M0000492 D PZ PE Series W type .pdf



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M0000492D
AC SERVO SYSTEM

Super

Series

SERCOS Interface
l The Industrial Manual

SANYO DENKI CO., LTD.

ENGLISH

BL Super Series
PZ, PE Series W Type
SERCORS Interface
Industrial Manual
First edition
: September,1998
Modification C : March,1999
Modification D : March,2000
Copyright 1998, SANYO DENKI Co., Ltd.
All Rights Reserved.

SANYO DENKI CO., LTD.
1-15-1, Kita-Otsuka Toshima-ku
Tokyo 170-8451, Japan.
PHONE :+81-3-3917-5151
FAX :+81-3-3917-0643
Homepage : http://www.sanyodenki.co.jp

No part of this industrial manual may be disclosed to third parties, translated, copied, or duplicated in
any form, in whole or in part, without the express written permission of SANYO DENKI Co., Ltd.
The information contained in this document is subject to change without notice. No part of this
document may be reproduced or transmitted in any form or by any means, electrical or mechanical, for
any purpose, without the express written permission of SANYO DENKI Co., Ltd.
All product names shown are a trademark or registered trademark of their respective owners.

PREFACE
This industrial manual describes the functions, wiring, installation, operation,
maintenance, specifications and so on of AC Servo Amplifier PE Series W Type
(SERCOS Amplifier).
PE Series W Type is designed to be adaptable to a wide range of applications
from small and medium capacity due to multiple functions, high performance,
compact size and high cost performance.
Read this Instruction Manual thoroughly before operating to learn how to
operate the system safely and correctly.
After reading this manual, store in a safe place where you can refer to at anytime.

SERCOS
SERCOS stands for a SErial Real-time COmmunications System.
This interface provides specifications for interfacing between a unit and
intelligent digital drives(such as PE Series W Type).
SERCOS provides for serial communication using fiber optic cable and a

Please use the definitions and abbreviations below:
“AC Servo Motor” to “Servo Motor” or “Motor”
“AC Servo Amplifier” to “Servo Amp.” or “Amp.”
“Counterclockwise” to “C.C.W”
“Clockwise” to “C.W”
“Wire-saving incremental encoder” to “Inc.”, “Incre.”, “INC” or “INC-E”
“Absolute encoder with no request signal type”
to “Absolute encoder” or “ABS-E”
“Absolute encoder with request signal type”
to “Absolute sensor”, “ABS-RⅡ” or “ABS-RⅢ”
In addition,
“Wire-saving incremental encoder” and “Absolute encoder with no request

CONTENTS

CONTENTS
0
SAFETY PRECAUTIONS
0-1
0.1 Introduction ・・・・・・・・・・・・・・・・・・・・・・・ 0 - 2
0.2 “Warning Label”
Location on Product ・・・・・・・・・・・・・ 0 2
0.3 Meaning of Warning Markings・・・・・・・・ 0 - 3
0.3.1 Cautions in Paragraph 0.4
are Described as Follows
0-3
0.3.2 Rank of Cautions for Safety
0-3
0.3.3 Symbolic Marking
0-4
0.4 Cautions for Safety ・・・・・・・・・・・・・・・・・ 0 - 5

3.5 Connection to Optical Interface ・・・・・・・・
3.6 Wiring Procedure ・・・・・・・・・・・・・・・・・・・・
3.7 Precautions on Wiring ・・・・・・・・・・・・・・・・
3.7.1 Recommended Surge Protector
3.7.2 CN1 & CN2 Shielding Method
3.8 EMC Directive
・・・・・・・・・・・・・・・・・
3.8.1 Compliance with EMC
3.8.2 About the EMC
3.8.3 Grounding Method
3.8.4 Recommended Parts for
EMC Considerations

3 - 15
3 - 18
3 - 19
3 - 20
3 - 21
3 - 24
3 - 24
3 - 24
3 - 25

1 BEFORE OPERATING
1-1
1.1 Cautions
in Purchasing and Unpacking ・・・・・・・・ 1 2
1.2 Confirmation of the Product ・・・・・・・・・・ 1 - 2
1.3 Before Operating ・・・・・・・・・・・・・・・・・・・ 1 - 2
1.4 How to Read Model Number ・・・・・・・・・ 1 - 6
1.4.1 Servo Motor Model Number
1-6
1.4.2 Servo Amplifier Model Number
1-7
1.5 PZ/PE Series W Type
Standard Combination ・・・・・・・・・・・・・・ 1 - 9
1.6 PZ/PE Series W Type
Amplifier Accessories ・・・・・・・・・・・・・・・ 1 - 11

