PB3A003P201/202 AC100V/200V Instruction Manual · Instruction Manual. Preface ... wiring, installation, operations, ... Wiring should follow electric equipment technical standards

TYPE P

AC100V/200V

M0007857B

PB3A003P201/202

CLOSED LOOP STEPPING SYSTEM

Instruction Manual

Preface

Shipping the product This product in this instruction manual corresponds with the shipping regulations given in the Export Trade Control Ordinance (Table 1, item 16). When these products are exported by customers, it is recommended to fulfill the requirements of export procedure with the relevant authorities, as well as “Information Requirements” and “Objective Requirements” according to the Catch-all regurations.

Feature outline

This manual outlines the functions, wiring, installation, operations, maintenance, specifications, etc. of the Closed Loop Stepping System Model No.PB.

“Model No. PB Series”was born as a new, intelligent, and easy to handle closed loop stepping

system which the technology of design and production in précised compact motor with high

performance is in harmony with up-to-date control technology. This is a system which controls according to the command of upper controller. Especially in minor stroke and high-hitrate operation, this has higher response of

acceleration/deceleration than the servo system in the same size. The moving command unit may be selected from 500, 1000, 2000, 4000, 5000 and 10000. Since this has its unique stopping holding torque, slight vibration is not caused as usual servos

has. Precautions related to this Instruction Manual ・ In order to fully understand the functions of Closed Loop Stepping System Model No.PB,

please read this instruction manual thoroughly before use. ・ Please contact the dealre or sales representative if there are defects such as nonconsecutive

pages, missing pages or if the manual is lost or damaged. ・ Carefully and completely follow the safety instructions outlined in this manual. Please note

that safety is not guaranteed for usage methods other than those specified in this manual or usage methods intended for the original product.

・ The contents of this manual may be modified without prior notice, as revisions or additions are made in the usage method of this product. Modifications are performed per the revisions of this manual.

・ Permission is granted to reproduce or omit part of the attached figures (as abstracts) for use. ・ Although the manufacturer has taken all possible measures to ensure the veracity of the

contents of this manual, if you should notice any error or ommission, please notify the dealer or sales office of the finding.

Related instructions manual

Refer to M0007856 for the specification of the PC interface software.

Contents

1. Safety Precautions

1. 1 Introduction ････････････ 1－1 1. 2 Location of warning labels on the product ･････････････ 1－1 1. 3 Explanation about Indications ･･･････････････････････ 1－2 1. 4 Caution when Using ････････････････････････････････ 1－3

2. Model Number Nomenclature

2. 1 Verifying Package Contents ････････････････････････ 2－1 2. 2 Model number Nomenclature ･････････････････････････ 2－1 2. 3 Motor Model Combination Table ･･･････････････････････ 2－3

3. Installation・Wiring

3. 1 External wiring diagram ･･･････････････････････････････ 3－1 3. 2 Part Names and Functions ････････････････････････････ 3－2 3. 3 Installation ････････････････････････････････････････ 3－3 3. 4 Wiring ････････････････････････････････････････････ 3－5 3.4.1 Wiring Precautions ････････････････････････････････････ 3-5

3.4.2 External Installation Wiring Diagram ････････････････････････ 3-5 3.4.3 Connector Model Numbers and Appropriate Electric Wires ････ 3-6 3.4.4 Connector Pin Assignment ････････････････････････････････ 3-7 3.4.5 Grounding ･･････････････････････････････････････････････ 3-8 3.4.6 Short-circuit Breaker ･････････････････････････････････････ 3-8 3.4.7 Motor and Encoder Wiring ････････････････････････････ 3-8 3.4.8 Power Wiring ･･･････････････････････････････････････････ 3-8 3.4.9 Control Input / Output Signal Wiring ･･･････････････････････ 3-9

4. Input/Output Signal Functions

4. 1 Input / Output Control Signal Functions ･････････････････ 4－1 4. 2 Switch Settings ････････････････････････････････････ 4－7 4. 3 Display ･････････････････････････････････････････････ 4－11 4. 4 ALM Detection Function ･･････････････････････････････ 4－11 4. 5 Amplifier Status Change Diagram ･･････････････････････ 4－16

5. Commands

5. 1 Command ･････････････････････････････････････････ 5－1 5.1.1 Command List ････････････････････････････････････････ 5-1 5.1.2 Commands ･････････････････････････････････････････ 5-3

6. Specification

6. 1 Amplifier Basic Specifications ････････････････････････ 6－1 6. 2 Motor Standard Specifications ････････････････････････ 6－2 6. 3 Motor Option Specifications ･･････････････････････････ 6－3 6. 4 Velocity – Torque, power consumption characteristics ･･･ 6－5

6. 5 Outline Drawings ････････････････････････････････････ 6－7 6.5.1 Amplifier Drawing ･･････････････････････････････････････ 6-7 6.5.2 Motor Drawings ････････････････････････････････････････ 6-8

7. Options

7. 1 Optional Cables ･･････････････････････････････････ 7－1 7. 2 Optional Connectors ････････････････････････････････････ 7－4 7. 3 Optional Communication Equipment ･･･････････････････ 7－5

8. International Standards Conformity

8. 1 International Standards Conformity ･･････････････････････ 8－1 8. 2 Low voltage command ････････････････････････ 8－1 8. 3 EMC Directive ･････････････････････････････････ 8－2

１．Safety Precautions （common）

1－1

1.1 Introduction The PB system is designed for use in general manufacturing equipment. Please observe the following instructions: ・ Read this User Manual carefully before any installation or assembly, to ensure proper use. ・ Do not perform any retrofitting or modification of the product. ・ Consult with a sales representative or a qualified technician regarding installation and maintenance. ・ Special considerations, such as redundant services or an emergency generator are required when

operating, maintaining and/or controlling devices in the following applications. Contact our office if:

① The device is used in medical instruments used for life support. ② The device is used in trains or elevators, the failure of which could cause bodily injury. ③ The device is used in computer systems of social or public importance. ④ The device is used in any equipment related to human safety or public infrastructure.

・ Please contact our office if the device is to be used in an environment where vibration is present, such as in-vehicle or transport applications.

Before installing, operating, performing maintenance or inspecting this device, read this entire manual carefully to ensure proper use. Use this device only after learning about the device, its safety information and the precautions related to its use. After reading this User Manual, keep it in a place where it is always visible to the user.

1.2 Location of warning labels on the product Warning labels are located on the front panel of the servo amplifier.

SW1

CN4

CN3N

N

N

N

C

C

C

C

7

1

2

5

NC

6


1－2

1.3 Explanation about Indications

This chapter explains the following precautions. Be sure of conventions of indications before continuing on to Section 1.3.

1.3.1 Conventions of indications

In Section 1.3, each indication is completed as shown in the figure below.

DANGER

XXXXX XX X・・・

① ： Safety precaution item ranking ② ： Display ③ ： Details of each visual cue

②

③

①

1.3.2 Safety Precaution Item Ranking

There are four ranks: ① This indicates the existence of imminent hazard which, if the system is

incorrectly operated, is very likely to result in death or a serious injury. ② This indicates the existence of potential hazard which, if the system is

incorrectly operated, is very likely to result in a moderate injury or slight injury or only physical damage.

Items described in CAUTION may lead to a very serious result depending on the situation. Each indication contains important information that you should observe.

③ This indicates actions that must be carried out.

④ This indicates actions that must not be allowed to occur.

1.3.3 Visual cues

The following eight visual cues are used in this manual:

Kind of symbol Example of symbol

Visual cue of danger

Danger / Injury Electric shock

Visual cue for caution

Caution Fire Burn

Visual cue for prohibited action Prohibited Disassembly not allowed

Visual cue for mandatory action Mandatory

Mandatory

Prohibited

CAUTION

DANGER


1－3

1.4 Safety Precautions

Danger

『 General 』

1. Do not use the system in an explosive atmosphere. Doing otherwise may result in injury or fire.

2. Do not touch the working amplifier under any circumstances. Touching inside the amplifier may result in electric shock.

3. Do not conduct work while power is being supplied. Be sure to wait at least one minute after turning off the power supply before doing an electrical wiring or inspection work. Touching inside the amplifier may result in electric shock.

4. Only properly rained staff should take charge of transportation, installation, piping, wiring, operation, manipulation, maintenance, and inspection work. Doing otherwise may result in electric shock, injury, or fire.

『 Wiring 』

5. To avoid getting an electric shock, be sure to ground the heat dissipation fin and motor frame.

6. Avoid damaging cables, applying excessive stress to them, putting heavy objects on them, or nipping them. Doing otherwise may result in electric shock.

7. Make connections with the power cable according to the Operation’s Manual. Failure to do so may result in electric shock or fire.

『 Operation 』

8. Before starting the motor, take necessary safety measures such as covering the rotary parts. Never touch a rotating part of the motor. Doing so may result in injury.

9. Never approach or touch terminals when the power is on. Removing the terminal base cover may result in electric shock or damage.

10. Do not unplug the connector when the power is on. Doing so may result in electric shock or damage.


1－4

Caution

『 General 』

1. Before starting installation, operation, maintenance, or inspection, be sure to read the Operator’s Manual carefully and observe the instructions in it. Failure to observe the instructions may result in electric shock, injury, or fire.

2. Do not use the system out of the specifications of the amplifier. Doing so may result in electric shock, injury, or damage.

3. Do not use a damaged amplifier. Doing so may result in injury or fire.

4. Use an amplifier and a motor in the specified combination. Doing so may result in a fire or failure.

5. Note that the amplifier/motor and peripheral units will become hot enough to cause a burn.

『 Unpacking 』

6. Open the box only after checking its top and bottom to avoid injury. 7. Check if the product is the ordered one.

Installing an incorrect wrong product may result in injury or damage. 8. To avoid damage, do not measure the insulation resistance or the

pressure resistance. Please contact us if testing is necessary. 9. Wiring should follow electric equipment technical standards and indoor

wiring regulations. An electrical short or fire could otherwise result. 10. Wiring connections must be secure to avoid motor interruption or injury. 11. Avoid applying static electricity to the encoder terminals on the motor.

Doing so may result in functional failures. 『 Installation 』

12. Do not stand on the device or place heavy objects on top of it. Doing so may result in injury.

13. Do not obstruct the air intake and exhaust vents, and keep them free of debris and foreign matter. Fire could otherwise result.

14. Make sure the mounting orientation is correct. Damage could otherwise result.

15. Consult the User Manual regarding the required distance between the amplifier, the control panel interior, and other devices. Damage to the device could otherwise result.

16. Never apply a strong shock to the system. Doing so may result in damage.17. Secure the device against dropping or turning over during installation. 18. Never expose the device to water, corrosive or flammable gases, or any

flammable materials. Doing so may result in fire or failure. 19. Install the device on a metal or other non-flammable structure. Otherwise,

fire accident may occur.

１．（common） Safety Precautions

1－5

Caution

『 Operation 』

20. The motor is not equipped with protection means. Install an earth leakage breaker, an excessive temperature rise prevention means and an emergency stop unit as necessary protection measures. Failure to do so may result in an injury or a fire accident.

21. Do not touch the radiation fin of the amplifier or the motor while the power is on or for a while after the power has been turned off, as these parts generate excessive heat. Burn could otherwise result.

22. In the event of any abnormality, stop operating the system immediately. Failure to do so may result in electric shock, injury, or fire.

23. Never make an extreme adjustment change that will cause the system operation to become unstable. Doing so may result in injury.

24. At trial operation, fix the motor and check the operation separate from the mechanical system, then install the system on the machine. Failure to do so may result in an injury.

