
- -
Press [Enter] key, then data of menu are changed to initial value
automatically
168 *PC-809 Menu data Init But, system menu data of [PE-201]~[PE-220] is not changed
- -
(It will be applied when the Power is supplied again.)
- - Press [Enter] key, then Lock/unlock functions of menu data is

operated as toggle.
169 PC-810 Menu data Lock If data is changed at menu Lock status, then “Err3” would be
displayed
46
MENU UNIT INI
Comm Description
CODE NAME MIN MAX
Code
- - Press [Enter] key at using absolute encoder,then reset absolute
170 PC-811 ABS Encoder set
- - encoder for 5 seconds.
- - Compensates current offset of Hall-CT
[Left] key : display current offset value of U phase
[Right] key : display current offset value of W phase
171 PC-812 Current Offset
- - [Up] key : save existing current offset value
In case of downloading servo soft, surely turn power ON/OFF 3~5
times, after that press[Up] Key and save current offset value.
172 PC-813 - -
~ ~ Not Used
- -
173 PC-814
% 0 Display instantaneous max. load ratio for the rated.
[Right] Key : Display forward direction instantaneous max.load ratio.
174 PC-815 Peak Load [Left] Key : Display reverse direction instantaneous max.load ratio.
-9999 9999
[Up] Key : Reset instantaneous max. load ratio
Following position Pulse 0
Display the amount of encoder pulse that motor is rotated.
175 PC-816 pulse펄스
9.9.9.9.9.9 999999 [Up] Key : Reset encoder pulse amount
Feedback Pulse
176 PC-817 - -
~ - Not Used
- -
179 PC-820
(1) (4) (7) (a) (d)

(0) (2) (3) (5) (6) (8) (9) (b) (c)
(A) (C) (D) (F)
(B) (E)
Display Input contact logic Handling position of Input contact
[Input contact : upper]

(0) (1) (2) (3) (4) (5) (6) (7) (8) (9)
SPD1/ SPD2/ SPD3/
SVON DIR PCON CCWLIM CWLIM TLIMIT EMG
EGEAR1 EGEAR2 MODE
(a) (b) (c) (d)
STOP ALMRST GAIN2 PCLEAR
[Output contact : lower]

(A) (B) (C) (D) (E) (F)
BRAKE INSPD/INPOS ZSPD READY TLOUT ALARM
47
4.3 Display Operation State
4.3.1 Display State[Pd-001] (Application Mode : PST)

- Display current operation state.
* nor-off : Servo off normal operation state.
* nor-on : Servo on normal operation state.
* AL-XX : Display pertinent code at alarm
- Remove the source of alarm, and display data of menu on basis of [PE-209] when alarm
is canceled by reset key
- At this time, Of handling is conducted between menu, display with no changing
4.3.2. Display Speed (Application Mode : PST, ST)

- Display Current Speed [Pd-002] and current speed command [Pd-003] as [r/min]
- Maximum range is –9999.9 ~ 9999.9
4.3.3 Display Position

① Position command pulse [Pd-004] (Application Mode : P)
Display Counter value of position command pulse that is inputted after Servo ON.
② Position following pulse [Pd-005] (Application Mode : PST)
Display counter value
③ Position Pulse remainder [Pd-006] (Application Mode : P)
Difference between command pulse and following pulse, and it displays pulse counter
value for the position where Servo will drive on.
④ Electronic gear ratio numerator [Pd-007] (Application Mode : P)
Where deceleration ratio is being changed due to abration of machine, the Offset
settlement [PE-712] can be set to be compensated by electronic gear ratio and the
information of offset value is displayed.
4.3.4 Display Torque and Load

① Current command torque [Pd –008] (Application Mode : T)
Display the inside torque command that is operated from servo control algorithm compared
to rated torque at percentage.
② Torque Limit [Pd –009] (Application Mode : PST)
Display maximum torque that servo motor can generate compared to rated torque at
percentage.
48
③ Current load ratio [Pd–010] (Application Mode : PST)
Display energy (load) that servo motor currently generates compared to rated output at
percentage
④ Average Load ratio [Pd –011] (Application Mode : PST)
Display average energy (load) value for 5 seconds that servo motor generates compared to
rated output at percentage.
⑤ Maximum instantaneous Load rated [Pd –012] (Application Mode : PST)
Display maximum (peak) load value from the time when it started control up to now after
servo ON compared to rated output at percentage.
⑥ Condenser DC Link Voltage [Pd –013] (Application Mode : PST)
- Display servo drive condenser voltage due to regenerative energy from servo motor.
- The maximum DC Link voltage is 405V at standard drive(220V)
- If DC Link voltage exceeded the limit due to that regenerative energy is large or the
capacity of regenerative resistance is small, then over Voltage alarm occurs.
- Proper values are less than 395[V] on regenerative region.
4.3.5 Display I/O State

(1) (4) (7) (a) (d)
(0) (2) (3) (5) (6) (8) (9) (b) (c)
(A) (C) (D) (F)
(B) (E)
Display Input contact logic
[Input contact : Upper]

(0) (1) (2) (3) (4) (5) (6) (7) (8) (9)
SPD1/ SPD2/ SPD3/
SVON DIR PCON CCWLIM CWLIM TLIMIT EMG
EGEAR1 EGEAR2 MODE
(a) (b) (c) (d)
STOP ALMRST GAIN2 PCLEAR
[Output contact : Lower]

(A) (B) (C) (D) (E) (F)
BRAKE INSPD/INPOS ZSPD READY TLOUT ALARM
① CN1 I/O contact state [Pd-014] (Application Mode : PST)

CN1 Connector is ON (Short) : Lamp ON
49
CN1 Connector is OFF (Open) : Lamp OFF
② External manipulation Input state [Pd-015] (Application Mode : PST)
- Display state when manipulating the contact state by using external device (PC
communication and the like), not in case of using CN1 connector.
- Since the external handling input state can not be stored at servo drive ROM, it can be
automatically reset when power is turned OFF.
③ I/O contact state [Pd-016] (Application Mode : PST)
Display I/O state by compounding ① and ②
(When normal–A contact : ON, and normal-B contact : OFF, it is recognized and
displayed)
4.3.6 Display Software version (Application Mode : PST)
S 2.01 - 3
Standard Version Drive type
z Software type is “S” in this No. Drive type