4 INSTALLATION
4.1 Servo Amplifier Installation ・・・・・・・・・・
4.1.1 Installation Place
4.1.2 Installation Procedure
4.2 Servo Motor Installation ・・・・・・・・・・・・・
4.2.1 Installation Place
4.2.2 Installation Procedure
4.3 Cable Installation ・・・・・・・・・・・・・・・・・・・

4-1
4-2
4-2
4-3
4-5
4-5
4-5
4 - 10

2 FUNCTION/
CHARACTERISTIC/CONFIGURATION
2-1
2.1 Servo Amplifier Internal Features ・・・・・ 2 - 2
2.2 PE Series W Type Characteristics ・・・・・ 2 - 4
2.3 P Series Servo Motor Characteristics ・・ 2 - 6
2.4 Block Diagram ・・・・・・・・・・・・・・・・・・・・・ 2 - 7
2.5 External Mounting and Wiring Diagram ・ 2 - 7
2.6 Servo Amplifier Parts Designation ・・・・ 2 - 8
2.7 Optional Peripheral Parts List ・・・・・・・・ 2 - 9
3 WIRING
3.1 Application Wire Size ・・・・・・・・・・・・・・・・・
3.2 Specifications of Encoder Cable ・・・・・・・
3.3 External Connection Diagram ・・・・・・・・・
3.3.1 Lead Wire Type(INC-E/ABS-E)
3.3.2 Lead Wire Type
(ABS-RⅡ/ABS-RⅢ)
3.3.3 Cannon Plug Type(INC-E/ABS-E)
3.3.4 Cannon Plug Type
(ABS-RⅡ/ABS-RⅢ)
3.3.5
Motor Power Cable & Holding
Brake Wiring of Cannon Plug Type
3.4 Terminal Arrangement
of Connector CN1 and CN2 ・・・・・・・・・・
3.4.1 Terminal Arrangement
of I/O Interface Connector(CN1)
3.4.2 Terminal Arrangement
of I/O Interface Connector(CN2)

3-1
3-2
3-3
3-4
3-4
3-5
3-6
3-7
3-8
3 - 12
3 - 12
3 - 13

3 - 26

5 OPERATION
5-1
5.1 Operation Sequence ・・・・・・・・・・・・・・・・ 5 - 2
5.1.1 Power ON
and Servo ON Sequence
5-3
5.1.2 Stop Sequence
5-4
5.1.2.1 Stop & Recovery Sequence due to
Emergency Stop Input(EMR) 5 - 4
5.1.2.2 Stop and Recovery
due to Internal Error(ALM)
5-5
5.1.3 Servo OFF Sequence
5-6
5.1.3.1 In case of Setting
Func2 Bit6 to “0”(Standard)
5-6
5.1.3.2 In case of Setting
Func2 Bit6 to “1”
5-6
5.1.4 Alarm Reset Sequence
5-7
5.1.5 Overtravel Sequence
5-8
5.2 Display ・・・・・・・・・・・・・・・・・・・・・・・・・・・ 5 - 9
5.2.1 Status Display
5-9
5.2.2 Alarm Display
5 - 10
6 INTERFACE SPECIFICATIONS
6.1 General ・・・・・・・・・・・・・・・・・・・・・・・・・・・
6.2 Systems Overview ・・・・・・・・・・・・・・・・・
6.2.1 Systems Overview
6.2.2 Operation Mode
6.2.3 Transmission Mode
6.2.4 Data
6.2.5 Telegram Structure
6.2.6 Procedure Command
6.3
Initialization
of the SERCOS Interface ・・・・・・・
6.3.1 Communication Phase 0(CP0)
6.3.2 Communication Phase 1(CP1)