25. The holding brake is not a stop unit to secure the safety of the machine. Install a stop unit to secure the safety on the machine side. Failure to do so may result in an injury.

26. When an alarm occurs, remove the cause of the alarm and secure safety. After that, reset the alarm, then result the system operation. Failure to follow this procedure may result in an injury.

27. After a recovery from an instantaneous power interruption, the operation may be restarted suddenly. Do not approach the machine. (Design the machine so that safety for personnel may be secured even if the system operation is restarted.) Approaching the machine when it restarts may result in an injury.

28. Make sure the supply voltage is within the specified range. If the supply voltage is out of specification, functional failures may occur.

『 Maintenance 』

29. The amplifier frame becomes hot. Take care to avoid burns when doing maintenance and inspection.

30. It is recommended to replace the electrolytic capacitors in the amplifier after 5 years, if used at an average temperature of 40 year around.

31. When repair is required, please contact us. Disassembly of the system by the user may render it inoperable.

『 Transportation 』

32. Make sure the device does not fall or overturn during transportation. 33. Do not hold the unit by the cables or the motor shaft.

Doing so may result in injury or equipment failure. 『 Scrapping 』

34. When discarding the amplifier and the motor, dispose of it as a general industrial waste.


1－6

Prohibited

『 Storage 』

1. Do not store the device where it could be exposed to rain, water, toxic gases or other liquids. Damage to the device could otherwise result.

『 Operation 』

2. The built-in brake is intended to secure the motor; do not use it for regular control. Damage to the brake could otherwise result.

『 Maintenance 』 3. Do not disassembly or repair the system. Doing so may result in fire or electric shock.

『 General 』 4. Do not remove the nameplate cover attached to the device.

Mandatory

『 Storage 』

1. Store the system in a place which is not exposed to direct sunlight and in the determined temperature/humidity range (−20°C to +65°C, 90% RH or less without condensation).

2. When the system is to be stored for a long time (more than 3 years as a reference period), consult us. The capacity of the electrolytic capacitors decreases during long-term storage, and could cause damage to the device.

『 Operation 』

3. Install an external emergency stop circuit that can stop the device and cut off the power instantaneously. Install an external protective circuit to the amplifier to cut off the power from the main circuit in the case of an alarm. Motor interruption, injury, burnout, fire and secondary damage could otherwise result.

4. Operate within the specified temperature and humidity range Amplifier:

Temperature 0 to 55, Humidity below 90% RH (non-condensing); Motor: Temperature 0 to 40、Humidity below 90% RH（non-condensing）)

『 Transportation 』

5. Follow the directions written on the outside box. Excess stacking could result in collapse.


2-1

2. 1 Verifying Package Contents Verify the following items when the product arrives. If any discrepancies are noticed, contact our office.

・ Verify that the model number is the same as ordered (model number is located on the main name plate).

・ Verify that there are no defects, such as damage to the exterior of the device.

2.2 Model number Nomenclature 2.2.1 Set Number Specification

The PB system has a set number based on the combination of amplifier and motor. ＊Model number amplifier meeting set quality becomes only PB3A003P201. PB A P -

Motor Option III

B: With holding brake

No symbol: Without holding brake

Motor Option II : Gear Ratio (for geared models)

No symbol: Gear not included

Motor Option I : Gear (for geared models)

No symbol: No gear

Motor Length

Motor Mounting Surface Edge Dimension (mm)

Amplifier I/F Specification: Pulse Train input

Power Specification: AC input (wide-range)

System Series Name: PB System

2.2.2 Set Product Packing List

Product Quantity Model Number Drawing Reference

(page number)

Amplifier 1 PB3A003P201 6-7

Motor 1 PBM∆∆F**20 6-8

Power cable 1 PBC7P0010A (1m) 7-2

I/O cable 1 PBC1S0010C (1m) 7-2

Note）As for the amplifier of a set product, model number conformity motor is an default value.


2-2

2.2.3 Amplifier Number Specification

ＰＢ 3 Ａ００ 3 P 2 ＊＊ Specification identification（Pulse Input／Encoder Output Type）

01：Photo coupler 02：Line Driver／Receiver

Sensor type ２：３ｃｈ INC，500Ｐ／Ｒ

I/F Specification P： Pulse Train

Output current ００３：３Ａ／Phase

Power supply voltage Ａ：ＡＣ Power supply（Wide range）

Series Name: PB System 2.2.4 Motor Number Specification ＰＢＭＦＥ２０-Ｍ

International standards Authorization product

No symbol: standard equipment

Specification identification 20：standard equipment

Sensor type Ｅ：INC，3ch，500P／R

Option Ｘ： No option

Ｃ：With holding brake

Ｇ＊：With gear

Ｈ＊：With harmonic gear

Voltage specification Ｆ：AC Input

Motor Length

Motor Mounting Surface Edge Dimension (mm)

Series Name: PB motor


2-3

2.3 Motor Model Combination Table

Set Number PBAP423－ PBAP603－ PBAP604－

Motor size 42 60 60

Amplifier Number PB3A003P201 PB3A003P201-S1 PB3A003P201-S2 Motor Number PBM423FE2＊ PBM603FE2＊ PBM604FE2＊

Set Number PBAP861 PBAP862 Motor size 86 86

Amplifier Number PB3A003P201-S3 PB3A003P201-S4 Motor Number PBM861FXE2＊ PBM862FXE2＊

SET Number ()

Motor Model

(Symbol )

Holding Brake Holding Brake

Compatibility : Optional setting

×: No optional setting

Gear Type Gear

Ratio

No Yes No Yes PBM423 PBM603 PBM604 PBM861 PBM862

No gear －－ B X B × × 1/3.6 C3.6 C3.6B GA CG × × × 1/7.2 C7.2 C7.2B GB CG × × × 1/10 C10 C10B GE CG × × × 1/20 C20 C20B GG CG × × ×

Low-backlash gear

1/30 C30 C30B GJ CG × × × 1/50 H50 H50B HL CH × × × Harmonic gear

1/100 H100 H100B HM CH × × × ＊ Refer to Section 6.3 for gear and holding brake specifications.

3. Installation, Wiring and Operation

3-1

3.1 External wiring diagram 3.1.1 PB3A003P201 External wiring diagram

CW Pulse+／DIR+

ENA+

-COM

ENC-

ENC+

ENB+

ENB-

ENA-

P.E(M4）

19

2

20

17

18

16

ALMCLR

STOP

CW Pulse-／DIR-

+COM（DC5～24V)

-COM

12

13

15

11

10

7

8

9

14

1

6

NC

8

NC910

76

345

21

CN6

CN7

TXD1

NC

CCW Pulse+／Pulse+

CCW Pulse-／Pulse-

GND

NCNCNC

NCNC

RXD

9

CN1

4

5

3

10

GNDVcc

5

78

6

34

2

N.C

PB3ACN4

CN5

003P201

2 AC23

4PN

1AC1

5

11FG

＊）

A3

BRK+BRK-

BB

56

4

CN3

A21

MO

CN2

5C

OH5G

C5V

810

76

BB

AA

34

21

EN

ENCORDEROPTICAL

ALM

AC100～230V

IN2(Gain Select）

SON Monitor

+Hard Limit(SDN)

-Hard Limit(SDN)

Reserve

Reserve

Twisted-pair

Shielded cable

*1) CN7 is a measurement connector reserved for the manufacturer; it is not intended for customer use.

(CN7 is a high-voltage terminal. Do not touch the amplifier when it is powered up.)

*2) The functions of IN1and IN2 are allocated by command 16h.

*3) C-phase and phase origin signals will not be emitted at velocities over 200min-1.


3-2

3.1.2 PB3A003P202 External wiring diagram

CW Pulse+／DIR+

ENA+

-COM

ENC-

ENC+

ENB+

ENB-

ENA-

P.E(M4）

19

2

20

17

18

16

ALMCLR

STOP

CW Pulse-／DIR-

+COM（DC5～24V)

GND

12

13

15

11

10

7

8

9

14

1

6

NC

8

NC910

76

345

21

CN6

CN7

TXD1

NC

CCW Pulse-／Pulse-

CCW Pulse+／Pulse+

GND

NCNCNC

NCNC

RXD

9

CN1

5

3

4

10

GNDVcc

5

78

6

34

2

AC100～230V

N.C

PB3A003P202CN4

CN5

2 AC23

4PN

1AC1

5

11FG

＊）

A3

BRK+BRK-

BB

56

4

CN3

A21

MO

CN2

5C

OH5G

C5V

810

76

BB

AA

34

21

EN

ENCORDEROPTICAL

GND

ALM

IN2(Gain　select）

SON　monitor

Twisted-Pair

Shilded　cable

+Hard　Limit(SDN)

-Hard　Limit(SDN)

Reserve

Reserve

*1) CN7 is a measurement connector reserved for the manufacturer; it is not intended for customer use.

(CN7 is a high-voltage terminal. Do not touch the amplifier when it is powered up.)

*2) The functions of IN1and IN2 are allocated by command 16h.

*3) C-phase and phase origin signals will not be emitted at velocities over 200min-1. *4) Please connect GND of the 14-Pin.


3-3

3.2 Part Names and Functions

Amplifier front panel

ALM indicator LED (P4-13)

Power indicator LED (P4-13)

Ｓ Curve Filter(P4-10)

CN1: Control I/O signal connector (Cyapter ４)

CN2: Sensor connector

CN3: Motor connector (P3-8)

SW1: Motor Type 、Resolution

Select（P4-12）

CN5: Communication connector

CN4: Power connector (P3-8)

Protective ground terminal

Gain SELECT (P4-10) SW1

CN4

CN3N

N

N

N

C

C

C

C

7

1

2

5

NC

6

* CN7 is not intended for customer use.


3-4

3.3 Installation 3.3.1 Amplifier Installation Precautions ・ The amplifier must be installed in an enclosure. Carefully consider the size of the case, the cooling

method, and the location so that the ambient temperature around the amplifier does not exceed 55°C.For longevity and high reliability, it is recommended to keep the temperature around the amplifier below 40°C.

・ The amplifier has an internal overheating detection function. Consider the cooling method to be used if an amplifier overheating error is detected.

・ If there is a vibration source nearby, use a shock absorber between the amplifier and the installation base to prevent the vibration from directly affecting the amplifier.

・ Long-term use in the presence of corrosive gas may cause contact failure on the connectors and on connecting parts. Never use the device where it may be subjected to corrosive gas.

・ Do not use the device where explosive or combustible gas is present, as this could cause fire or an explosion.

・ Do not use the device where dust or oil mist is present. If dust or oil mist attaches to and accumulates on the device, it can cause insulation deterioration or leakage between the conductive parts, and damage the amplifier.

・ A large noise source may cause inductive noise to enter the input signals or the power circuit, and can cause a malfunction. If there is a possibility of noise, insert a noise filter, inspect the line wiring and take appropriate noise prevention measures.

3.3.2 Amplifier Installation Method 1) Installation dimensions

The amplifier must be installed using two M4 screws on its rear panel. Refer to the amplifier outline

drawing (Section 6.5) for the installation dimensions.

2) Installation direction

The amplifier uses natural convection cooling. The installation direction must be vertical. Do not install

the unit upside down.

3) Installing multiple amplifiers in a row

Leave at least 50mm of space above and below the amplifiers to ensure unobstructed airflow from the

radiator. If heat gets trapped above the amplifier, use a fan to create airflow. Leave at least 10mm of

space between the amplifiers.