Manual. 0 VSR5
1 VS01
2 VS02
3 VS04
4 VS05
5 VS10
6 VS15
7 VS20
8 VS35
9 VS50
A VS75
b VS110
VS110
c
Customized type (300A)
d VS150
e VS220
f VS300
g VS370
50
4.4 Setting Up Menu
4.4.1 Setting System Variables
① Setting motor constant (Application Mode : PST)
- Setting motor constant by ID.
Input ID number to ID menu [PE-201], then motor constant can be automatically set.
ID for each model Motor is as below.
# Motor type and ID
Model
Model No. ID Watt Remark ID Watt Remark
No.
SAR3A 1 30 HC03H 41 250 Semi-conductor
SAR5A 2 50 SE15D 50 1500 Special type
SA01A 3 100 SC20B 51 2000 Special type
SB01A 11 100 SE09A 61 900
SB02A 12 200 SE15A 62 1500
SB04A 13 400 SE22A 63 2200
SB03A 14 250 Customized type SE30A 64 3000
HB02A 15 200 Hollow Shaft SE06D 65 600
HB04A 16 400 Hollow Shaft SE11D 66 1100
SC04A 21 400 SE16D 67 1600
SC06A 22 600 SE22D 68 2200
SC08A 23 800 SE03M 69 300
SC10A 24 1000 SE06M 70 600
SC03D 25 300 SE09M 71 900
SC05D 26 450 SE12M 72 1200
SC06D 27 550 SE05G 73 450
SC07D 28 650 SE09G 74 850
SC01M 29 SE13G 75 1300
SC02M 30 SE17G 76 1700
SC03M 31 HE09A 77 900 Hollow shaft
SC04M 32 HE15A 78 1500 Hollow shaft
HC06H 33 600 S/T only SE11M 79 1050 Special type
SC05A 34 450 S/S only SE07D 80 650 Special type
SC05H 35 500 S/S only SF30A 81 3000
SC08A 36 750 S/S only SF50A 82 5000
HB01A 37 100 Hollow Shaft SF22D 85 2200
HC10A 38 1000 Hollow Shaft SF35D 86 3500
HE30A 39 3000 Hollow Shaft SF55D 87 5500
HB30H 40 250 Semi-conductor SF75D 88 7500
51
# Motor type and ID
Model Model
ID Watt Remark ID Watt Remark
No. No.
SF12M 89 1200 SG22D 111 2200
SF20M 90 2000 SG35D 112 3500
SF30M 91 3000 SG55D 113 5500
SF44M 92 4400 SG75D 114 7500
SF20G 93 1800 SG110D 115 11000
SF30G 94 2900
SF44G 95 4400
SF60G 96 6000 SG12M 121 1200
SG20M 122 2000
SG30M 123 3000
Customized
HC05H 99 500 SG44M 124 4400
type
SG60M 125 6000
SE35D 101 3500 Only DS
SF44ML 103 4400 Only LG SG20G 131 1800
SF75G 104 7500 Customized type SG30G 132 2900
SE35A 105 3500 Customized type SG44G 133 4400
SF55G 106 5500 Customized type SG60G 134 6000
SF60M 107 6000 Customized type SG85G 135 8500
SG110G 136 11000
SG150G 137 15000
SH220G 141 22000

SH300G 142 30000
SJ370G 143 37000
52
- Setting each motor constant
For setting motor constant individually, individually, input “0” to motor ID menu [PE-201]
Motor constant is as below
MENU UNIT INI
Comm Explanation
CODE NAME MIN MAX
Code
- - Sets motor ID
40 *PE-201 Motor ID
0 99 : set automatically from [PE-210]to[PE-217]
gf⋅cm⋅s2 ID Sets inertia of motor. (Modification is possible
49 *PE-210 Inertia
0.01 999.99 when [PE-201] is “0”)
kgf⋅cm/A ID Sets torque constant of motor.(Modification is
50 *PE-211 Trq Con
0.01 999.99 possible when [PE-201] is “0”)
mH ID Sets phase inductance of motor.(Modification
51 *PE-212 Phase Ls
0.001 99.999 Is possible when [PE-201] is ”0”)
mohm ID Sets phase resistance of motor. (Modification
52 *PE-213 Phase Rs
0.001 99.999 is possible when[PE-201] is “0”)
A ID Sets rated current of motor. (Modification is
53 *PE-214 Rated Is
r/min ID Sets Max. speed of motor. (Modification is
54 *PE-215 Max Speed
r/min ID Sets rated speed of motor. (Modification is
55 *PE-216 Rated Speed
- 8 Sets pole number of motor. (Modification is
56 *PE-217 Pole Number
2 98 possible when [PE-201] is “0”)
Only Special-Large Capacity Menu(APD-VS220, VS300, VS370)
- - Sets motor ID
40 *PE-201 Motor ID
0 99 : set automatically from [PE-210]to[PE-217]
gf⋅cm⋅s2 ID Sets inertia of motor. (Modification is possible
49 *PE-210 Inertia
0.01 999.99 when [PE-201] is “0”)
kgf⋅cm/A ID Sets torque constant of motor.(Modification is
50 *PE-211 Trq Con
51 *PE-212 Phase Lq
52 *PE-213 Phase Ld
mohm ID Sets phase resistance of motor. (Modification
53 *PE-214 Phase Rs
0.001 99.999 is possible when[PE-201] is “0”)
A ID Sets rated current of motor. (Modification is
54 *PE-215 Rated Is
r/min ID Sets Max. speed of motor. (Modification is
55 *PE-216 Max Speed
r/min ID Sets rated speed of motor. (Modification is
56 *PE-217 Rated Speed
- 8 Sets pole number of motor. (Modification is
57 *PE-218 Pole Number
2 98 possible when [PE-201] is “0”)
53
② Setting encoder
- Encoder type [PE-203] (Application Mode : PST)
No. Transmission Signal method Signal type Remark
0 Parallel A Phase lead at CCW A,B,Z,U,V,W Standard
1 Parallel B Phase lead at CCW A,B,Z,U,V,W
6 Serial Absolute value 11/13 bit A,B,Z,RX
(Warning) When the Encoder which is applied to real motor is not same as [PE-203]
Value, the motor speed will be high. So please set up the same Value.
- Encoder pulse [*PE-204]
When encoder signal method uses A,B Signal, set number of pulse per single turn for
signal.
In this case, the pulse number of A phase & B phase is same.
③ Setting torque limit (Application Mode : PST)