-i-

6-1
6-2
6-2
6-2
6-2
6-3
6-3
6-5
6-5
6-6
6-6
6-7

CONTENTS

6.3.3 Communication Phase 2(CP2) 6 - 9
6.3.4
Communication Phase 3(CP3) 6 - 13
6 . 4 Communication Phase 4(CP4)・・・・ 6 - 15
6.4.1 Master Sync. Telegram(MST)
Structure
6 - 15
6.4.2 Master Data Telegram(MDT)
Structure
6 - 17
6.4.3 Drive Telegram(AT) Structure
6 - 21
6 . 5 Structure of Service Channel ・・・・・・・・ 6 - 25
6.5.1 Sending Procedure
6 - 25
6 . 6 Data Type and Structure ・・・・・・・・・・ 6 - 27
6.6.1 Structure of Data Block
6 - 27
7 EXPLANATION OF SERCOS IDN
7-1
7.1 List of SERCOS IDNs
to PZ/PE Series W Type IDNs ・・・・・・・・ 7 - 2
7.2 Standard Parameter ・・・・・・・・・・・・・・・・ 7 - 7
7.3 Product Specific Parameter ・・・・・・・・・・ 7 -105
8 EXPLANATION OF PARAMETERS
8-1
8.1 Remote Operator ・・・・・・・・・・・・・・・・・・・ 8 - 2
8.1.1 Outline of Remote Operator
8-2
8.1.2 Function Table
8-3
8.1.3 Basic Operating Procedure
8-4
8.1.4 Parameter Setting Mode
8-5
8.1.4.1 Direct Key-in Setting
Method(Screen Mode 0)
8-5
8.1.4.2 Direct Key-in Setting
Method(Screen Mode 1)
8-6
8.1.5 Monitor Mode(Screen Mode 2)
8-7
8.1.6 Alarm Trace Mode(Screen Mode 3) 8 - 11
8.1.6.1 Alarm History Tracing
8 - 11
8.1.6.2 Clearing all Alarm History
8 - 12
8.1.7
Test Mode(Screen Mode 4)
8 - 13
8.1.7.1 JOG Operation
8 - 14
8.1.7.2 Servo Tuning Function
8 - 16
8.2 Parameter Arrangement ・・・・・・・・・・・・・・ 8 - 19
8.2.1 Parameter Arrangement
of Position Control Type
8 - 19
8.2.2 Parameter Arrangement
of Velocity Control Type
8 - 20
8.2.3 Parameter Summary Table
8 - 21
8.2.4 Detailed Parameter List
8 - 23
8.2.4.1 Screen Mode 0
8 - 23
8.2.4.2 Screen Mode 1
8 - 34
9 MAINTENANCE
9-1
9.1 Troubleshooting ・・・・・・・・・・・・・・・・・・・・ 9 - 2
9.2 Inspection ・・・・・・・・・・・・・・・・・・・・・・・・・ 9 - 9

10.1.2 Acceleration
and Deceleration Time
10.1.3 Allowable Repetition Frequency
10.1.4 Precautions on Load
10.1.5 Monitor Output
10.1.6 Power Supply Capacity
10.1.7 Leakage Current
10.1.8 Calorific Value
10.1.9 Dynamic Brake
10.1.10 Regenerative
Processing Capacity
10.2 Servo Motor ・・・・・・・・・・・・・・・・・・・
10.2.1 Common Specifications
10.2.2 Revolution Direction
Specifications
10.2.3 Mechanical Specifications
10.2.4 Holding Brake Specifications
10.2.5 Motor Data Sheet
10.2.5.1 P1 Type
10.2.5.2 P2 Type
10.2.5.3 P3 Type
10.2.5.4 P5 Type
10.2.5.5 P6 Type
10.2.5.6 P8 Type
10.3 External Views ・・・・・・・・・・・・・・・・・・
10.3.1 Servo Amplifier
10.3.2 Servo Motor
10.3.3 Remote Operator(Option)
10.4 External Regenerative Resistor ・・・
10.4.1 How to Connect and Set
External Regenerative Resistor
10.4.2 External Regenerative
Resistor Combination Table
10.4.3 External Regenerative
Resistor List
10.4.4 Detailed Connection Methods of
External Regenerative Resistors
10.4.5 External Regenerative
Resistor Outline Drawings

10 - 4
10 - 5
10 - 8
10 - 9
10 - 12
10 - 14
10 - 15
10 - 18
10 - 22
10 - 26
10 - 26
10 - 26
10 - 27
10 - 30
10 - 33
10 - 33
10 - 49
10 - 63
10 - 69
10 - 85
10 - 97
10 - 104
10 - 104
10 - 109
10 - 123
10 - 124
10 - 124
10 - 125
10 - 126
10 - 127
10 - 128

11 APPENDIX
11 - 1
11.1 Explanation of
Terminology and Abbreviation・・・・・・・・・ 11 - 2
11.2 Servo amplifier revision
11.2 Servo amplifier revision
・・・・・・・・・ 11 - 7
11.2.1 Cautions on servo amplifier revision
11.2.2 How to check the version
11.3 Cautions about the operation manual 11 - 10

10 SPECIFICATIONS
10 - 1
10.1 Servo Amplifier ・・・・・・・・・・・・・・・・・・・ 10 - 2
10.1.1 Common Specifications
10 - 2

- ii -

0

SAFETY

PRECAUTIONS

This chapter summarizes precautions in order to safely
operate the PZ / PE series W Type Servo Amplifier.
This chapter should be read before operation.