3-5

3.3.3 Motor Installation Precautions ・ If the motor is enclosed in an enclosure, consider its size, the use of a heat sink, and ensure the

temperature inside the case is between 0 and 40°C.

・ Consider a radiation method to ensure that the surface temperature of the motor (end cap surface

temperature) does not exceed 85°C. (If the motor overheating prevention function is working, an ALM will

be detected.)

・ When installing a pulley or a gear to the motor, avoid methods such as press fitting that apply force in the

torque direction. Ensure accurate shaft centering when integrating the rotating shaft of the motor with the

target machinery. Incorrect centering can damage the shaft and the bearings.

・ Avoid installation in places where the unit may be subjected to water, cutting fluid, rain or conductive

particles such as dust and iron filings.

・ Never install the unit where it could be subjected to corrosive (acid, alkali, etc.), flammable, explosive liquids or

fumes.

・ Avoid installing the motor on moving parts. Since the wires and cables used for this device are electric

connection wires, disconnection could occur. Contact the manufacturer for assistance for use on moving parts.

・ If a belt-drive is used, verify that the gear reduction value of the belt tension does not exceed the thrust

load tolerance. Refer to 6.2 and 6.3)

3.3.4 Motor Installation Method

Use the tap hole or mounting hole on the installation surface and the mounting rabbet for installation. Refer

to the outline drawing (Section 6.5) for the tap hole pitch measurements and the mounting rabbet diameter.

Installation Angle Motor Model Screws to Use Recommended Tightening Torque

42 angles PBM423 M3 x4 -

60 angles PBM60* M4 x4 0.6 Nm

86 angles PBM86* M4 x4 1.4 Nm


3-6

3.4 Wiring 3.4.1 Wiring Precautions

1) Noise protection

Follow the instructions below to prevent malfunctions due to noise.

・ The noise filter, amplifier and the host controller should be placed at the minimum distance.

・ Apply a surge absorber circuit to coils such as relays, electromagnetic contacts, induction

motors and brake solenoids, etc.

・ Do not enclose the power lines, the motor lines, and the signal lines in the same wire

conduit; they are not intended to be bundled together.

・ If there are large noise sources such as electric welding machines or electric discharge

machines nearby, apply a noise filter for the power line and the input circuit.

・ Do not bundle the primary and secondary wiring of the noise filter together.

2) Wiring

Perform wiring only when power is cut off. Carefully verify that wiring is correct, as faulty wiring

can cause damage to the device.

3) Cables for wiring

Use the correct size of cables as specified for wiring. (Refer to Section 3.4.3)

4) Emergency stop circuit

Be sure to install an external emergency stop circuit that can stop the device and cut off the power

instantaneously.

3.4.2 External Installation Wiring Diagram

3D 2D

N5

4B CN4

N

C

6

C

N1

C

3C 2C

C

2B

3B CN3

N2

C

N7

SW1

5B PC

6B

1B


3-7

3.4.3 Connector Model Numbers and Appropriate Electric Wires Refer to Section 3.4.2 (External installation wiring diagram) for more information on the symbols.

Application Symbol Name Model Appropriate

Electric Wire

Maximum

Extension Length Manufacturer

1A Plug 8830E-020-170LD

I/O 1 1B Receptacle 8822E-020-171D

AWG28

(7/0.127)

3m

KEL

6A Pin Header DF11-10DP-2DS(52)

housing DF11-10DS-2C I/O 2 6B

contact DF11-2428SCA(bulk)

AWG24～28 3m

Hirose

2A Tab header 1376020-1

Receptacle

housing 1-1318118-6

2B

2D Receptacle

contact

1318108-1(bulk)

1318106-1(chain)

Tab housing 1-1318115-6

Encoder

2C Tab contact

1318112-1(bulk)

1318110-1(chain)

AWG24, 26

Twisted pair

wire with

external shield

20m

AMP

3A Tab header 1376136-1

Receptacle

housing 1-1318119-3

3B

3D Receptacle

contact

1318107-1(bulk)

1318105-1(chain)

Tab housing 1-1318115-3

Motor

Power

3C Tab contact

1318111-1(bulk)

1318109-1(chain)

AWG18 to 22

Discrete wire

20m

AMP

4A Tab header 1-178295-5

Receptacle

housing 1-178288-5 Electric

Power 4B Receptacle

contact

1-175218-5(bulk)

1-175196-5(chain)

AWG16 to 20

Discrete wire

3m

AMP

5A Post with

base

S10B-PADSS-1GW

Housing PADP-10V-1-S Communication

5B Contact SPH-002T-P0.5L

AWG28 to 24

Twisted pair

wire with

external shield

2m

JST

* These are necessary for extending the relay cables between the motor power and the sensor in excess of

50cm.

* Optional cables and connector sets are available. Refer to Options (Section 7) for more information.


3-8

3.4.4 Connector Pin Assignment (pin side) ＊（）Of pin No shows maker mosquito naming.

CN No Pin Number / Signal name Pin Layout

CN1

I/O signal

1

2

3

4

5

6

7

8

9

10

+COM(+5V to 24V)

-COM

CCW Pulse+(Pulse+)

CCW Pulse-(Pulse-)

CW Pulse+(DIR+)

CW Pulse-（DIR-）

STOP

ALMCLR

IN1

IN2

11

12

13

14

15

16

17

18

19

20

ALM

In-Position

SON MON

-COM(GND)

Encoder Ａ+

Encoder Ａ-

Encoder Ｂ+

Encoder Ｂ-

Encoder Ｃ+

Encoder Ｃ-

(A1）1

(A10)10

11(B1）

20(B10）

ＣＮ６

I/O 信号

1

2

3

4

5

Positive Hard Limit+

Positive Hard Limit-

Negative Hard Limit+

Negative Hard Limit-

N.C

6

7

8

9

10

N.C

N.C

N.C

５Ｖ

-COM／GND 1 2

9 10

CN2

Sensor

1

2

3

4

5

6

A

A

B

B

C

C

7

8

9

10

11

12

VCC(+5V)

GND

－

Overheat

FG

N.C

1(A1）

11(A6）

(B1）2

(B6）12

CN3

Motor Power

1

2

3

4

5

6

A

A

B

B

BRK+ (for motors with holding brake)

BRK- (for motors with holding brake)

(A1）1

（A3）5

2(B1）

6(B3）

CN4

Electric

Power

1

2

3

4

5

AC1

AC2

N.C (VBUS+: terminal for external regeneration)

N.C (VBUS-: terminal for external regeneration)

FG 5

1

CN 5, 6

Communication

1

2

3

4

5

A

B －

－

GND

6

7

8

9

10

-

-

-

-

FG 1 2

9 10


3-9

3.4.5 Grounding ・ Amplifier grounding: Ground the amplifier using the grounding wire from the ground terminal

(M4) of the amplifier case. Use single point grounding with a minimum of AWG 16 wire

(1.25mm2).

・ Motor frame grounding: If the motor is grounded through the frame, then Cf x dv/dt current

flows from the PMW power part of the servo amplifier through the motor floating capacitance

(Cf). To prevent the effects of this current, use single point grounding for the motor frame and

the servo amplifier ground. Use at least AWG18 wire (0.75mm2) for grounding the motor.

・ Grounding the wiring: If the motor is wired to a metal conduit or metal box, the metal must be

grounded. Use single-point grounding.

3.4.6 Short-circuit Breaker Due to the noise filter of the power input unit and the high-frequency switching noise of the PWM

control, a high frequency leakage current may occur at the servo amplifier. If a short-circuit breaker is

used to prevent malfunctions, use a high frequency leakage breaker.

3.4.7 Motor and Encoder Wiring (CN 2,3) Connect the connectors of the encoder / motor cables (including the holding brake connections) to

CN2, CN3 of the amplifier. The standard length of the motor / encoder cable is 0.5m. Use a relay cable to

extend the wiring length, if necessary.

* The encoder connector cable contains a motor overheating detection line. If an extension cable is

used, this line must also be connected.

* The holding brake is polarized. If an extension cable is used, verify the pin assignment (Section

3.4.4) for correct polarization. The holding brake control function is built into the amplifier.

3.4.8 Power Wiring Connect the AC power to Pin 1, 2 of CN4.

The following table shows the power specifications:

Motor Model PBM423 PBM603 PBM604 PBM861 PBM862

Power voltage specification AC100V to 230V –15% to +10% 50/60Hz

Current capacity (A rms) See Section 6.4

* Pins 3 and 4 of CN4 are for connecting the regeneration unit, required if a regeneration error ALM

occurs due to reasons such as moving a negative load. Normally, regenerative control is

performed internally by the amplifier, so there is no need to connect an external unit.

4. Input / Output Signal Functions

4-1

4.1 Input / Output Control Signal Functions (CN1) 4.1.1 Pulse Input

Terminal No. Name Functions

3, 4

(Input)

CCW pulse／

pulse input

The pulse input method can be selected by dip-switch SW1.

SW1=ON: Input method #2 – input for CCW direction

SW1=OFF: Input method #1 – pulse input

5, 6

(Input)

CW pulse／

rotational

direction

The pulse input method can be selected by dip-switch SW1.

SW1=ON: Input method #2 – input for CW direction

SW1=OFF: Input method #1 – rotational direction selection input

When input method #1 is selected, the rotational direction will

be the following:

・ Photocoupler ON: CW direction

・ Photocoupler OFF: CCW direction

* The rotational direction is determined looking from the motor output shaft.

Pulse input conditions <Input method #2>

Count at the coupler ON edge

CCW pulse2ms MIN

CW CCW

CW pulse

Motor operation

＊ Do not input CW and CCW pulses at the same time.

＊ Set the photocoupler to OFF when stopping the pulse input.

<Input method #1> Count at the coupler ON edge

Pulse input

CCW CW 2ms MIN 2ms MIN

Rotational direction

Motor operation

＊ Pulse input must be OFF when switching the rotational direction.

＊ Set the photo coupler to OFF when stopping the pulse input.

<Pulse wave>

Maximum input frequency: 250kPPS

T3 T4 T2 T1

50％

3.0～5.5V

T3､T4:1μs MAX T1=T2 （50％Duty）＊ When the resolution is high, operation at maximum rotation speed is not possible due to limits of

maximum response frequency.


4-2

4.1.2 CN1 Input with Fixed Functions

Pin No Name Logic selection Function outline

7 STOP Selectable

（CMD16h）

Initial value

：On＝STOP

This is the emergency stop input signal. If input during drive,

rapid deceleration to stop in servo OFF state will result.

After stoppage, follow the command 20h setting value for the

motor torque.

Cancellation will enter SON state only after the STOP input is

OFF, the motor has stopped and 300ms have elapsed.

（ex On Active） 4ms MIN

Eme

300ms MINSON monitor

Motor operation

rgency stop input

Pin No Name Logic Functions

11

ALM

clear

(ALM

CLR)

A Conn.

= ON Edge

Active)

Alarm clear signal when ALM is activating. Power must be reset

to clear non-cancelable alarms.

＊ The ALM is cleared after the motor has completely stopped

and 300ms have elapsed.

＊ Please refer to Section 4.4 for ALM details.

4ms min

300ms min

ALM Output

Motor operation

ALM CLR


4-3

4.1.3 CN1 Input with Selection Function The following functions can only be used after function allocation using command 16h.

There are 5 assigned input ports: CN1-9,10Pin.

Name Logic selection Function outline

Deviation

CLR

Fixed

On＝

Deviation

CLR

Execute deviation clear (internal collected pulse clear) with coupler

On. The target position will be the actual time and point of input.

Deceleration rate will be at maximum.

＊During deviation clear input, command pulse is invalid.