Can set max. torque limit at CCW[PE-205] and CW[PE-206] respectively
It is displayed at percentage, compared to rated torque and the standard is 300[%]
④ Setting System ID (Application Mode : PST)

When communicating with servo using Bus communication, we can give ID to Servo.
At this time, Option items that are related to communication is required.
- System ID [*PE-207]
Give inherent ID to servo, and communicate with servo respectively.
- System group ID[*PE-208]
In case of communication with several servos as a group, sets group ID
- Setting communication speed [*PE-202]
Can use it by selecting the Baud Rate between 9600/19200[bps] that are the
communication speed of RS232.
⑤ Setting state display at start [PE-209] (Application Mode : PST)

Can set applicable menu at servo ON.
Set value is sorted from [Pd-001]to[Pd-020]
54
4.4.2 Setting Control Variables
Please refer to below for setting up control variable
▶ [PE-301] Setting Load Inertia Ratio : Refer to 5.3.1 Auto Gain tuning
▶ [PE-302] Controlling Position Ratio Gain : Increasing within the range of No
Oscillation or Overshooter of Servo Motor (Do not use Speed and Torque operating)
▶ [PE-307] Controlling Speed Ratio Gain : Increasing within the range of No
Vibration of Servo Motor
▶ [PE-309] Controlling Speed Integral Time Constant : Setting after referring to
below table by [PE-307] Setting Value of Speed Ratio Gain
① Setting Inertia Ratio[PE-301] (Application Mode : PST)

The inertia ratio is set by calculating the load inertia as per the machinery system and
calculating rotor inertia ratio as per the motor specification table.
Setting the inertia ratio for load is a very important control variable for the Servo operation.
So, The accurate setting of inertia ratio would be required for the best operation of servo.
■ Followings are the recommended values of control gain that are adequate to the load
inertia ratio
Inertia Ratio Gain setting range
Motor [Speed
Flange [Position [Speed
Section [Inertia] Proportional
Pos P Gain] Integral Gain]
Gain]
Low inertia 1~5 40 ~ 90 400 ~ 1000 10 ~ 40
40
Medium inertia 5 ~ 20 20 ~ 70 200 ~ 500 20 ~ 60
~ 80
High inertia 20 ~ 50 10 ~ 40 100 ~ 300 50 ~ 100
Low inertia 1~3 40 ~ 80 300 ~ 600 10 ~ 50

100
Medium inertia 3 ~ 10 20 ~ 60 100 ~ 400 20 ~ 80
~ 130
High inertia 10 ~ 20 10 ~ 40 50 ~ 200 50 ~ 150
Low inertia 1~3 30 ~ 70 150 ~ 400 20 ~ 60

180
Medium inertia 3~ 5 15 ~ 50 80 ~ 300 30 ~ 100
~ 280
High inertia 5 ~ 10 5 ~ 30 50 ~ 200 50 ~ 150
* If the calculation of inertia ratio is difficult, then Auto tuning the inertia ratio could be
possible at trial operation. Refer to chapter “5.3.1 Gain Tuning”
55
② Position control gain (Application Mode : P)
FF Filter Feed forward

Differentiation
[PE-305] [PE-304]
+ Speed
Position + Position error
P again + command
command [PE-302]
-
Current position
- Position command : Count the position command pulse from external. And
convert it to position command value, and it pass through 1st filter. and then it is used
as the internal position command.
- Current position : Count the pulse signal from encoder, and convert it to current position
by using electrical gear ratio setting and then convert it to the current position value.
- Position proportional gain [PE-302][PE-303] : Multiply position proportional gain by
difference between position command and current position and convert it to position
command.
* Recommend setting value = speed proportional gain[PE-307] / 10
- Feed forward Gain[PE-304] : Find the slope of position command by differentiation, and
shortening the position decision time by adding the speed command to it. If this value is
too large, overshoot may be occurred on position control or position control may be
unstable, therefore set proper value by increasing from small value watching initial
operation state.
- Feed forward filter [PE-305] : If position command is changed suddenly, control is
unstable. In that case, remove vibration by setting filter value
. CAUTION The function of Position Proportional gain 2 [PE-303] is not supported to

current software version
56
③ speed control gain (Application Mode : PST, PS, S)
Speed integral
Analog
gain[PE-309]
Speed
command Analog speed command Zero speed
filter[PE- 311]
gain[PE-313]
+
Digital speed command + Speed p gain Torque command
[PE-307]
Current speed
-
Speed feedback Encoder signal
Speed operation
filter[PE-312]
Current torque
- Speed command : Use analog speed signal which is inputted from external passed
through analog speed command filter [PE-311] as speed command or use digital speed
command by [r/min] unit which is set on internal menu
- Current speed : Calculate the speed by counting encoder signal as per the time and the
calculated speed is to be used as the current speed after going through the filter. At
this time, use an algorithm that follows speed by using current torque & inertia in order to
compensate the speed operation error at low speed
- Speed integral gain[PE-309] : Find the integral value of speed error that is the difference
between command & current speed and convert it to torque command by multiplying it
by integral. If we reduced integral gain, speed following characteristic can be improved
as excessive response characteristic is improved. But, if it is too small, overshoot would
be occurred. And if it is too large, the excessive response characteristic would be bad,
then it is operated by the proportional control characteristic.
* Recommend setting value = 10000 / speed proportional gain [PE-307]
Speed Small
Large
Command
speed
Following speed
Time
57
- Speed proportional gain[PE-307] : Convert to torque command by multiplying speed
error by proportional gain
Large value could lead good speed response, but too large value could lead vibration. On the other
hand small value could lead bad speed response
Speed
Speed
command Large
Small
Time
- Zero speed gain ratio[PE-308] : Set specific zero speed gain ratio that is to be applied
within the range that are less than the speed set at zero speed gain[PE-313].
- Speed feedback filter [PE-312] : If the motor is vibrated by the vibration of operating
system and vibration occurred by the gain at applying the load the has too large inertia,
the vibration controlled by applying filter to speed feedback.
* Recommend setting value = 0 ~ Speed proportional gain[PE-309]/10
- Zero speed gain [PE-313] : When controlling vibration with speed feedback gain,
system could be unstable by stop vibration. At this time, set the range of zero speed
gain, and control the gin within that range to control vibration.
CAUTION The function of speed P-gain2 [PE-308] and speed l-gain2 [PE-310] is not
supported to this software version.
58
④ Setting torque command filter[PE-314] (Application Mode : PST)
By setting the digital filter for analog torque command voltage, the stability of command
pulse con be improved. At this time, excessively large value could lead to bad response.
So , set the proper value according to the system.
⑤ Setting De-resonance operation (Application Mode : PST)
Torque
Output
De-resonance operation frequency
Torque Output
De-resonance frequency
operation
- If vibration is generated due to mechanical resonance from specific frequency, the

vibration caused by resonant can be controlled by limiting torque output for this
frequency range.
- De-resonance operation [PE-315] : It is not operated at “0”. But, operated at “1”.
⑥ P control operating setting [PE-319] (Application Mode : PST)