0.1

Introduction

0.2

“Warning Label” Location on Product

0.3

Meaning of Warning Markings
0.3.1

・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・

0-2

・・・・・・・・・・・・・・・・・・・・

0-3

Cautions in Paragraph 0.4
are Described as Follows

0.4

0-2

0-3

0.3.2

Rank of Cautions for Safety

0-3

0.3.3

Symbolic Marking

0-4

Cautions for Safety

・・・・・・・・・・・・・・・・・・・・

0-1

0-5

0
0.1

SAFETY

PRECAUTIONS

Introduction
The Servo Motor and the Servo Amplifier of PZ / PE series are appropriate for
use with general industrial equipment. Therefore, be sure to observe the
following points,
① Do not use the product for medical equipment directly affecting human
life.
② Do not use the product on equipment that exerts important influence
socially and publicly.
③ Do not use the product in a vibrating environment such as a car or ship.
④ Do not modify the product.
You should read this Instruction Manual thoroughly and follow the instructions
before installation, operation, wiring, maintenance and servicing of the product.
After reading this Instruction Manual, keep in a safe place for future reference.

0.2

“Warning Label” Location on Product
The warning label is affixed to the front surface of the Servo Amplifier(top right).

or

0-2

0

SAFETY

0.3

PRECAUTIONS

Meaning of Warning Markings
This chapter describes warning marking formats and their meaning.
Understand the details of markings before reading section 0.4 Cautions for Safety.

0.3.1

Cautions in Paragraph 0.4 are Described as Follows
Paragraph 0.4 cautions are written in the following format.

DANGER


①:Rank of cautions for safety
②:Symbolic marking
③:Meaning of each symbolic marking

1.The amplifier inside...




0.3.2

Rank of Cautions for Safety
There are four ranks as follows.




DANGER

CAUTION

Means that incorrect operation may result in
dangerous situations that could cause death or
serious injury.
Means that incorrect operation may result in
dangerous situations with medium or slight injury or
physical damage.
(Notes)
This mark means that there is a possibility for serious
injury depending on the situation. Be sure to observe
all marks because they are important.



PROHIBITION Means what must not be done.



COMPULSION

Means what must be done.

0-3

0

SAFETY

0.3.3

PRECAUTIONS

Symbolic Marking
There are eight types of symbolic marks as follows.
Kinds of symbol
Symbolic markings of
danger

Symbolic markings calling
attention
Symbolic markings
prohibiting action
Symbolic marking of
compelling action

Example of symbol

DANGER,
INJURY

CAUTION

PROHIBITION

COMPULSION

0-4

ELECTRIC
SHOCK

FIRE

BURN

PROHIBITION OF
DISASSEMBLING

0
0.4

SAFETY

PRECAUTIONS

Cautions for Safety

DANGER
〈General〉
1. Do not operate the system in an explosive atmosphere, or
you may be injured and/or a fire may break out.
2. Never touch any inside part of an amplifier, or you may get
shocked.
3. Do not work on wiring, maintenance or servicing in live
wire condition, or you may get shocked.
Be sure to turn the power off for more than one minute
beginning to work.
4.

To avoid getting shocked, being injured and/or a fire
breaking out, experts in respective fields for transportation,
installation, wiring, operation, maintenance and servicing
must do each work.

〈Wiring〉
5.

Be sure to ground the earth terminals of the amplifier and
the motor, or you may get shocked.

6.

Be careful to not damage cables by stressing them, placing
heavy objects on them, or placing them between moving
parts, or you may be shocked.

7.

Be sure to connect the power cable to the amplifier correctly
in accordance with the Connection Diagrams in this manual,
or you may get shocked and/or a fire may break out.

〈Operation〉
8.

Do not touch rotating parts of the motor during operation, or
you may be injured.

9.

Never approach or touch terminals with power applied, or
you may get shocked.

10. Never remove any terminal cover of an amplifier with power
applied, or you may get shocked.

0-5

0

SAFETY

PRECAUTIONS
CAUTION

〈General〉
1.

Be sure to read this manual and follow the instructions
before installing, operating, maintenance and servicing, or
you may get shocked and/or a fire may break out.

2.

Do not operate under any condition differing from the
specifications of the amplifier and the motor, or you may get
shocked, be injured and/or the incorrect condition may
cause the failure of the system.

3.

Do not operate the amplifier and the motor which are
broken, or you may be injured and/or a fire may break out.

4.

Do not remove the amplifier and motor nameplate.

5. Operate the amplifier and the motor with only the
combination specified, or a fire may break out and/or the
incorrect condition may lead to breakdown of the system.

6.

Exercise care to avoid touching the amplifier, the motor and
accessories which may be heated to high temperature, or
you may get burned.

〈Unpacking〉
7.

Make sure which side is up before unpacking, or you may be
injured and/or the product may be damaged.

8.

Make sure that the product is the one that you ordered.
Installation of an incorrect product may result in injury to
you or failure of the product.