＊ If input during drive, will return the distance of decelerated

movement.

4ms MIN

Deviation clear input

Name Logic selection Function outline

HOME Fixed

On edge start

Execute the zero-return operation commands preset by command

56h.

HEND signal is emitted when zero-return is successfully

completed.

＊ In-Position signal is emitted when zero-return is completed.

＊ During zero-return operation, command pulse is invalid.

Zero-return example：Type＝1（SDN signal + C phase）

Motor operation

Motor operation

SDN signal（Limit）

C phase output signal

HＥＮＤ output In-Position output

HOME

4ms min


4-4

Name Logic Functions

Gain

Select

－

In the case of CMD16h-DAT3＝1

Performs a gain select.

This function is used by a movement condition to change Gain. Setting is

necessary as follows to validate this function.

ⅰ）Set the Command E3h（Gain Table）

ⅱ）Set the Command 2Fh、DAT4 ＝ 2

ⅲ）Set the Command 16h、DAT3 ＝ 1

＊ Please do not do a Gain change driving.

＊ Please refer to command code E3h for gain select details.


4-5

4.1.4 CN6 Input functions Pin No Name Logic selection Function outline

1,2 +Hard

Limit

3,4 -Hard

Limit

Selectable(CMD16h）

Initial value

：On＝Limit

Functions as Hard Limit input or as SND signal (external

zero-signal) when zero-returning.

（Hard Limit function）

Decelerates and stops when Limit is detected. During

Limit, shift commands for the Limit direction are

disabled. Shift commands for the opposite limit direction

are accepted. During Limit, command pulse for Limit

direction is disregarded.

＊ Gains soft Limit function by Command 32h and 33h.

＊ Limit function does not operate during zero-return.

Limit input is enabled after completion of

zero-return.

（Zero-return SDN signal function）

Functions as SDN signal when the zero-return Type, set

by Command 45h, is 1 or 2.

＊ In the case of rotational operation or for use only as

SDN signal function, set command 11h-DAT3-Bit7＝

1 and mask the Limit function.

＊ For SDN signal function details, please refer to the

zero-return timing chart.

＜External sensor is useable only for NPN Type＞

CN1 +COM

・Hard Limit sequence（On Active）

Limit input（positive direction）

Motor operation Positive direction Negative direction

On

4ms Max

In-Position


4-6

4.1.5 CN1 Output Signal with Fixed Functions Note）When the power is turned on, the status of each output Port is uncertain until the CPU is in

motion. Observe output Ports for more than 5 seconds after the power supply voltage has

settled.


11 ALM Selectable

（CMD16h）

Initial value

On＝ALM

Issued when alarm is activated

＊ Detects low voltage error when power failure occurs

with the servo ON. Switch off the power with the servo

OFF if the alarm becomes a problem.

12 In-Position Fixed

On＝In-Posi

＜T1：Out Position condition＞

The time taken for the position deviation to outstrip the

In-Position width set value after recognition of the

command pulse.

＜T2：In-Position condition＞

The condition when the command pulse is failed to be

recognized for longer than 2ms; and when position

deviation is less than the In-Position width set value.

＊ The In-Position signal will not be emitted when the

command pulse is less than the In-Position width set

value or because of hardware response delay time.

＊ It is in the Out-Position when servo is in the OFF

state.

13 SON

MON

Selectable

（CMD16h）

Initial value

On＝SON

OFF＝SOFF

Monitors the condition of the servo. Will not receive move

command when in the servo OFF state.

＊ It switches to servo ON state automatically after the

power supply voltage of the PB system has settled

and initialization has successfully completed. If STOP

status is Active, initialization will not be executed.

Pulse input

In-Position

T2 T1


4-7


15,16

17,18

ENA/B Fixed Encoder signal output (A/B-phase).

19,20 Ｃ-phase

phase

origin

Fixed Emits encoder C-phase signal (1P/R）or phase origin

（50P/R）signal.

＊ Will not be emitted at velocities over 200min-1.

＊ C-phase output or phase origin output is selected by

setting command 16h.

Ａ

ＢＣ

Phase origin

→CW ＊ Encoder signal output is emitted when A/B-phase is 500P/R, C-phase is 1P/R and phase origin

signal is 50P/R. C-phase and phase origin signals will not be emitted at velocities over 200min-1.


4-8

4.2 Input／Output Signal Electric Characteristic

Pulse input、and encoder output circuits are different by amplifier model number.

Please choose model number by a user device circuit.

4.2.1 PB3A003P201 ＤＣ Characteristic

Circuit Type Circuit formation（connection example） Standard value

CN1

Pulse input

Maximum input frequency: 250000PPS

Ｅ＝DC4.5V～5.5V

＊When voltage is greater than 5V, insert

resistance in series to satisfy; (input voltage

－1V) / (270 + R) ≒10mA

CN1

Generic input

Ｅ＝DC5～24V±10％

CN1

Generic output

Ic

11～13

2,14

-COM

E

Ｅ＝DC5～24V±10％

Ic＝30ｍＡ max

CN1

Encoder output Ic

E

-COM

Ｅ＝DC5～24V±10％

Ic＝30ｍＡ max

＊C-phase / phase origin signal outputs will

not be emitted at velocities over

200min-1.

CN6

Hard Limit

input

Ｅ＝DC5～24V±10％


4-9

4.2.2 PB3A003P202 ＤＣ Characteristic

Circuit Type Circuit formation（connection example） Standard value

CN1

Pulse input

Line Receiver Input

Maximum input frequency: 250000PPS

＊ Please connect GND of the 14-Pin.

CN1

Generic input

Ｅ＝DC5～24V±10％

CN1

Generic output

E

-COM

11～13

Ic

2

Ｅ＝DC5～24V±10％

Ic＝30ｍＡ max

CN1

Encoder output

Line Driver Output

＊ C-phase / phase origin signal outputs will

not be emitted at velocities over 200min-1.

＊ Please connect GND of the 14-Pin.

CN6

Hard Limit

input

Ｅ＝DC5～24V±10％

4.2.3 AC characteristics

The response time of each input / output signal depends on applied voltage and output current conditions.

Also, as input / output interface uses a photo coupler, delay time changes due to dispersion of parts and secular changes.

Expecting there to be delay time in the higher controller side, secure the margin when deciding the control timing. About 1ms

delay time occurs for each input / output signal because of sampling cycles (500µs).

Hardware response time reference values

Signal name Measurement conditions ON→OFF delay time OFF→ON delay time Note

Pulse input 5V Response frequency：250khz －

Generic input 5ｖ input

24ｖ input

250µs NOM

250µs NOM

30µs NOM

10µs NOM

－

Generic output 5V input 10ｍA

24V input 10ｍA

250µs NOM

500µs NOM

20µs NOM

20µs NOM

Refer to the

following chart


4-10

4.3 Switch Settings・Adjustment The following table describes the function of the switches located on the front panel of the

amplifier.

4.3.1 Adjustment Parameters For maximum performance for a motor, it is necessary to adjust the gain.

The responsiveness of the motor is changed according to the gain setting value. The gain is

regulated by adjustment of the rotary switch or PC interface. Use the waveform monitor of the

PC interface etc to adjust the velocity waveform and In-Position signal.

1) RSW1: Gain parameters

Selects the proportional gain and the integral gain from 16 levels of normalized settings.

SW setting

value

Proportional

gain

Integral gain SW setting

value

Proportional

gain

Integral gain

0 4 1 8 20 20

1 6 10 9 22 1

2 8 20 A 24 10

3 10 1 B 26 20

4 12 10 C 28 1

5 14 20 D 30 10

6 16 1 E 32 20

7 18 10 F 34 1

2) RSW2: S-Shape Filter

Sets the time constants of S-shape filter on pulse train command.

Effective for reducing shock and vibration during load operation stoppage.

However, increasing the value setting will lead to reduced synchronicity with command.

＊ Do not change the S-shape filter time constant during pulse input. Position shift will occur.

3）Commands for adjustment（For adjustment parameter details, refer to Section 5.）

Command Command name Function

47(2Fh) Gain2 Setting of detailed Gain separately from RSW1.

227(E3h) Gain3 Sets maximum 4 patterns of gain table. Used when switching the gain by motion in the Input Port rather than single adjustment of the gain by rotary switch.

34(22h) LPF Sets the low-pass filter of velocity feedback. 226(E2h) Control Switch

Condition

The PB system utilizes Close control (PI control) during operation and Open control during stoppage. As switching this control method may cause vibration during acceleration or slow motion operation, set the control switch frequency with this command to determine the operation profile.


4-11

4.3.2 Adjustment Methods a) Proportional gain of velocity loop

・ Increase the proportional gain of velocity loop gradually as long as there is no oscillation in the

motor or the load. As the gain increases, the velocity waveform changes as shown below. By

increasing the proportional gain as much as possible without oscillation, high response can be

achieved.

High proportional gain Low proportional gain

＊ Increasing the proportional gain may increase the noise of the motor.

b) Integral gain of velocity loop

As this is the delay factor for the servo system, a high setting will adversely affect

responsiveness. A low setting may render the servo system unstable. Select an

appropriate value after checking the vibration and oscillation status of the machine

system.

If the response before positioning is slow due to gravity load and single load, adjust by

increasing the integral gain of velocity loop.

c) Proportional gain of position loop

Increasing the proportional gain of position loop will quicken response and shorten

positioning time. However, oscillation may occur if the rigidity of the machine system is low.

Adjust in the range that is free of load oscillation.

ｄ）Adjustment by operation profile

If overshooting during acceleration or undershooting during stoppage is not solved by

gain adjustment, this may be due to torque shortage. Check motor size, load conditions or

operation profile (moderate acceleration / deceleration rate).

e）Control switch frequency setting

Sets the switching frequency of Open / Close control by Command E2h.

Especially during slow motion operation, setting the switching frequency above the

operation frequency and operating with Open control may reduce oscillation.

Control switch frequency（setting value × 2000PPS）＝ｆ

During slow move operation：Command frequency＜ｆ(PPS)

Normal operation：Use at Start frequency＞ｆ+2000(PPS)

ｆ+2000 ｆ Command

frequency


4-12

4.3.3 Dip-switches

Initial factory settings: All ON

SW No. Function Settings

1 Pulse input method ON: Input method #2 OFF: Input method #1

2, 3

Resolution setting

SW3 SW2 Command resolution (P/R)

ON ON 500

ON OFF 1000

OFF ON 5000

OFF OFF 10000

* 2000, 4000 P/R are selected via transmission. Refer to Section 5

(Command 11h) for more information.

4 - 6 Motor selection SW6 SW5 SW4 Compatible motor

model number

ON ON ON PBM423

ON ON OFF PBM603

ON OFF ON PBM604

ON OFF OFF PBM861

OFF ON ON PBM862

OFF ON OFF Setting prohibited

OFF OFF ON Setting prohibited

OFF OFF OFF Setting prohibited

* Always use a setting compatible with the assembly motor. If the

settings and the connected motor do not match, motor damage can

occur.

＊ Set product amplifier has the combination motor model number set in advance.

ONOFF

SW1

12

34

56

Dip-switches


4-13

4.4 ALM Detection Function The ALM LED indicates the alarm type by the number of flashes.

The ALM status and ALM history can be read (RD) via transmission (see Section 5, Command 86h).