- When switching P control by using P control contact (‘PCON’), P control could be
operated under setting speed.
- After Pl control operation by using this function, apply the stop function of P control
operation. And it can improve position operating characteristics.
⑦ Zero speed torque improvement [PE-320] (Application Mode : PST)

- Set whether or not to operate by applying stop torque improvement algorithm at
servo OFF
“0” : Not used.

“1” : Operated.
- STOP operation is “STOP” contact “ON” or speed command from analog is “0”
59
4.4.3 Setting Analog I/O Variables
① Setting Analog speed command (Application Mode : ST, S)
- Analog speed command [PE-401] : Set the speed command value by [r/min] unit at 10
[V]. At this time, maximum set value is maximum speed of motor.
- Speed command offset [PE-402] : There could be some voltage remained even at “0”
torque command on analog signal interface circuit. At his time, set offset with the
voltage value and compensate it. Unit is [㎷].
- Setting Speed command clamp
Speed
+10[V] -㎷ +10[V]
-10[V] voltage -10[V] +㎷
Speed command clamp voltage
[PE-404]
Speed command clamp mode “0” Speed command clamp mode “1”
[PE-403] [PE-403]
- Speed override operation [PE-405] : Operate speed command operation by overriding

the analog speed command to digital speed command.
“0” : Not operated.
“1” : Override operation
② Setting analog torque command (Application Mode : PST, T)

- Analog torque command [PE-406] : Set the torque command value at percentage to
rated at 10[V]. At this time, setting value is within torque limit range in [PE-205] [PE-
206]
- Torque command offset [PE-407] : There could be some voltage remained even at “0”
torque command due to some problems on analog circuit. At this time, set offset with
the voltage value and compensate it. Unit is [㎷].
60
- Torque command clamp
Torque
-㎷
+10[V] +10[V]
+㎷
-10[V] Voltage -10[V] Torque command
Clamp voltage
[PE-409]
Torque command clamp mode “0” Torque command clamp mode “1”
[PE-408] [PE-408]
③ Setting analog output

Two of output form can be used for analog output. And it is outputted by the data value in
period of 400[msec] respectively.
- Analog output form [PE-410], [PE-414]
Form Data content Form Data content
Command pulse
0 Command speed 4
frequency
1 Current speed 5 Error pulse
2 Command torque
3 Current torque
- Analog output mode [PE-411], [PE-415]
Mode Output method
0 Output as -5 ~ +5[V]
1 Output as 0 ~ +5[V]
- Analog output magnification [PE-412], [PE-416]
If the output value is too much large or small, then magnify or retrench output properly.
Standard magnification of each output data is as below
Data item Magnification
Speed Max. speed of motor [PE-215]
Torque Max. torque of motor [300%]
Command pulse 500[Kpps]
frequency
Error pulse Position error excessive output [PE-502]
* Special-Large Capacity(VS220, VS300, VS370) Motor Max Speed [PE-216]
- Analog output offset [PE-413], [PE-417]
There could be some voltage generated at “0” value output due to problems of Analog
circuit. At this time, set offset with the voltage value and compensate it. Unit is [㎷]
61
4.4.4 Setting I/O contact Variables
① Setting position operation variables (Application Mode : P)
- Position decision complete output range [PE-501] : If error pulse value which is the
difference between command position pulse and following position pulse is within setting
range, position decision complete signal comes out
Command pulse counter

Pulse counter
Error pulse Following pulse counter
Position decision Complete

output range [PE-501] Time
Position decision
Complete output
If setting value is excessively high, position decision complete signal could be occurred
during operation according to position command pulse. Therefore set the value properly
- Position operation following error range [PE-502]
Pulse Command pulse

counter
counter
Position following error range
Following pulse counter

Error pulse
Time
Position Following
Error alarm
If the error pulse is larger than following error range set value, Position following error
alarm would be occurred.
② Setting speed operation variables (Application Mode : PST, S)
62
Speed
Command Speed
Speed reach complete
output range [PE-504]
Zero speed output

range [PE-503] Time
Zero speed (ZSPD)
Speed reach(INSPD)
- Zero speed output range [PE-503] : If current speed is less than set speed, zero speed
signal comes out.
- Speed reach complete output range [PE-504] : Speed reach complete signal comes
out.
③ Setting brake signal output variables (Application Mode : PST)
Speed Motor operating speed When SVOFF or

Alarm occurred
Brake signal output

Operating speed
[PE-505]
Time
SVON input
Brake output
signal Within 50[msec] Brake signal output
Operating speed
[PE-506]
- Brake signal output operating speed [PE-505], Brake signal output delay time [PE-506] ;
The Servo motor brake that is installed inside is used when a servo drive controls a vertical
axis. In other words, a servo motor with brake prevents the movable part from shifting due
to the force of gravity when system power goes OFF. When alarm is occurred during
operation or when decelerated by SVOFF, the brake signal “OFF” is to be occurred by the
signal that satisfies the operation first out of ‘brake signal output operating speed [PE-
505]’ or ‘brake signal output delay time [PE-506] parameter.
Then it prevents the vertical axis from dropping (shifting).
④ Generating brake operation [PE-508] (Application Mode : PST)

: Set the generating brake operation from VSR5 to VS04 drive.
63
“0” : Free Run on less than zero speed range at SVOFF
“1” : Always generating brake operation at SVOFF
⑤ Position pulse clear operation [PE-509] (Application Mode : P)

: Set the operation method of position pulsed clear at position operating mode.
Setting Operation method
Can only be operated at the edge where the contact
0 off->on.
(Not operated on the off or on status.)
1 Contact On : Operated as Level (Instant response)
Contact is On and maintained for more than 0.8[msec] :
2
Operated as Level
⑥ Encoder pulse division output [PE-510] (Application Mode : PST)