9. Protect the encoder terminal of the motor from static
electricity, or the product may be damaged.

0-6

0

SAFETY

PRECAUTIONS
CAUTION

〈Wiring〉
10. Do not run an Insulation Resistance Test and a Dielectric
Strength Test, or the tests may cause the failure of the
product.
When you have to run tests, please contact us.
11.

Wire the system in accordance with required standards, or
the system may be burnt and/or a fire may break out.

12.

Install the wiring to units correctly and securely, or the
units may runaway and/or you may be injured.

13.

Protect the encoder terminal of the motor from static
electricity and do not apply high voltage to it, or the product
may be damaged.

〈Installation〉
14.

Do not sit on, step on and/or put heavy things on the units,
or you may be injured.

15.

Do not block the air inlet and outlet of the amplifier and/or
put foreign material into them, or a fire may break out.

16.

Make sure of the installing direction because on the
incorrect installing direction may lead to breakdown of the
units.

17.

Install the units with the spacing between the amplifier and
the inside surface of a control panel and other equipment
in accordance with this manual, or the unit may be
damaged.

18.

Avoid application of impulse force to the units, or the unit
may be damaged.

19.

Exercise special care to avoid dropping the units during
installation, or you may face danger.
When lifting the motor, use the eyebolt if it is provide with
the motor.

20.

Do not install the units in a place with splashed water, in a
corrosive and/or flammable gases atmosphere, near
combustible material, or a fire may break out and/or the
units may be damaged.

21.

Install the units on inflammable material such as metal, or
a fire may break out.
0-7

0

SAFETY

PRECAUTIONS
CAUTION

〈Operating〉
22.

The motor is not equipped with any protection device.
Protect the motor with an overcurrent protect, an earth
leakage breaker, a thermal cutout and a emergency stop
device, or you may be injured and/or a fire may break out.

23.

Do not touch a heatsink, regenerative resistor of the
amplifier, and the body of the motor because they can be
very hot. Otherwise, you may get burned.

24.

Stop operating immediately when defective conditions are
encountered, or you may get shocked, be injured and/or a
fire may break out.

25.

Never make an extreme adjustment to the amplifier, or the
adjustment could make the system unstable and/or you
may be injured.

26.

For test runs of the motor, separate the motor from the
mechanical system, fix it and check operating conditions,
then install the motor on the machine, or you may be
injured.

27.

The holding brake is not a stopping device for safety’s sake
of mechanical system. Do not use the holding brake for a
stopping device, or you may be injured.
Install a stopping device on the machine side if you want to
ensure safety of mechanical system.

28.

If the amplifier has an alarm, track down the alarm, clear
the cause of it while referring to this manual. Reset the
amplifier and then restart the system, or you may be
injured.

29.

Do not approach the machine momentary power failure
because the system may restart suddenly. Otherwise you
may be injured.
(Design the mechanical system ensuring safety for persons
even if the system should restart suddenly.)

30.

Make sure that the power supply has the proper
specifications, or a failure of the system may occur.

0-8

0

SAFETY

PRECAUTIONS
CAUTION

〈Maintenance〉
31.

Exercise care in maintenance and servicing of the system
because the units may have become very hot during
operation. Otherwise you may get burned.

32.

We recommend replacing electrolytic capacitors inside the
amplifier with new electrolytic capacitors because the life
expectancy is 5 years at year-round temperature average of
40℃. The fan motor and fuses in a amplifier should be
replaced every 10 years because the average life
expectancy is 10 years at year-round temperature average
of 40℃.

33.

Contact us when you need repair service.
The units will not operate if you disassemble them.

〈Transportation〉
34.

Exercise special care to avoid dropping the units during
transportation, or you may face danger.

35.

Do not grasp cables or the a motor shaft during
transportation, or you may be injured and/or the motor may
be damaged.

〈Disposal〉
36. Dispose of an amplifier and a motor as general industrial
wastes.

0-9

0

SAFETY

PRECAUTIONS
PROHIBITION

〈Storage〉
1.

Do not store the units in a place where they are splashed
with water or rain, in the presence of a poisonous gas or
liquid, or the system may be damaged.

〈Operating〉
2.

Do not use the holding-brake in the motor to stop the motor,
or the holding-brake may be damaged.

〈Maintenance〉
3.

Do not repair the units, or a fire may break out and/or you
may get shocked.

0 - 10

0

SAFETY

PRECAUTIONS
COMPULSION

〈Storage〉
1.

Store the units in an area not exposed to direct sunlight and
within range of specified temperature and humidity(-20℃
to +65℃, 90%RH or less without condensation).

2.

Contact us when you store the amplifier for a long time(as a
guide, 3 years or more )because the electrolytic capacitor
deteriorate. In case of using the stored amplifier again, the
amplifier will fail if the capacitor has deteriorated enough.

〈Operating〉
3.