4.4.1 ALM description table

# of flashes Abbreviation Hex Code ALM description Recoverability

OFF No alarm 00 - -

CPUE - CPU error Non-recoverable ON

EEPER 10 Nonvolatile memory error Non-recoverable

DE 01 Sensor disconnected Non-recoverable 1

LA 13 Sensor out of position Non-recoverable

OV 02 Input power voltage is above the

specification range

Recoverable 2

MPE 03 Input power voltage is below the

specification range

Recoverable

3 RSTE 04 Initialization error (overload)

Motor line disconnected

Non-recoverable

OVF 05 Position deviation abnormal Recoverable

OL 06 Overload stop Recoverable

4

OS 07 Overspeed Recoverable

5 RGOL 08 Regeneration voltage is outside the

specified value

Recoverable

6 ORG 09 Zero-return error Recoverable

7 Wrap around 0B Absolute position counter sign

reversal

Recoverable

MO OH 0E Motor overheat detection Recoverable 9

AMP OH 0F Amplifier overheat detection Recoverable

10 PAM 11 PAM voltage abnormal Non-recoverable

11 OC 12 Overcurrent detection Non-recoverable

* To cancel non-recoverable alarms, first turn OFF the power, and then restart.


4-14

4.4.2 ALM Conditions and Causes

ALM description

(Code)

Condition / Cause

CPU error

(-)

Indicates a CPU error (W.D).

Possible causes:

・ Problem with the amplifier internal control power.

・ CPU malfunction due to excessive noise.

Nonvolatile

memory error

(10h)

Indicates a nonvolatile memory data error.

Possible causes:

・ Power interruption during writing to the nonvolatile memory.

・ Data writing error due to excessive noise.

* After detecting the memory error, the parameters are reset to the original

factory settings.

Sensor

disconnected

(01h)

Indicates the disconnection of the sensor A/B-phase.

Possible causes:

・ Sensor line wiring problem.

・ Error detected due to excessive noise on the sensor line.

* Disconnection of the C-phase is detected during zero-return (at C-phase

detection type) as a zero-return error.

Sensor out of

position

(13h)

Indicates that the sensor A/B-phase is out of position.

Possible causes:

・ Sensor position misalignment.

・ Error detected due to excessive noise on the sensor line.

Overvoltage

(02h)

Indicates that the input power voltage is above the specification range.

At power-up, the amplifier automatically recognizes 100/200V power voltage.

After the voltage detection, overvoltage is determined based on the following

values:

100V input: approx. 138V AC


* Not detected during servo ON drive.

Undervoltage

(03h)

Indicates that the input power voltage is below the specification range.

At power-up, the amplifier automatically recognizes 100/200V power voltage.

After the voltage detection, undervoltage is determined based on the following

values:



* The ALM history is saved if the voltage returns to normal after undervoltage

detection as a result of an instant undervoltage.


4-15

ALM

description

Condition / Cause

Initialization

error

(04h)

After the PB system power is turned ON, the initial phase is detected, the internal counter is initialized, and the system switches to servo ON status. If the sensor initial phase cannot be detected correctly, it results in an ALM condition. Possible causes:

・ Sensor C-phase disconnection.

・ The load reached the mechanical end.

・ Load is out of tolerance range (excessive load).

* If ALM or STOP status persists after the power is turned on, the initialization process

will not be executed.

* Refer to Section 6.2 for more information about load tolerance.

Excessive

position

deviation

(05h)

Detects an ALM if the position deviation exceeds the value set by command 14h.

Possible causes:

・ Delay due to excessive acceleration / deceleration drive.

・ Delay due to excessive load.

Overload stop

(06h)

Indicates that before reaching the target position, the load was inoperative for a certain

time. The detection time for inoperative status can be set using command 14h.

Possible causes:

・ The load reached its mechanical end.

・ Load is out of tolerance range (excessive load).

Excessive

velocity

(07h)

Indicates a velocity error.

Possible causes:

・ Overshoot due to excessive acceleration / deceleration.

・ Overshoot due to excessive load.

Regeneration

error

(08h)

Indicates a motor regeneration voltage error.

Possible causes:

・ Abrupt deceleration due to excessive load.

・ Stationary drive of excessive negative load.

* The PB amplifier has a standard internal regenerative control function used during

deceleration. Contact us if this function is not sufficient for regenerative control.

Zero-return

error

(09h)

・When using zero-return Type 0,1,3: C-phase detection zero-return, this alarm

indicates that the C-phase could not be detected within one rotation of the motor shaft.

・When using zero-return Type 2,3: Push zero-return, this alarm indicates that the

collision drive was incomplete within the travel distance range set by command E3h.

Possible causes:

・ Coupling slippage.

・ Sensor C-phase signal disconnection.

・ Command E3h setting value inappropriate.


4-16

ALM

description

Condition / Cause

ABS counter

sign reversal

(0Bh)

Indicates the sign reversal of the absolute position counter inside the amplifier.

Command 14h can be used to enable or disable the detection.

Possible causes:

・ Detection is enabled during a drive using single rotational direction only.

Motor

overheat

(0Eh)

Detects the ambient temperature near the motor’s internal encoder.

Note that the continuous operating range of the motor is limited by heat dissipation

and drive conditions.

Possible causes:

・ Insufficient heat dissipation, excessive ambient temperature.

・ Continuous drive of a momentary operational area.

Amplifier

overheat

(0Fh)

Indicates that the amplifier has overheated.

Note that sometimes the amplifier cannot be used for continuous operation due to

heat dissipation and drive conditions.

Possible causes:

・ Insufficient radiation, excessive ambient temperature.

・ Continuous driving of a momentary operational area.

Internal

voltage error

(11h)

Indicates a problem with the motor applied voltage inside the amplifier.

Possible causes:

・ Insufficient power capacity (refer to Section 6.4 for more information about

consumption current).

・ Amplifier damage.

Overcurrent

(12h)

Indicates an overcurrent due to a short-circuit on the power line. After detection, the

motor enters into an unexcited state.

* Note that ground fault detection may not be possible; in this case, the potential for

amplifier damage exists.

Possible causes:

・ Short-circuit on the motor line.

・ Short-circuit on the regenerative connection.

・ Amplifier damage.


4-17

4.5 Amplifier Status Change Diagram

Reset complete Servo ON Status

Zero-return operationPositioning operation

Idle (Stop status)

Reset operation

Servo OFF Status

STOP Fixed excitation

Velocity 0Power Limit 3

Alarm status

Non-recoverable alarm

Fixed excitation

Power Limit 3

Recoverable alarm

Fixed excitation

Power Limit 3

Cancel

ALM

CLR

Reset incomplete

Main power ON

(1) The reset operation is automatically executed when the amplifier detects that the power of

the main circuit is within the specified voltage range. After initialization is complete, the status

automatically changes to “Servo ON". If the reset operation completes once, the initialization

will not be performed. Use the STOP signal to maintain the "Servo OFF” status.

(2) If a STOP or alarm occurs, the motor decelerates with fixed excitation until it stops. After the

motor stops, the excitation current set for Power Limit 3 is applied.


4-18

4.6 Test Operation Using PCIF

1) Switch settings

Use the DIP switches on the amplifier top to set the motor model number, pulse input type,

resolution, and other parameters .

2) Parameter settings

(1) Communication preparation

Connect the amplifier power supply, communication unit, and PC to the amplifier.

(2) Turn on the power, and start the PCIF software.

When the ALM LED turns off and the STOP input is set to OFF, operation is normal if the

servo is on.

COM Port setting

ADDRESS＝0

Select 9600bps, Half Duplex

Click "Next".

The parameter reading

progress bar is displayed.

Select Online

Click "NEXT".


4-19

(3) Command settings (Command 17 setting example)

If necessary, the software switches, input/output functions, and other commands are set.

a) Double-click Command 17.

b) After setting the desired data, click the SET button.

c) Click the SEND button to send the data to the amplifier.

Click the menu button "PC→Amp ROM" and save the transmitted parameters to the nonvolatile memory.

* Be sure to execute the Save command. Otherwise, the transmitted data is not saved.

* In Save to Amplifier, all commands are transferred and saved in one operation, and so this operation needs to be

performed only once after parameter setting.

If necessary, set parameters other than Command 17 (11h) using the same procedure as above.


4-20

3）Operation

ⅰ)After the parameter setting is completed, turn the power off and connect wiring for the motor

power, encoder and I / O.

＊ Refer to Chapter 3 to ensure the correct wiring.

＊ Perform safety check and attach the motor to the fixed plate etc. For safety, set up

the emergency stop circuit before operating.

ii）Turn the power on again after confirming that the STOP input signal is cancelled. If the Power

LED Lights and ALM LED Lights out, it is normal.

Power start sequence（When the STOP input signal is cancelled）

SON

Initialization completion time：5s maxApprox. 7V. Rated voltage

Output signal status unstable time：200msMax

Power voltage

Initialization

STOP

SON Monitor

＊ The output signal status is unstable for a maximum of 200ms after the power

voltage reaches approximately 7V.

＊ Turn the power off after setting to STOP status, as low power voltage error may be

detected when power is turned off with the servo ON.

iii）Input the pulse and confirm that the motor operates.

iv）After operation is confirmed, connect the load to the motor. Refer to Section 4.3 and set the

Gain and operation profile.

＊ If it does not operate normally, confirm that the wiring and power voltage is correct.

＊ In case of Alarm, refer to Section 4.4 to remove the alarm cause.

＊ For details of waveform monitor method, refer to M0007856.

5. Commands（Communication）

5-1

5.1 Command I mention the command contents which I can set with a PC I/F. When changes of the input and output Port logic have to change initial setting value at the time of factory shipment, please use it. In addition, software for exclusive use of a case to have you use communication, a communication Kay - bulldog are necessary. The details please refer to Clause 7.3. ( PC I / F instruction manual please refer to attached sheet M0007856.)

5.1.1 Command List 1）WR command

Command

Code

Command Name Function Initial Value

1 Initialization Initializes the CPU to the power ON state. -

2 Parameter CLR Clears the parameters and resets them to their factory

settings.

-

3 Parameter Save Saves the edited parameters to non-volatile memory. -

4 Parameter Load Loads the data from non-volatile memory to RAM. -

6 ALM history CLR Clears the ALM history. -

17 (11h) Software switch Set the Pulse resolving that setting is impossible in

DIPSW. Setting resolving: 2000, 4000P/R

Dip SW Enable

19(13h) Initial Move

Direction

A direction of movement is defined the initial move. 0:CW

20 (14h) ALM detection

condition

Enables or disables the overload stop, servo error

detection threshold and ALM detection functions.

Overload stop=8s

Servo error=360deg

22 (16h) Input/output port

function

Sets the logic and function of the input / output signals.

* If necessary, modify the initial values for the

application before installing the amplifier.

A Contact（On Active）

Input Function

DEV CLR／HOME

31 (1Fh) User memory Provides 8 bytes of memory for the user. 0 (8bytes)

32 (20h) Power Limit Sets the current limit value based on the following conditions:

used for Torque limit or Power Down.

DAT1: Current limit for SON stop. (Upper limit 7Fh=50%)

DAT2: Current limit during motion (Upper limit FFh=100%)

DAT3: Current limit for SOFF. (Upper limit 7Fh=50%)

7Fh

FFh

7Fh 35 (23h) Maximum travel

distance during

zero-return

Sets the maximum travel distance for push operation and

SDN zero-return. If there is no normal completion within

the specified range, a zero-return error is generated.

Maximum

39(27h) Current offset An adjustment command when vibration at the time of a

stop was caused

0064h,0


5-2

Command

Code

Command Name Function Initial Value

47(2Fh) Gain2 Choose a setting method of Gain and set the second

Gain.

Ro SW1 Enable

48 (30h) In-position width Sets the in-position width. The in-position output signal

is based on the position deviation value set here.