: When encoder signal comes out from servo, divided output pulse by set division ratio and
output.
Division ratio is set by the integral numbers (“1~16”)
EX) In case of the Encoder 3,000[P/R]
Encoder pulse output at setting the dividing ratio “1” : 3,000[P/R]×1=3,000[P/R]
Encoder pulse output at setting the dividing ratio “2” : 3,000[P/R]×1/2=1,500[P/R] ···
⑦ ESTOP automatic reset [PE-512] (Application Mode : PST)

: When returning to the contacts after ESTOP operation, proceed the alarm cancel
operation automatically and return to the normal operation ready state.
“0” : alarm reset by manual.
“1” : automatic alarm reset.
64
⑧ Operating direction setting mode [PE-514] (Application Mode : S)
: Set the operating method of changing switch for the operating direction.
Operating method
Set Forward(CCW) Reverse(CW) Stop
DIR STOP DIR STOP DIR STOP
No
0 OFF OFF ON OFF ON
concern.
ON ON
1 OFF ON ON OFF
OFF OFF
⑨ Output contact Logic setting[PE-515] (Applicable mode : PST) : Can change the output
condition of Current output contact to Normal-A or Normal-B.
Setting range : 0~63, Initial value 30
(Example)
5 4 3 2 1 0
2 2 2 2 2 2 = Setting value
ALARM TLOUT RDY ZSPD INSPD BRAKE
Init.value 0 1 1 1 1 0 = 30
(Current output
condition)
If change 0 1 1 0 1 0 = 26
ZSPD->TGON (RUN output)
⑩ PWM off delayed time setting[PE-516] (Applicable mode : PST) : Set the delayed time
that is the real PWM-off when SV-off command is given. That means, when operating the
motor with the output contact “BRAKE” signal, there is some time delayed to operate the
motor brake(“BREAK” signal : off). In order to prevent the motor from dropping in the
vertical axis during this delayed time, the real PWM-off(delayed time) needs to be set.
Setting range : 0~1000[msec], Initial value 0
⑪ 0 Speed Gain rate[PE-519] : At “0” Speed Gain Speed[PE-313], set “0” Speed
Gain’s rate which will be applied under set Speed.
⑫ Gain1, Gain2 Change mode[PE-520]
65
Set Operating method
0 Applied only Gain 1.
Input a point of contact Gain2 off : Applied Gain1,

1
Input a point of contact Gain2 on : Applied Gain2
When Speed Command[PE-503] is over range of “0” Speed at speed
2
controller, apply Gain2(apply Hysteresis : 50%)
When Pulse error is over inposition at position controller, apply Gain2
3
(apply Hysteresis : 50%)
※ If Gain2[PE-303], [PE-308], [PE-310] is smaller than Gain1 [PE-302][PE-307],

[PE-309], apply Gain1.
4.4.5 Setting Speed operation Variables

① Setting operation mode [PE-601] (Application Mode : PST)
: set the servo operation mode.
Operation mode Operation method
0 Torque control operation
1 Speed control operation
2 Position control operation
MODE contact ON : Speed control operation
3 (Note1)
MODE contact OFF : Position control operation
MODE contact ON : Speed control operation
4(Note1)
MODE contact OFF : Torque control operation
MODE contact ON : Position control operation
5
MODE contact OFF : Torque control operation
Note1) When using the operation mode 2 or 4, Surely set the Zero speed torque
improvement [PE-320] to “0”.
② Speed command [PE-602]~[PE-608] (Application Mode : ST, S)

: Set the operation speed with [r/min] unit.
66
According to speed command input contact, speed is selected.
SPD1 SPD2 SPD3/MODE Speed control Torque control
X X X Analog speed command Analog speed limit
O X X Digital speed command 1 Digital speed limit 1
X O X Digital speed command 2 Digital speed limit 2
O O X Digital speed command 3 Digital speed limit 3
X X O Digital speed command 4
O X O Digital speed command 5
X O O Digital speed command 6
O O O Digital speed command 7
(Note1) O : “ON”, X : “OFF”
(Note2) In case of operating mode is “3,4,5”, ‘SPD3’ is used as ‘MODE’ therefore. Digital
speed command can be used within 1~3.
③ Acceleration/deceleration time (Application Mode : S)

- Acceleration time [PE-609] : Set the time taken for accelerating from the stopped to
rated speed of motor as [msec] unit.
- Deceleration time [PE-610] : Set the time taken for stopping during operation at rated
speed of motor as [msec] unit.
④ S-shape operation [PE-611] (Application Mode : S) : In order to have a smooth

acceleration/ deceleration, set the acceleration/deceleration as S-shape.
“0” : Linear acceleration/deceleration operation
“1” : S-shape acceleration/deceleration operation
⑤ Manual test operation [PC-803] (Application Mode : PST) : Change the speed of manual
test operation by pressing [Up] Key to the order of [PE-602] ~ [PE-608], then press
[Right] Key for forward rotation, or press [Left] Key for reverse rotation.
At this time, the state of input contact by CN1 is ignored.
⑥ Continuous test operation [PC-804] (Application Mode : PST) : Test operation is operated
repeatedly from Step1 to Step4. Set operation speed([PE-612] ~ [PE-615]) and
operation time ([PE-616] ~ [PE-619]) at each Step.
67
4.4.6 Setting Position Operation Variables
① Input pulse logic [PE-701] (Application Mode : P) : Set the form of position command
input pulse and rotating method for each logic.
PF N-logic P-logic
Forward Reverse Forward Reverse
+PR
rotation rotation rotation rotation
A phase
“0” “3”
+B phase
CCW or
CW Pulse “1” “4”
Pulse +
“2” “5”
direction
② Electronic gear ratio[*PE-702]~ [*PE-709] (Application Mode : P) : Set the relation