Install an external emergency stop circuitry on an amplifier
to stop operation and interrupt the power to it immediately.

4.

Operate the system within range of specified temperature
and humidity(Amplifier:0℃ to +55℃, Motor:0℃ to +40℃,
both of them:90%RH or less without condensation).

〈Transportation〉
5.

Do not stack the boxes too high or the boxes may collapse,
so transport the products in accordance with the indication
on the outer case.

6. Only use the eyebolt equipped with the motor when lifting
the motor.

0 - 11

1

BEFORE

OPERATING

1.1

Cautions in Purchasing and Unpacking

・・・・・・・

1-2

1.2

Confirmation of the Product

・・・・・・・・・・・・・・・・・・・

1-2

1.3

Before Operating ・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・

1-2

1.4

How to Read Model Number

1-7

1.4.1
1.4.2

・・・・・・・・・・・・・・・・・・

Servo Motor Model Number
Servo Amplifier Model Number

1-7
1-8

1.5

PZ/PE Series W Type Standard Combination・・・・・・・

1 - 10

1.6

PZ/PE Series W Type Amplifier Accessories ・・・・・・・

1 - 12

1-1

1

BEFORE

OPERATING

・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・
Comply with the following precautions when you handle the
system for operating. Mishandling could create safety hazards to
personnel and cause the failure of the whole system.
・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・

1.1

Cautions in Purchasing and Unpacking
Use the following precaution when unpacking the product.
l

1.2

Do not touch the Servo Amplifier print-circuit board.

Confirmation of the Product
Confirm the following after unpacking after receiving the product. Contact us in case of
any problems as discussed in the following.

l

Make sure that the model number of the Servo Amplifier and the Servo
Motor are identical to what you ordered.
(The model number of is marked after “MODEL” on the main nameplate
for each unit.)

l

Check the appearance of the Servo Amplifier and the Servo Motor and
make sure that they are not damaged or that the parts are not chipped or
dented.

l

Check the screws of the Servo Amplifier and the Servo Motor and make
use they are not loose.

1 . 3 Before Operating
Operate the unit with the following cautions.
l

Avoid physical shock to the Servo Amplifier and the Servo Motor during
installing, or the unit may be damaged. Extra special care must be taken with
the handling of the Servo Motor because the sensor is included in the motor.

1-2

1

BEFORE

l

OPERATING

Be sure the power supply is AC200V to 230V(+10%,-15%)50/60Hz or
you may create a safety hazard.

l

When surge voltage is generated, connect equipment to absorb it
between power supply lines. Surge voltage can cause the failure of and
misoperation of the system.

l

When maintenance and servicing, turn the power on or off after checking
load conditions of the system for safety. Turning the power on or off
under load conditions may cause the failure and hazardous condition of
the system.

l

Never operate the unit in a corrosive such as acid or alkaline, flammable
or explosive gas or liquid, or the product should be become deformed
and/or be caused to fail.

l

Never operate the system in a flammable or explosive gas or liquid, or a
fire could result.

Gas

Acid/Alkali

1-3

1

BEFORE
l

OPERATING

Operate the system within range of ambient temperature from 0℃ to 40℃
-from 0℃ to 55℃ for the Servo Amplifier only-and humidity of 90% or
less.

l

Do not splash water, cutting fluid or rain onto the Servo Amplifier and the
Servo Motor, or the unit could be damaged and/or electric shock could
result.

1-4

1

BEFORE
l

OPERATING

Make sure that grounded cables of the Servo Amplifier and the Servo
Motor are Class 3 (100Ω or less) or other high Class for safety.

l

Never run a withstand voltage test a megger test. The amplifier is
grounded by the capacitor between 0V level and the main body. Contact
us when there is a necessity to run tests.

l

Install the wiring correctly and securely after thoroughly reading chapter
3 “Wiring”. Miswiring should cause the failure of the system.

l

The direction of motor rotation can not be changed by interchanging the
sequence between the Servo Motor input phase terminal and the Servo
Amplifier output terminal because “P series Servo Motor” is not an
induction motor.

l

Be sure to install a surge absorber on coils such as a relay, an
electromagnetic switch, an induction motor and a brake solenoid for
safety.
1-5

1

BEFORE
l

OPERATING

Connect AC200V class power supply to a Servo Amplifier R, S, and T
input terminal. Use a transformer when taking a power supply other than
AC 200V class. Do not apply a utility power to a Servo Amplifier U, V, and
W output terminal, or the Servo Amplifier may be damaged.