9h

69 (45h) Zero-return Set the origin return movement profile by an amplifier

self-run function.

Positive DIR/

PhaseＣ SCAN

VEL：75min-1

226(E2h) Control change

condition

It is a command for adjustment to use in a vibration

improvement purpose at the time of low speed drive.

2,2

227(E3h) Gain3 Set the four kinds of Gain table when I did a gain

choice function by I/O port Enable.

ALL 4

230(E6h) CN1-19pin Output

Function

C cannel (1P/R) / Phase origin (50P/R) output either is

chosen.

0：C cannel

2）RD commands

Command

Code

Command Name Function

128 (80h) Parameter RD DATA RD of a command to have initial I value.

131 (83h) Amplifier status RD Monitors the amplifier status and the input / output status.

132 (84h) Absolute position RD Monitors the absolute position counter.

134 (86h) ALM monitor Reads the alarm history.

135 (87h) Communication error Reads the communication error history.

137 (89h) Software REV Reads the software revision.

139(8Bh) Voltage MON BUS Voltage、ＰＡＭ Voltage monitor

144(90h) AMP Ｔｙｐｅ Amplifier type Monitor

146(92h) SW MON RSW1、RSW2、DIP SW Monitor


5-3

5.1.2 Commands

1）Memory Access

＊）Please Save (Code =03 h) command after data editing by all means.

2）Wright Command

Command Code：01h Data Length：0 byte

Initial

Initializes the amplifier status to power-up status. ROM parameters are loaded to RAM.

Command Code:02h Data Length:0 bytes

Parameter Clear

Resets RAM parameters to their factory settings.

* When resetting the ROM parameters, use the parameter Save command (03h) after the P. CLR CMD.


Parameter Save

Saves RAM parameters to the ROM.

* If a reset is performed without saving the parameters, the values will be lost.


Parameter load

Loads the ROM parameters to RAM.

* The same operation is performed at power-up and when using the initialization command.


ALM History Clear

Clears the alarm history.

AMP

RAM（Parameter）

EEPROM Parameter

ALM history

ROM（initial value）

Code＝2

Code＝6 ALM history CLR

Code＝4

Code＝3 Parameter editing


5-4

Command Code：17（11h） Data Length：4 byte

Software Switch

DAT No Function Setting range Initial Value Setting unit

DAT1 Pulse Resolution 0～2 0 0＝DIP SW Enable

1＝2000P/R（DIP SW Disable）

2＝4000P/R（DIP SW Disable）

DAT2 No function assigned －－－

DAT3 Hard Limit enable 0,128 0 －

DAT4 No function assigned －－－

DAT1：This command set the Pulse Resolution for 2000,4000P/R.

DAT3-Bit7：For CN1- Hard Limit input, select SDN + Limit or only SDN.

0＝Hard Limit function and SDN function（Functions as SDN input during zero-return motion and as Limit input during

the normal operation.）

1＝SDN function（Hard Limit function input becomes invalid.）


Initial Move Direction


DAT1 Initial Move Direction 0、1 0 0＝CW 1＝CCW

A direction of movement is defined the initial move.

Command Code: 20 (14h) Data Length: 4 bytes Initial Value: 8,1770h, 81h

ALM Detection Condition


DAT1 Detection time for overload stop 1 to Ch 8 1s

DAT2, 3 Servo error detection condition 1 to FFFFh 07D0h 1PLS (equivalent of 2000P/R)

DAT4 Enables or disables the optional

Alarm and Limit functions.

0 to 1 1 0=Detection allowed (enabled)

1=Detection prohibited (disabled)

Sets the enable, disable and detection conditions for the ALM detection and Limit functions.

DAT4: Enables or disables the optional Alarm and Limit functions.

WRAP: Enables or disables ALM detection for Wrap Around (coordinate sign reversal).

Select “1” to enable continuous operation in the same direction.

DATA NO Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

DAT4 ＊＊＊＊＊＊＊ Wrap

* Overload stop ALM is not detected during push operation.


5-5

Command Code:22 (16h) Data Length:3 (d) bytes

Input / Output Port Function


DAT1 Input logic － 0 0=A conn. (ON Active) 1=B conn.

DAT2 Output logic － 0 0=A conn. (ON Active) 1=B conn.

DAT3 Input function 0～1 0 0：IN1＝Deviation CLR IN2＝HOME

1：IN1、IN2＝Gain Select

Sets the input/output signal logic of CN1, and selects the function of the generic input/output signals.

Refer to Chapter 4 for more information about the input/output port functions.

DATA NO Function Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

DAT1 Input logic ＊＊＊＊ -LIM ALM C LR STOP HL+

DAT2 Output logic ＊＊＊＊ In-Posi ALM ＊ SON

DAT3 Input function ＊＊＊＊＊＊＊ IN1,2

DAT3

DAT3-Bit0 IN1（CN1-9Pin）Function IN2（CN1-10Pin）Function

0 Deviation CLR HOME

1 Gain SELECT

＊ Gain Select

When a gain change is necessary, it is used by drive pattern. When the gain choice, please set command E3h to command

2F-DAT3 =2 after setting. In addition, please warn deviation clear, origin return start function when I did a gain choice

function effectively because it becomes null and void.

Command Code：31（1Fh） Data Length：8 byte

User memory


DAT1～8 User memory 0～FF 0 －

Provides 8 bytes of memory for the user.

It depends on parameter Save (command 03), and data is stored in nonvolatile memory.


5-6


Power Limit


DAT1 In-position complete (Idle) current

limit during SON status

0 to 7Fh 7Fh

DAT2 Current upper limit during operation 0 to FFh FFh

DAT3 Current limit during ALM/STOP 0 to 7Fh 7Fh

Setting current (A) =

(Setting value (d) /255) X Rated

current

Sets the Power Limit value (motor excitation current limit) for each status.

＊ The maximum torque limit at stop is 50% of the maximum stored torque.

＊ Please use it for restraint of a motor temperature rise, a torque limit.

Command Code: 35 (23h) Data Length: 4 bytes

Zero-return Maximum Travel Distance


DAT1 to 4 Zero-return maximum travel distance Show below Maximum Pulse

Sets the maximum travel distance from the point where the zero-return was started. It is enabled when executing zero-return type 1 – 3.

If there is no normal completion within the maximum travel distance, it will generate a zero-return error.

Resolution settings

Basic division setting 500 1000 2000 4000 5000 10000

Setting unit (Deg) 0. 72 0. 36 0. 18 0. 09 0. 072 0. 036

Upper limit (hex) 1999999 3333333 6666666 CCCCCCC 19999999 1FFFFFFF

Command Code：47（2Fh） Data Length：4 byte

Gain2


DAT1 Velocity loop Proportional Gain 0～FFh 4 －

DAT2 Velocity loop Integral Gain 0～FFh 4 －

DAT3 Position loop Gain 0～Fh 4 －

DAT4 Gain Select 0～2 0 0：RO SW Disable

1：Command 2Fh Enable

2：Command E3h Enable

Setting of detailed Gain separately from RSW1.

＊Gain choice, the adjustment method details please refer to Clause 4.2.


5-7


In-position Width In-Pos


DAT1 to 4 In-Position width setting 1to CCCCCCCh Ah 0. 18 degrees (standard 2000P/R)

Sets the in-position width.

In-position status results from reaching the range defined by the target position ± the setting value.

＊ When a zero-return operation is performed, in-position is output at the time of zero-return completion.

Command Code: 69 (45h) Data Length: 6 (d) bytes

Zero Return Profile ORG


DAT1 Zero-return type

Rotational direction

0 to 3

See (1)

0 See (1)

0: Positive DIR, 1: Negative DIR

DAT2 Zero-return velocity 1 to C8h 4Bh 1min-1/ms

DAT3 Zero-return low velocity 1 to C8h 4Bh 1min-1/ms

DAT4 to 5 Grid shift Depends on the

resolution

0,0 1PLS

DAT6 Zero-return push current limit (the

setting is valid for type 3, 4)

0 to FFh 0 Setting value (d) /255 x Rated

current

Set the origin return movement profile by an amplifier self-run function. Amplifier inside absolute position counter at the

time of origin return is cleared to 0.

DATA NO Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

DAT1 * * * Rotational direction * Zero-return type

(1) : Zero-return type

Bit2 Bit1 Bit0 Zero-return type

0 0 0 C channel detection

0 0 1 SDN + C channel

0 1 0 Push zero detection

0 1 1 Push + C channel detection

Others Setting prohibited

Grid shift setting range（Hex）

Resolution 500 1000 2000 4000 5000 10000

Positive DIR 333 666 CCC 1999 1FFF 3FFF

Negative DIR FCCD F99A F334 E667 E001 C001

＊ In origin return Type =0,2,3 movement inside, H.Limit is ignored.

＊ Grid shift is mark data. Please be careful to setting of direction.


5-8

Each setting is enabled or disabled based on the type of zero-return.

Zero-return type Velocity Low-velocity Grid shift Current limit

C-phase detection Disabled Enabled Enabled Disabled

External sensor ＋C-phase detection Enabled Enabled Enabled Disabled

Push detection Enabled Enabled Enabled Enabled

Push ＋C-phase detection Enabled Enabled Enabled Enabled

＜Zero-return operation overview＞

＊The zero-return in-position signal is output after the zero-return operation is complete.

1）C-phase detection Zero-return is based on detecting the C-phase (1PLS/rotation) of the motor-sensor.

Operation(velocity waveform)

In-Position signal

C-channel signal

Grid shift travel distance

＊ If high velocity is used, an overshoot can occur after detecting the C-phase, causing a return

operation to

be performed.

2）External sensor＋C-phase detection

After detecting the edge of the external sensor signal, movement starts in the opposite direction

and zero-return is performed based on C-phase signal detection.

Operation (velocity waveform)

In-Position signal

C-channel signal


SDN signal


5-9

3）Push detection Zero-return is based on detecting a stop due to pushing against the mechanical end.

Operation (velocity waveform)Grid shift travel distance

Mechanical end

In-Position signal

Command code 25h： Push complete

＊ The sign of the grid shift volume must be set to the opposite direction of the push direction.

＊ Confirm that the push current limit setting is a value with which the motor can operate. If the value is

low, it may be prematurely determined as stop before being pushed against the mechanical end. 4）Push ＋C-phase detection

After detecting a stop due to pushing against the mechanical end, movement starts in the opposite

direction and zero-return is performed based on C-phase signal detection.

Operation (velocity waveform)

In-Position signal


C-phase signal

Command code 25h：Push complete

determination time

Mechanical end


5-10

Command Code：226（E2h） Data Length：2 byte

Control change condition


DAT1 Control change Frequency 0～FF 2 2000PPS／LSB

DAT2 Current Time const 0～FF 2 3A/255/0.5ms

When vibration is caused at the time of low speed drive, control change frequency is used for the purpose of reducing

vibration.

Please set frequency in referring to the following recommended method for order frequency.

＊ Speed differs by setting resolving.

＊ Outbreak torque in less than setting frequency depends on stop time Power Limit.

＊ When a control change does not do it, please set 0.

（Recommended usage）

Control change Frequency（Setting value×2000PPS）＝ｆ

At the time of low speed drive：CMD frequency＜ｆ(PPS)

At the time of Normal speed drive：Start frequency＞ｆ+2000(PPS)

ｆ+2000 ｆ CMD frequency

Command Code：227（E3h） Data Length：12 byte Default Value： All 4,4,4

Gain3


DAT1,4,7,10 Speed loop proportion Gain 0 to FFh 4 －

DAT2,5,8,11 Speed loop integral Gain 0 to FFh 4 －

DAT3,6,9,12 Position loop gain 0 to Fh 4 －

This command sets the gain-table by IN1／IN2 in-Port.