between ‘position command input pulse’ and ‘encoder pulse’ that is used at position
control of motor as numerator/denominator. And it prevents error from occurring at
position operation.
- Electronic gear ratio = Transferred distance per input pulse × Number of pulse per
motor rotation/ Transferred distance per motor rotation
Example) When deceleration ratio is 1/2 on 1[㎛] unit per 1 pulse, ball screw lead is 10[㎜],
and encoder pulse is 3000pulse,
1) Transferred distance per input pulse = 1×10-3=0.001[㎜]
2) Number of pulse per a motor rotation = encoder pulse number×4=3000×4= 12000
3) Transferred distance per a motor rotation = 10 × 1/2=5[㎜]
∴ 4) Electronic gear ratio = 12000×10-3/5=12/5
Therefore, the numerator of electrical gear ratio is “12”, denominator is “5”.
Note1) In A, B phase encoder signal method, the signal is multiplied by 4 times and
controlled. Therefore 3000 pulse encoder is 12000 pulses per a rotation.
Note2) At this time, motor speed ([r/min]) is
Motor speed = 60 × electronic gear ratio × input pulse frequency / No.of pulse per a
motor rotation
Note3) When operation, Difference between Command Pulse and Following Pulse
Is Error Pulse[Pd-006]
=> Error Pulse Ep = Command Pulse frequency * Electronic Gear Ratio * {1-(0.01*
[PE-304])}/[PE-302]
68
③ Backlash compensation [PE-710] (Application Mode : P) : Set the backlash amount that is
converted to number of pulse when the location is deviated by backlash occurred at
position operation.
④ Electronic gear ratio offset adjustment (Application Mode : P) : If the operation distance
per 1 rotation is changed due to mechanical friction at ‘position pulse command operation’,
adjust the changed distance caused by friction with offset and use it.
- Electronic gear ratio setting mode [PE-711]
“0” : use electronic gear ratio 0~3
“1” : use electrical gear ratio 0. And override the offset setting value to numerator of
electronic gear ratio.
- Setting numerator offset of electronic gear ratio.
In above example, input the “12000” for numerator and “5000” for denominator. And on
[PE-712] menu, turn “ON” the ‘EGEAR1’ contact, then numerator is increased by 1, on the
other hand, turn “ON” the ‘EGEAR2’ contact, and then numerator is decreased by 1.
Therefore if offset value is “2”, electronic gear ratio is applied from 12000/5000 to
“12002/5000”. Or, if offset value is “–2”, electronic gear ratio is applied from “12000/5000”
to “11998/5000”.
⑤ Changing the Position Pulse Direction[PE-713] : Changing operating direction by
Command Pulse
“ 0 ” : Operating with same Command Pulse direction
“ 1 “ : Operating with opposite Command Pulse direction
69
5.1 Adjustment
5.1.1 Gain Tuning
Press [Enter] on the menu[PC-805], and followings are displayed then Automatic gain tuning
operation can be conducted.
Inertia ratio displayed
① Inertia ratio range is automatically changed from 1 to 50.

② When pressing [Up] key, the Auto gain tuning operation is started with the operation speed
100[r/min].
③ When keep pressing [Up] key, the operation speed is increased 100->300
->500[r/min]. Increased by 200[r/min]. Tuning time is quicker as per the speed.
④ When pressing [Right] key, the operating distance is increased. but, when pressing [Left]
key, the operating distance is decreased.
⑤ If the tuning value is fixed and not changed, the tuning is completed.
⑥ If the inertia that was tuned reached “50”, customers are requested to ask our technical
dept. and set it by manual.
⑦ Press [Enter] key and the gain that was tuned are saved at [PE-301].[PE-307],[PE-309]
automatically and returned to the menu.
Or Keep pressing [Enter]key on the menu[PC-805] and doing operation/stop or forward/reverse
operation by contacts. Then the inertia ratio can continuously adjusted during the operation.
5.1.2 Current Offset Tuning

- Compensate offset of current sensor in servo drive. Wrong compensation lead to unstable control of
servo.
- This offset value is already adjusted at ex-factory. If possible, do not adjust it.
- If downloads done for Software Upgrade or change, surely set the offset.
- Offset adjustment.
① Turn “ON” the servo.
② Turn “On” servo and operate ‘operation/stop’ or ‘forward rotation/reverse rotation’ for approximately 10
seconds at low speed.
③ Turn “OFF” the servo, and turn “ON’ servo again.
④ press [Enter] on the [PC-812] menu, then offset value is displayed.
⑤ Press [Up]key for saving offset value
⑥ Repeat ②~⑤(about 5 times)
⑦ Every time when you press the [Left]key, the offset value of U phase current is displayed by the
saved value and tuning value alternately, and everytime when you press the [Right]key, the offset
value of W phase current is displayed by the saved value and tuning value alternately.
⑧ Press [Enter], then go back to the menu screen
70
5.2 Test Operation
5.2.1 Manual Test Operation
① Press [Enter] on the [PC-803] menu
② All alarm is cancelled, test operation speed is displayed, and servo is on the state of
operation. At this time if alarm is not cancelled, check the wiring of servo or the other
causes of alarm occurred, and retry.
③ Press [Up] key, then test operation speed is changed.
Test operation speed is displayed at [PE-602]~[PE-608] in regular sequence.
④ Press [Left] key, then current speed would be displayed, and motor is rotated reversal.
⑤ Press [Enter] key, then test operation is completed, and back to the menu screen.
⑥ Press [Enter] Key, then test operation is completed, and go back to the menu screen.
5.2.2 Continuous Test operation

① Press [Enter] on the [PC-804] menu.
② All alarm is cancelled, test operation speed is displayed, and servo is on state of operation.
At this time if alarm is not cancelled, check the wiring of servo or the other causes of alarm
occurred. And retry.
③ When operation step is continuously operated by repeating 4 steps (0~3), the operation
speed and time is set by following menu.
Step Speed Time

0 [PE-612] [PE-616]
1 [PE-613] [PE-617]
2 [PE-614] [PE-618]
3 [PE-615] [PE-619]
5.2.3 Operation at Z position