AC 200V
Power Supply

l

Do not connect an external regenerative resistor between terminal X and
COM or the Servo Amplifier may be broken.
In addition, never short between terminal COM and terminal Y , or the
Servo Amplifier should be broken. (A warning tag as described above is
attached to the Servo Amplifier terminal block.)Because a large current is
passed in normal through the regenerative IGBT, the regenerative IGBT
should be broken in installing an external regenerative resistor between
terminal COM and terminal Y while shorting between terminal X and
terminal COM state after turning the power supply on.

Built-in
regenerative
resistor

Regenerative

IGBT

External regenerative resistor

The Servo Amplifier inside

1-6

1

BEFORE

1.4

OPERATING

How to Read Model Number

1.4.1

Servo Motor Model Number
○○○ B ○○ ○○○

1.

Indicates P series
P10・・・P1 series
P20・・・P2 series
P30・・・P3 series
P50・・・P5 series
P60・・・P6 series
P80・・・P8 series

2.

Indicates BL(Brushless) Motor

3.

Indicates Flange Square Dimensions
03・・・ 35mm 04・・・ 40 or 42mm
06・・・ 60mm 07・・・ 76mm
10・・・ 100mm 13・・・ 130mm
18・・・ 180mm 22・・・ 220mm

△ □ ◇ ▽▽

05・・・ 54mm
08・・・ 80mm or 86mm
15・・・ 150mm

4.

Indicates Rated Output
○○○=○○○×10W

5.

Indicates Maximum Revolution Speed
S・・・1000min-1
M・・・1500min-1

B・・・2000min-1

R・・・2500min-1

L・・・3000min-1

H・・・3000min-1

D・・・4500min-1
6.

Indicates Holding Brake Information
X・・・Non-equipped
B・・・Equipped(for DC90V)
C・・・Equipped(or DC24V)

7.

Indicates Sensor Kinds
S・・・Wire-saving incremental encoder
J・・・Absolute encoder, motor flange square 60mm or less, with no request signal type
A・・・Absolute encoder, motor flange square 76mm or more, with no request signal type
N・・・ABS-RⅡ, a non-built-in-in electric double layer capacitors, with request signal type
V・・・ABS-RⅡ, a built-in electric double layer capacitors, with request signal type
M・・・ABS-RⅢ, with request signal type

8.

Indicates Identification of Specifications
00・・・Standard motor
Revision number is indicated by alphabet placed at the end of “Lot No.” on the
nameplate.

1-7

1

BEFORE

1.4.2

OPERATING

Servo Amplifier Model Number(1/2)
☆☆☆



○○○



□□





▽▽

1. Indicates PE series
Capacity

PZ series

PE series

15A

PZ0

PE2

30A

PZ0

PE2

50A

PZ0,PZ1

PE2,PE1

100A

PZ0

PE0

150A

PZ0

PE0

Only amp. capacity 50A has 2 types.
“PZ1/PE1” : A radiating fin is mounted
on the back of body.
“PZ0/PE2” : A radiating fin is mounted
on the side of body.
2. Indicates Power Unit Type
A・・・For AC 200V
3. Indicates Amplifier Capacity Type
015・・・ 15A

030・・・ 30A

100・・・100A

150・・・150A

050・・・ 50A

4. Indicates Hardware Type of Control Unit
W・・・SERCOS Interface Amplifier
5. Indicates Applicable Motor(For details, refer to “1.5”.)
Example

M1・・・ P50B03003D*S**

PA・・・P60B13050H*S**

XX・・・ Available P series motor to amp. capacity type for
only three-phase(refer to next page)

Revision number is indicated by alphabet placed at the end of “Lot No.” on the nameplate.

1-8

1

BEFORE

1.4.2

OPERATING

Servo Amplifier Model Number(2/2)
☆☆☆



○○○



□□





▽▽

6. Indicates Type and Resolution of Sensor
(INC-E
1・・・Wire-saving incremental encoder
2・・・Wire-saving incremental encoder
(INC-E
3・・・Absolute encoder, with no request signal(ABS-E
(INC-E
4・・・Wire-saving incremental encoder
(ABS-RⅡ
6・・・Absolute sensor, with request signal
(INC-E
8・・・Wire-saving incremental encoder
(INC-E
B・・・Wire-saving incremental encoder
(INC-E
C・・・Wire-saving incremental encoder
(ABS-RⅡ
D・・・Absolute sensor, with request signal
(INC-E
F・・・Wire-saving incremental encoder
(ABS-RⅢ
G・・・Absolute sensor, with request signal
(ABS-RⅢ
K・・・Absolute sensor, with request signal

2000 P/R)
2000 P/R)
2048 P/R)
2500 P/R)
8292 FMT)
5000 P/R)
2048 P/R)
1024 P/R)
32768 FMT)
1000 P/R)
32768 FMT)
8192 FMT)

7. Indicates Hardware Type
1・・・PZ/PE Series INC-E compatible
2・・・PZ/PE Series ABS-E compatible

(without front amplifier battery)