Please set it in command 2Fh-DAT4＝2、Command 16h-DAT2＝1

IN2 IN1 proportion Gain integral Gain Position loop gain

OFF OFF DAT1 DAT2 DAT3

OFF On DAT4 DAT5 DAT6

ON OFF DAT7 DAT8 DAT9

ON ON DAT10 DAT11 DAT12

＊Gain choice, the adjustment method details please refer to Clause 4.2.


5-11

Command Code：230（E6h） Data Length：1 byte

Ｃ Phase Output Function


DAT1 CN1-19、20 Pin Output Function 0,1 0 0：Ｃ（1P/R）

1：Phase Origin(50P/R)

A CN1-19,20 pin output function is chosen.

＊Phase C , Phase Origin signal are not output at speed more than 200min-1.


5-12

3）ＲＤ command Command Code: 128 (80h) Data Length: 1 byte

Parameter Read


DAT1 A reading command code －－－

This command reads the setting data of a command.

* The returned data represents the setting data stored in RAM.

Returned data Command code Echo Back + data contents


Amplifier Status Read

This command returns the amplifier status.

DAT1: Amplifier status 1

／ Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Data ＊ Home STOP SON RST ALM IN-POS Main power

0 － Incomplete Normal SON Complete Normal In-posi ON

1 － Complete STOP SOFF Incomplete ALM Out-posi OFF

RST：reset operation status

DAT2: Amplifier Status 2

／ Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Data ＊＊＊＊＊ Brake -H.Limit +H.Limit

0 －－－－－ Open No Limit No Limit

1 －－－－－ Excite Limit Limit

DAT3 to DAT5: I/O status 1=photo coupler ON 0=photo coupler OFF

DAT No Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

3 ＊＊ -H.Limit ALM CLR STOP +H.Limit IN2 IN1

4 ＊＊＊＊＊＊＊＊

5 ＊＊＊＊ In-POS ALM ＊ SON

* The I/O port status monitors the photo coupler ON/OFF status regardless of the amplifier status.


5-13


Absolute Position Read

This command reads the absolute position counter inside the amplifier.

Returned data Signed 4 bytes (based on the resolution setting,)

＊In the case of resolving power more than division into 4000, it is replied the value

that multiplied the ratio of setting resolving power /2000 by it.


ALM monitor

This command reads the alarm history.

Returned data The returned data is 8 bytes.

DAT1: Current alarm status

DAT 2 to 8: Alarm history (in the order of most recent to oldest)

* A low voltage ALM is saved only if the power is recovered after detecting the low

voltage.

Abbreviation Code (Hex) ALM description

No alarm 00 Normal status

DE 01 Sensor disconnected

OV 02 Input power voltage is above the specification range

MPE 03 Input power voltage is below the specification range

RSTE 04 Initialization error (overload)

Power line disconnected

OVF 05 Position deviation abnormal

OL 06 Overload stop

OS 07 Over speed

RGOL 08 Regeneration voltage is over the specified value

ORG 09 Zero-return error

Wrap around 0B Absolute position counter sign reversal

MO OH 0E Motor overheat detection

AMP OH 0F Amplifier overheat detection

EEPER 10 Non-volatile memory error

PAM 11 PAM voltage abnormal

OC 12 Over current detection

LA 13 Sensor phase error


5-14


Software Revision

This command reads the software revision.

Returned

data

The returned data is 2 bytes.

DAT Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

DAT1 Major Rev

DAT2 Minor Rev Command Code：139（8Bh） Data Length：0 byte

Input Voltage

This command reads the input voltage.

Returned

data

DAT No Returned data Unit

1 PAM voltage（LOW Byte）

2 PAM voltage（High Byte）

412Bh/100V

3 Bus voltage（LOW Byte）

4 Bus voltage（High Byte）

30D1h/100V


AMP Type

This command reads the AMP Type.

Returned

data



DAT1 AMP Type1（83h）

DAT2 AMP Type2（0）


Switch Monitor

This command reads the SW Status.

Returned

data



DAT1 Ro SW1

DAT2 Ro SW2

DAT3 DIP SW（Bit0 to 5＝SW1 to SW6）


5-15


Pulse Train Command Counter

This command reads the pulse train command counter (with sign).

Counts in a positive direction with CCW direction command; and in a negative direction with CW

direction command.

This is a function to ensure that there is no false count on the command caused by noise factors etc.

Returned data Data length：4 bytes

Unit：PLS

Data No Description

Data1 Pulse train command counter（the lowest byte）

Data2 Pulse train command counter（lower byte）

Data3 Pulse train command counter (higher byte）

Data4 Pulse train command counter（the highest byte）

6. Specifications

6-1

6.1 Amplifier Basic Specifications

Amplifier Model PB3A003P201／PB3A003P202

Control Mode PWM control SIN drive method

Power Single Power AC100, 115／200, 230Ｖ -15% +10% 50／60Hz

Operating 0 to 55 °C Ambient

Temp. Storage -20 to 70 °C

Operating and Storage

Humidity

Maximum 90% RH (non-condensing)

Environment

Vibration Resistance 0.5G (tested with frequency range 10 to 55 Hz, X, Y, Z each direction 2H)

Structure Tray structure Rear mounting type

Weight Approximately 0.8 kg

Dimensions W 45 × H 150 × D 120

Rotation Speed 0 to 4500 min-1 (86º angle is 4000 min-1)

Resolution (P/R) 500, 1000, 2000, 4000, 5000, 10000

Regeneration Process Internal (external regeneration available)

Protective Functions Power Voltage Error, Regeneration Voltage Error, Over-speed, Encoder

Disconnection, CPU Error, Overload Stop, Excessive Position Deviation,

Motor Overheat, Amplifier Overheat, Zero-return Error, Nonvolatile

Memory Error, Initialization Error, Over-current

Display LED Display (power status, alarm)

Operation Functions Normal Drive, Zero-return Operation

Functions

Switches DSW1: Pulse Input Type、MOTOR SELECT

RSW1: Gain setting RSW2：S-shape acceleration / deceleration filter

Input Signals CN1：CW／CCW Pulse、ALMCLR、STOP、Deviation CLR、

Homing（Gain select）

CN6：Hard Limit（SDN ）

Output Signals ALM、In-Position、Sensor Signal（Phase A,B,C／Excitation ORG）

SON monitor

Input / Output S

ignals

Serial Communication

RS-232C、9600bps

6. Specifications

6-2

6.2 Motor Standard Specifications (No gear, no holding brake) 6.2.1 Motor Standard Features

Motor Model Maximum Stored Torque

(Nm) Rotor Inertia

(x 10-4kg･m2) Mass

[kg] Allowable Thrust

Load

(N)

Radial Load Tolerance

(N)

PBM423FXE20 0.39 0.056 0.35 9.8 49

PBM603FXE20 1.3 0.4 0.85 14.7 167

PBM604FXE20 1.9 0.84 1.42 14.7 167

PBM861FXE20 3.5 1.48 1.9 60 200

PBM862FXE20 6.6 3 3.1 60 200

* The maximum value of the stop-time holding torque is 50% of the maximum stored torque.

6.2.2 Load Tolerances

Motor Model Maximum Inertia Tolerance

(x 10-4kg･m2) Maximum Friction Torque

(Nm)

Maximum Side Load Tolerance

(Nm)

PBM423FXE20 0.56 0.15 0.15

PBM603FXE20 4 0.52 0.52

PBM604FXE20 8.4 0.76 0.76

PBM861FXE20 14.8 1.4 1.4

PBM862FXE20 30 2.64 2.64

6.2.3 Motor Common Specifications

Basic Divisions P/R 500 x 4 multiplier

Number of Channels - 3

Maximum Response Frequency

kHz 37.5

Encoder Specifications

Output Method - Line driver

Ambient Temperature

°C 0 to +40 Environment

Ambient Humidity

%RH

20 to 90

Vibration Resistance G 10 (tested with frequency range 10~500 Hz, X, Y, Z each direction 2H)

Shock Tolerance G 30 (shock wave: half sine wave, shock time: 11ms; X, Y, Z direction 3 times each)

Withstand Voltage V AC2000V 1 min

Insulation Resistance MΩ 10 min DC500V

Insulation Class - Class B

Protection Method - Fully enclosed, self-cooling type

Common Specifications

Motor Surface Temperature Tolerance

°C Max 85º (consider a radiation cooling method to ensure the temperature is below the specified limit)

6. Specifications

6-3

6.3 Motor Option Specifications 6.3.1 Low-backlash gear

1) PBM423 Motor Model PBM423FGAE20 PBM423FGBE20 PBM423FGEE20 PBM423FGGE20 PBM423FGJE20 Reduction Gear Ratio 1 : 3.6 1 : 7.2 1 : 10 1 : 20 1 : 30 Torque Tolerance (N m) 0.343 0.7 0.98 1.47 1.47 Rotation Tolerance (min-1) 500 250 180 90 60 Backlash (degree) 0.4 0.4 0.35 0.25 0.25 Rotational Direction (compared to the command direction)

Forward Forward Forward Reverse Reverse

Thrust Load Tolerance (N) 15 Radial load Tolerance (N)* 20 Motor Weight (kg) 0.48

2) PBM603 Motor Model PBM603FGAE20 PBM603FGBE20 PBM603FGEE20 PBM603FGGE20 PBM603FGJE20 Reduction Gear Ratio 1 : 3.6 1 : 7.2 1 : 10 1 : 20 1 : 30 Torque Tolerance (N m) 1.25 2.5 3 3.5 4 Rotation Tolerance (min-1) 500 250 180 90 60 Backlash (degree) 0.55 0.25 0.25 0.17 0.17 Rotational Direction (relative to the command direction)

Forward Forward Reverse Reverse Reverse

Thrust Load Tolerance (N) 30 Radial Load Tolerance (N)* 100 Motor Weight (kg) 1.22

There is no low-backlash gear option for the PBM604, PBM861 and PBM862.

*The load point is at 1/3 length from the output shaft.

6.3.2 Harmonic gear Motor Model PBM423FHJE20 PBM423FHLE20 PBM423FHME20 PBM603FHLE20 PBM603FHME20 Reduction Gear Ratio 1 : 30 1 : 50 1 : 100 1 : 50 1 : 100 Torque Tolerance (N m) 2.2 3.5 5 5.5 8 Instantaneous Torque Tolerance (N m)

4.5 8.3 11 14 20

Rotation Tolerance (min-1) 116 70 35 70 35 Lost Motion (min) - - - 0.4 to 3 (±0.28 Nm) 0.4 to 3 (±0.4 Nm) Hysteresis Loss (min) 3.6 2.4 2.4 - - Rotational Direction (relative to the command direction)

Reverse Reverse

Thrust Load Tolerance (N) 1150 400 Radial Load Tolerance (N)* 209 360 Motor Weight (kg) 0.54 1.45

There is no harmonic gear option for the PBM604, PBM861 and PBM862.

*The load point is at 1/3 length from the output shaft.

6. Specifications

6-4

6.3.3 Holding brake

Motor model PBM423FCE20 PBM603FCE20 PBM604FCE20 Operation Method Non-excitation type Excitation Current (A) 0.08 0.25 0.25 Power Consumption (W) 2 6 6 Friction Torque (N m) 0.22 0.78 0.78 Brake Engage Time (ms) 20 Brake Release Time (ms) 30 Motor Weight (kg) 0.5 1.19 1.76

＊ The holding brake control function is built into the amplifier.