① Press [Enter] on the [PC-806]
② All alarm is cancelled, and motor is rotated to Z phase position
③ Press [Enter], then go back to menu.
※ This function is convenient to assemble it with a certain standard for finding Z phase
position at assembling machinery.
71
6.1 External Dimensions
♦ APD-VSR5N, APD-VS01N,
♦ APD-VS04N, APD-VS02N
★ Weight : 1.2[kg] ★ Weight : 1.5[kg]
♦ APD-VS05N, APD-VS10N
81 7
6
192
210
FG
★ Weight:2.5[kg]
9
6
7 74 7 195
[Standard regenerative braking resistance : MRC 140W 40Ω]
72
♦ APD-VS15N, APD-VS20N, APD-VS35N, APD-VS50N
★ Weight : 7.2[kg]
(VS35N~50N:Fan Cooling)
♦ APD-VS75N
★ Weight: 8[kg]
(Fan Cooling)
[Standard regenerative braking resistance : IRV 300W 23Ω]
Model No.
15 20 35 50 75
(APD-VS N)
Braking 23[Ω] 11.5[Ω]
resistance(Povided) (300[W]) (300[W]×2P)
Option Braking
resistance 15[Ω] 10[Ω]
(Refer to (600[W]×2P) (600[W]×3P)
73
♦ APD-VS110N
Φ12
★ Weight: 12[kg]
(Fan Cooling)
[Regenerative Braking Resistance : Purchase separately (Option)]
1) Model No. : APC-600R30 (600W30Ω)
2) Q’TY : 4 pcs parallel connected (2400W7.5Ω)
74
♦ APD-VS150N
★ Weight : 17[kg]
(Fan Cooling)
3) Model No. : APC-1000R6R5 (1000W6.5Ω)
4) Q’TY : 2 pcs parallel connected (2000W3.25Ω)
316
295
335
IRV 1000P
75
♦ APD-VS220N, APD-VS300N, APD-VS370N
59 321.
51 16
47
45 49 3
47 15

1) APD-VS220 : 2400W 2.4 [Ω]
2) APD-VS370, APD-VS300 : 4800W 1.6 [Ω] (2400W 3.2 [Ω] 2 pcs parallel connected)
76
7.1 Maintenance and Inspection
In the chapter, maintenance and inspection of servo motor and drive are explained.
7.1.1 Caution
① When checking motor voltage : As the voltage applied to the motor from the servo
amplifier is PWM controlled, wave form of pulse phase is displayed. There may be
significant difference in indicator value depending on types of meters
② When checking motor current : The pulse wave form is smoothed to sine wave to a certain
degree by the motor reactance. Connect and use a moving-iron type ampere meter.
③ When checking power : Use an electrodynamics type 3-phase watt-meter
④ Other devices : When using oscilloscope or digital volt meter, please make sure that they
should not be contacted to the ground. For input current, please use
1[mA] or less of current.
77
7.1.2 Inspection Items
CAUTION Charged voltage may remain in the smoothing condenser creating an

element of danger when inspecting drive. Turn off power and wait for
approximately 10 minutes before starting inspection.
- Inspection of servo motor
Inspection Inspection
Method Remark
items period
It should not be big
Vibration With the sense of touch and the
Every month (serious) compared to the
And noise sense of hearing.
normal condition.
According to
External
Contamination Clean it up with fabric or air -
appearance
And damage
Disconnect with drive, and measure
If resistance is less than
Insulation Once a year resistor with 500V mugger tester.
10[㏁], inquire to service
Resistor At least
department
Normal is more than 10[㏁].<Note1>
Change Once in 5,000 Detach from machine, and Only for the motor which
Oil seal Hours at least replace it. contains oil seal
Customer is required not to
Once in 20,000
Overall disassemble the Servo
Hours or 5 years Inquire to our service department
inspection motor and clean it by
At least
themselves.
(Note 1) Measure Between one of U,V,W and FG
- Followings are for maintaining Servo drive.
The Servo drive need not to be checked and maintained on a daily basis as it uses highly
reliable parts, but check it at least once in a year.
Inspection
Period Check for Solution
item
Main body and Once a year at
Dust, Oil Clean up with air or cloths.
circuit board least
Terminal
Once a year at Screws for connection terminal and
screws for Tighten it
least connector are securely tightened
looseness
Parts for defects

Once a year at Discoloration caused by heat, Inquire to our service
on main body
least damage or disconnection department
and circuit board
78
7.1.3 Period of Replacing Parts
The following parts undergo aging process as time passes due to mechanical friction or the
characteristics of the material used, leading to the deterioration of equipment performance or
breakdown. Check the parts periodically and replace them, of necessary.
① Smoothing : The characteristics become aged due to the effects of ripple current
The operating life of the condenser varies significantly depending on ambient temperature and
operating conditions. When used continuously in normal environment, its standard life span is 10
years. The condenser becomes aged fast during a specific period. Inspect it at least once a year(It
is desirable to conduct inspection semi-annually in case the life span is nearing the exhaustion
point.)
※ For judgment criteria, visually Check :
a. Case status : Check if the sides and bottom of the case are expanded.
b. Cover plate : Check if significant expansion, severe cracks or damage.
c. Explosion-proof value : Check for significant expansion or wear
d. Check periodically the external condition for cracks, tear, discoloration and water leakage, If the
rated capacity of the condenser drops to 85[%] or less, it indicates life span has exhausted.
② Relays : Inadequate contact may occur due to contact wear resulting from switching current. The
really wear condition is affected by the power capacity. The standard life span is 100,000
accumulated switching(switching life) operations.
③ Motor bearing : Replace bearing when it is used for 20,000~30,000 hours under rated speed and
rated load. The motor bearing condition is dependent upon the operating conditions. Replace the
bearing if abnormal noise or vibration is discovered.
[Standard replacement period]
Standard replacement
Parts How to replace
period
Replace with new parts (decide after
Smoothing condenser 7~8 years
check)
Relays - Decide after check
Fuses 10 years Replace with new ones
Aluminum electrolytic Replace with new PCB(Decide after
5 years
Condenser on PCB check)
Cooling fan 4~5 years Replace with new ones
Motor oil seal - Decide after check
Motor oil seal 5,000 hours Replace with new ones
79
7.2 Fault Diagnosis and Corrective Actions
In case an error occurs during operation, alarm display AL-□□ or Err□□ is displayed on the
display window of loader. At this time, take the following steps. If taking such steps does not
correct errors, contact our service center.
7.2.1 Servo motor