＊ There is no holding brake option for the PBM861 and PBM862.

6. Specifications

6-5

6.4 Velocity – Torque, power consumption (during drive) characteristics

Velocity-Toruque／Input Current（PBM423）

0

0.05

0.1

0.15

0.2

0.25

0.3

0.35

0.4

0.45

0.5

0 500 1000 1500 2000 2500 3000 3500 4000 4500

Velocity（min-1）

Toruque（Ｎ・m）

0

0.5

1

1.5

2

2.5

3

3.5

4

Input Current（Ａrms）

Toruque（AC100／200V）

Input Current(AC100V）



0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

2

0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000

Velocity（min-1）


0

0.8

1.6

2.4

3.2

4

4.8

5.6

6.4

7.2

8


Toruque




0

0.2

0.4

0.6

0.8

1

1.2

1.4

1.6

1.8

2

2.2

2.4

0 500 1000 1500 2000 2500 3000 3500 4000 4500

Velocity（min-1）


0

0.4

0.8

1.2

1.6

2

2.4

2.8

3.2

3.6

4

4.4

4.8Toruque（AC100V）

Toruque（AC200V）



6. Specifications

6-6


0

0.5

1

1.5

2

2.5

3

3.5

4

0 500 1000 1500 2000 2500 3000 3500 4000 4500

Velocity（min-1）


0

1

2

3

4

5

6

7

8


Toruque（AC100V）




0

1

2

3

4

5

6

7

8

0 500 1000 1500 2000 2500 3000 3500 4000 4500

Velocity（min-1）


0

1

2

3

4

5

6

7

8


Toruque（AC100V）

Toruque（AC200V）



6. Specifications

6-7

6.5 Outline Drawings 6.5.1 Amplifier Drawing

5 4 3

SW1

CN4

CN3

5

(5)

170

160

(10)

150

NC

5

NC

1

98

7

NC

2

NC

7

0F

EDCBA

6 5 4 3 2

1

5

7

10

98

7

TION TIONM PB

45

33

0F

EDCBA

6 2

1

(6.5)

TIONM

00563491

PB

120

4

6. Specifications

6-8

6.5.2 Motor Drawings

6. Specifications

6-9

6. Specifications

6-10

7. Options

7-1

7. Options 7.1 Optional Cables

7.1.1 Optional Cable Model Number Nomenclature PBC 0030 A

Design Order A: Standard

Cable Length (x 10cm)

Cable Type

Management Number

System Series Name PB Cable

7.1.2 Optional Cable Model Numbers

Cable Type Cable Standard Model Number Standard Length Maximum Length

Power cable PBC7P0020A 2 ｍ 3 ｍ

Motor power cable PBC6M0030A 3 ｍ 20 ｍ

Sensor cable PBC6E0030A 3 ｍ 20 ｍ

I/O cable for CN1 PBC1S0010C 1 ｍ 3 ｍ

I/O cable for CN6 PBC6S0010A 1 ｍ 3 ｍ

Communication cable PBC5C0010A 1 ｍ 2 ｍ

* The optional cables are necessary to extend the motor power cable and the sensor cable beyond

50cm.

(The motor power cable and the sensor cable can be directly connected if the motor side is wthin

50cm.)

* If a set is ordered, the power cable and I/O cable will be included.

* A communication cable is necessary in the case of PC I / F use.

7. Options

7-2

7.1.3 Cable Drawings

PBC6M****A

L5

PC

1

5

6

9

AMP

2

10

42

13

5

L4

L3

12

43

67

98

10

5GND5

89

76

RXDTXD

PBC5C****A

1

934

21

GND

FG

NCNC

NCNC

NCNC

RXDTXD

AC2AC1

PBC7P****A

45

23

1

3

654

12

L2

L1

15cm

11 1

CN2

20 10

ＯＨ

Ｃ－ＣＢ－ＢＡ-Ａ

6

1112

8910

7

PBC6E****A

1

3

54

2

PBC1S****C

AWG24

L2

PBC6S****A

2

43

1 ccwLimit+ccwLimit-cwLimit+cwLimit-－

7. Options

7-3

7.1.4 Cable Leads Identification

Pin No Signal Name Wire Color Print Mark (Color/Type)

1 +COM Orange Red －

2 -COM Orange Black －

3 CCW Pulse+ Gray Red －

4 CCW Pulse- Gray Black －

5 CW Pulse+（DIR+） White Red －

6 CW Pulse-（DIR-） White Black －

7 STOP Yellow Red －

8 ALMCLR Yellow Black －

9 IN1 Pink Red －

10 IN2 Pink Black －

11 ALM Orange Red －－

12 In-Position Orange Black －－

13 SON monitor Gray Red －－

14 -COM／GND Gray Black －－

15 EN.A+ White Red －－

16 EN.A- White Black －－

17 EN.B+ Yellow Red －－

18 EN.B- Yellow Black －－

19 EN.C+ Pink Red －－

20 EN.C- Pink Black －－

7. Options

7-4

7.2 Optional Connectors

Single Item Model No. Connector Type. Packaging Type Model Number Qty. Mfr.

Receptacle housing 1-1778288-5 1 PBC7P0000A

Power

connector Contact 1-175218-5 5 AMP

PBC1S0000A I/O connector

CN1 Receptacle 8822E-020-171D

1 KEL

Socket DF11-10DS-2C 1 PBC6S0000A I/O connector CN6

Contact DF11-2428SCA 10

Hirose

Receptacle housing 1-1318119-3 1

Receptacle contact 1318107-1 6

Tab housing 1-1318115-3 1

PBC6M0000A

Motor power

connector

Tab contact 1318111-1 6

AMP

Receptacle housing 1-1318118-6 1

Receptacle contact 1318108-1 12

Tab housing 1-1318115-6 1

PBC6E0000A Sensor

connector

Tab contact 1318112-1 12

AMP

* Refer to Section 3.4.3 regarding the appropriate electric wire and the maximum length.

* Refer to Section 3.4.4 regarding the connector pin assignment.

* For harness assembly, special crimping and pressure welding tools are necessary. Refer to the

manufacturers' specifications regarding each connector.

* The number of contacts included in the package equals the number of connector pins, regardless

of how many will be used.

* There is not setting of a connector option for communication.

7. Options

7-5

7.3 Optional Communication Equipment

Type Model Number Memo

PC software for WindowsTM SPBA1W-01 Supports WindowsTM 98, 2000, NT, XP

Both Japanese and English versions

Communication Cable PBC5C0010A －

Cable Specification（Dsub9 Pin）

61

9 5

2 1

10 9

PC side（RS-232C） AMP Side Dsub-9Pin ＣＮ５

Signal Name Pin No

Wiring

Pin No Signal Name ＲＸＤ 2 1 ＲＸＤＴＸＤ 3 2 ＴＸＤＧＮＤ 5

5 ＧＮＤ

Please do not connect a power supply pin and an earth terminal.

8．International Standards Conformity

8-1

8.1 International Standards Conformity

PB driver conforms to the international standards below.

Mark International standards

Standard number Certification Organization

UL standard UL508C

CSA standard UL508C

UL（Underwriters Laboratories inc.）

File No：E179775

EN standard EN50178

EN61000

TÜV（TÜV Japan, Ltd.） LV：B 05 06 30982 049

EMC：E9 05 04 30982 043

PB motor has an article for following standards.

Mark International standards

Standard number Certification Organization

UL standard UL1004 UL（Underwriters Laboratories inc.）

File No：E179832

EN standard EN60034-1

EN60034-5

TÜV（TÜV Japan, Ltd.） B05 05 30982 046

In addition, an article for standard of Motor is different from a normal article in a model

turn. Please refer to 2 chapters of "model turn specifications".

8.2 Low voltage command Please use establishment environment with the following category environment / pollution degree.

overvoltage category pollution level

Ⅱ ２

＊ The control panel installation configuration (under IP54) must exclude exposure to water, oil, carbon, dust, etc.

＊ Always ground the protective earth terminals of the Driver to the power supply earth. ( ) ＊ When connecting grounding wire to the protective earth terminal, always connect one wire in one

terminal; never connect jointly with multiple wires or terminals. ＊ When connecting the leakage stopper, make sure to connect the protective earth terminal to the

power supply earth. ( )

＊ The power supply input department please use IEC or a reinforcement insulation transformer of

EN standard conformity.

8．International Standards Conformity

8-2

8.3 EMC Directive 8.3.1 TEST Item

Directive classification Classification Test Test standard

Conducted emission

EN55011: A1/1999

Emission

Radiated emission

EN55011: A1/1999

Electrostatic discharge immunity

EN61000-4-2: A2/2001

Radiated electromagnetic field immunity

EN61000-4-3: A2/2001

Electrical first transient/ burst immunity

EN61000-4-4: A2/2001

Conducted disturbance immunity

EN61000-4-6: A1/2001

Surge immunity

EN61000-4-5: A1/2001

EMC

(AMP／Motor)

Immunity test

Voltage Dips & Interruptions immunity

EN61000-4-11: A1/2001

8.3.2 Precautions for EMC Directives

For the EMC Directives, tests are performed by general installation and countermeasure methods, in our company as machines and configurations differ depending on customers’ needs.

This driver has been authorized to display CE marking based on the recognition certificate issued by a separate, third-party certifying authority. Accordingly, customers are instructed to perform the final conformity tests for all instruments and devices in use.

Use the following guidelines below for the PB system in order to conform the customer’s equipment and devices to the EMC Directives.

Noise suppression components :

Amplifier

Motor

①Encoder

Controller

③

Metal Plane

Surge protectorNoise Filter

②Motor

AC100/230V

/50Hz

Noise Filter: SUP-EK10-ER-6 (OKAYA) Surge Protector: R・C・M-781BQZ-4 (OKAYA) Ferrite Core:

① HF60T 38×14×22 (TDK) 2 turns ②､③ HF60T 31×13×19 (TDK) 2 turns

ReleaseRevision A Mar.2007Revision B Oct.2007

*Remarks : Specifications Are Subject To Change Without Notice.

•Be sure to read the instruction manual before using this product.•Take sufficient safety measures and contact us before applying this product to medical equipment that may involve human lives.•Contact us before adapting this product for use with equipment that could cause serious social or public effects.•The use of this product in high motion environments where vibration is present, such as in vehicles or shipping vessels, is prohibited.•Do not convert or modify any equipment components.

CautionsCautions

Precautions For Adoption

The possibility of moderate or minor injuryand the occurrence of physical damage are assumed when the precautions at right column are not observed. Depending on the situation,this may cause serious consequences. Be sure to follow all listed precautions.

* Please contact our Business Division for questions and consultations regarding the above.

http://www.sanyodenki.com

Phone: +81 3 3917 2223

Phone: +49 6196 76113 0

Phone: +82 2 773 5623

Phone: +86 21 6235 1107

Phone: +1 310 783 5400

Phone: +33 1 48 63 26 61

Phone: +886 2 2511 3938

Phone: +852 2312 6250

Phone: +65 6223 1071

468 Amapola Avenue Torrance, CA 90501 U.S.A.

1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan

P.A. Paris Nord II 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France

Frankfurter Strasse 63-69 65760 Eschborn Germany

10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315

Room 2116, Bldg B, FAR EAST INTERNATIONAL PLAZA, No.317 XianXia Rd., Shanghai 200051 China

Room 1208,12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C.

Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong

9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea

Documents

PB3A003P201/202 AC100V/200V Instruction Manual · Instruction Manual. Preface ... wiring, installation, operations, ... Wiring should follow electric equipment technical standards