[Actions to taken in case of errors]
Symptom Cause Inspection Corrective action

CCWLIM, CWLIM input is Refer to chapter 1.2.System Turn “ON” the CCWLIM,
OFF Configuration CWLIM input
Check menu of motor, encoder Reset menu (refer to chapter
Menu mis-set
and encoder type control mode 4)
Check motor lead terminal with a
Motor If voltage is correct, replace
Motor defective tester(Resistance between each
Does not motor
phase ; less than 10[Ω]
start
Screws loosened Check the screws Retighten loose screws
External miswriting or Check the motor and encoder
Rewire, Replace cable
cable disconnected wiring
Replace encoder(Use A/S
Encoder defective Check the output wave form
service)
Check connection of the motor
Defective connection Repair defective part
lead terminal
Motor
Input voltage low Check drive input voltage Change power supply
Running
Remove foreign material from
Unstable
Overloaded Check machine condition the rotator and lubricate(or
grease) it
Check the motor ambient
Ambient temperature high temperature(should be lover than Change heat-shield structure
40℃)
Check motor surface for attached Clean the surface of the
Motor Motor surface stained
Foreign materials motor
Over-
Check the load rate of the drive. Reduce load
Heated
Overloaded Check acceleration/deceleration Increase
cycle. Acceleration/deceleration time
Check counter electromotive
Magnetic power deteriorated Replace motor
voltage
Check the tightness of the coupling
Defective coupling Readjust coupling
screws and the concentricity of joints.
Abnormal
Check the bearing for vibration or
noise Defective bearing Contact our service center
abnormal noise.
Parameter misset Check control parameters Refer to Chapter 4
8.2.2 Servo Drive
80
If the ALARM occurs, error signal out contact (ALARM) is turned OFF, and the motor stops
by the action of Dynamic Brake
[Actions to be taken in case of an alarm]
CODE Name Cause Corrective action
Nor Normal Normal operating condition -
RS232 Comm. error, Control circuit
L1.01 L1.01 Replace the Drive
operating error
AL-01 Emergency Stop EMG input contact turned OFF Check external DC24V power supply
Main power shut off during Servo ON
AL-02 Power Fail status
Check the wiring of main power supply
Check set values and CN2 wiring, U,V,W
AL-03 Line Fail Motor and encoder miswriting
wiring.
AL-04 Motor Output Error of Output (U.V.W) open phase Check U,V,W wiring and IPM module damage
AL-05 Encoder Pulse No. of encoder pulse set error Check set value[PE-204] and CN2 wiring.
Check the [PE-502] position command pulse set
AL-06 Following Error Position pulse following error
value, wiring and Limit contact, gain set value
AL-07 Not Used Not Used -
Check the output terminal wiring motorㆍ
AL-08 Over Current Over current encoder set value, gain set, Replace drive if
O.C. continues.
Check Load condition, Brake operating
AL-09 Over Load Over load
condition, wiring, motorㆍencoder set value.
Check input voltage, wiring of braking resistance,
AL-10 Over Voltage Over voltage damage of braking resistance, excessive
regenerative operation
AL-11 Over Speed Over speed Check encoder set value, encoder wiring, gain set

AL-14 ABS Data Error Absolute encoder data transmission error Check the initial reset [PC-811]
Check the initial reset [PC-811] and if
AL-15 ABS Battery Error Absolute encoder battery error
battery is discharged
Absolute encoder multi-rotation data
AL-16 ABS Multi Error Check the initial reset [PC-811]
transmission error
AL-17 ABS Read Fail Absolute encoder reading error Check encoder
AL-20 Flash Erase Fail Deleting error of flash ROM data Replace drive
AL-21 Flash Write Fail Writing error of flash ROM data Replace drive
AL-22 Data Init Error Error of data initialization Replace drive
AL-23 EPWR Hardware error [PE-203] set error
Input of parameters, which cannot be
Err1 Error1 changed, is attempted during Servo ON
Turn OFF the servo and change the set value
Err2 Error2 Input of data which is out of set range Input values within the set range
Change the menu which is locked by Change the menu [PC-810] with unlock
Err3 Error3
[PC-810](Menu Data Lock) condition
81
[Overload charateristic curves of Servo Drive] : Applied MAX 15KW
10000 Overload operating time

Rated
current Set
Min. Max.
(%) vlalue
Operating time(sec)
100 ∞
1000 120 ∞
150 500 1300 800
200 50 110 70
100
250 15 30 20
300 5 10 7
10
100 150 200 250 300

Motor rated current(%)
82

Manual de Driver de Servo Apd-Vs04nm

Uploaded by

Copyright:

Available Formats

Manual de Driver de Servo Apd-Vs04nm

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Manual de Driver de Servo Apd-Vs04nm

Uploaded by

Copyright:

Available Formats

Instruction Manual (Abridgement)

Manual Version: [ver 1.1]

Software Version: Higher than 2.35

The first edition: 2008. 10. 01.

Revised edition: 2008. 10. 01.

- No part of this may be reproduced in any form or by any electronic or mechanical

means without permission of Mecapion.

Symbols for Safe Operation

1.1 Product Construction

1.2 System Composition

1.3 Signal Explanation

2.1 Servo Motor

2.2 Servo Drive

3.2 Wiring control Signal

3.3 Communication (Option) Signal Wiring

4.1 How to Operate Loader

4.2 Program Menu Summary

4.4 Setting Up Menu

5.2 Test Operation

6.1 External Dimension………………………………………………72

① Check if the products are the right one you ordered.

② Check Product and Option Items.

③ Check the External Appearance

■ Servo drive Type Designation

1.2. System Composition

PULCOM 49 ENCODER Output

Connect to Case of connector

SPDCOM Analog speed command (-10~+10[V]) X O X O/X O/X X

Digital speed command

-10[V] +10[V] Voltage

1.3.3 Pulse Input Signal

Brake operating signal output

1.3.5 Monitor Output Signal and Output Power Supply

28 MONIT1 Analog monitor output1(-5~+5[V]) O O O O O O

1.3.6 ENCODER Output Signal

4 ZO Encoder Z signal output by motor

3 OPCZO Encoder Z signal output by motor

2.1.2 Preventing Excessive Impact

Less than 0.03[㎜](peak to peak)

130 725 74 362 37

180 1548 158 519 53

250 5880 600 2156 220

2.1.5 Cable Installation

- Prevent Cable from the stress or flaw

CAUTION Avoid heat by installing fans in order to

- Avoid direct sunlight

- Installation space is as below.

More than More than

More than More than More than More than

More than More than More than

Install 1 drive Install more than 2 drives

- Check the input voltage, and keep it within range.

CAUTION Drive may be damaged when over voltage is supplied.

Model Resistance Standard Capacity *Remarkable

VS05~VS10 40[Ω] External 140[W] When expanding regenerative

- Ground the terminals at the shortest distance

Main Main (Note1) 1MC

(Note4) : Connect or remove the wiring of10~12㎜

(Note1) : If regenerative capacity is large due to frequent acceleration/deceleration, the