3・・・Reserved
4・・・PZ/PE Series ABS-RII compatible

(without front amplifier battery)

5・・・PZ/PE Series ABS-RII compatible

(with front amplifier battery)

6・・・PZ/PE Series ABS-RIII compatible
8. Indicates Identification of Specifications (01)
0・・・PZ/PE Series standard product (three-phase power supply input type)
J・・・Single-phase power supply input type
9. Indicates Identification of Specifications (02)
0・・・PZ Series standard product

(communication baud rate: 4 Mbps)

1・・・PZ Series standard product

(communication baud rate: 2 Mbps)

A・・・PE Series with CE mark

(communication baud rate: 4 Mbps)

B・・・PE Series with CE mark

(communication baud rate: 2 Mbps)

Revision number is indicated by alphabet placed at the end of “Lot No.” on the nameplate.

1-9

1
1.5

BEFORE

OPERATING

PE Series W Type Standard Combination
The following table indicates the combination table of the Servo Amplifier and the
Servo Motor. Make sure that the combination is correct by referring to the following
table. The system will not function properly when mismatching.

Table 1-1-1

PZ/PE Series W Type Standard Combination Table(1 / 3)

Servo Motor
P ☆ B ○○○○○○ □◇▽▽

Series

P10 Series

P20 Series

P30 Series

Flange square
Rated Output
Max. Revolution Speed
10030H
10075H
13050H
13100H
13150H
18200H
18350H
18450R
18550M
13050B
13100B
13150B
18200B
18350B
18450B
18550H
10100D
10150D
10200D
10250D
13300D
13400D
13500D
10100H
10150H
10200H
10250H
13300H
13400H
13500H
04003D
04005D
04010D
06020D
06040D
08075D

Servo Amplifier
P☆☆ A ○○○ W ○○ △S▽▽

Amplifier Outline
PZ series

PE series

Amplifier
Capacity

Z0
Z0
Z0
Z0・Z1
Z0・Z1
Z0
Z0
Z0
Z0
Z0
Z0
Z0・Z1
Z0・Z1
Z0
Z0
Z0
Z0・Z1
Z0・Z1
Z0
Z0
Z0
Z0
Z0
Z0
Z0・Z1
Z0・Z1
Z0
Z0
Z0
Z0
Z0
Z0
Z0
Z0
Z0
Z0

E2
E2
E2
E1・E2
E1・E2
E0
E0
E0
E0
E2
E2
E1・E2
E1・E2
E0
E0
E0
E1・E2
E1・E2
E0
E0
E0
E0
E0
E2
E1・E2
E1・E2
E0
E0
E0
E0
E2
E2
E2
E2
E2
E2

015
030
030
50
50
100
150
150
150
030
030
050
050
100
100
150
050
050
100
100
100
150
150
030
050
050
100
100
100
150
015
015
015
015
030
030

1 - 10

Applicable
motor
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
1H
21
22
23
24
25
26
27
28
29
2A
2B
2C
2D
2E
N1
N2
N3
N4
N5
N6

1

BEFORE
Table 1-1-2

OPERATING
PZ/PE Series W Type Standard Combination Table(2 / 3)

Servo Motor
P ☆ B ○○○○○○ □◇▽▽

Series

P50 Series

P60 Series

P80 Series

Flange square
Rated Output
Max. Revolution Speed
03003D
04006D
04010D
05005D
05010D
05020D
07010D
07020D
07030D
07040D
08040D
08050D
08075D
08100D
08075H
08100H
13050H
13100H
13150H
13200H
15300H
18200H
18350H
18450R
18550R
22550M
22700S
22700M
15075H
18120H
22250H
22350R
22350H
22450R
22450L

Servo Amplifier
P ☆☆ A ○○○ W ○○ △S▽▽

Amplifier Outline
PZ series

PE series

Amplifier
Capacity

Z0
Z0
Z0
Z0
Z0
Z0
Z0
Z0
Z0
Z0
Z0
Z0
Z0・Z1
Z0・Z1
Z0
Z0
Z0
Z0・Z1
Z0・Z1
Z0
Z0
Z0
Z0
Z0
Z0
Z0
Z0
Z0
Z0
Z0・Z1
Z0
Z0
Z0
Z0
Z0

E2
E2
E2
E2
E2
E2
E2
E2
E2
E2
E2
E2
E1・E2
E1・E2
E2
E2
E2
E1・E2
E1・E2
E0
E0
E0
E0
E0
E0
E0
E0
E0
E2
E1・E2
E0
E0
E0
E0
E0

015
015
015
015
015
015
015
015
015
030
030
030
050
050
030
030
030
050
050
100
150
100
150
150
150
150
150
150
030
050
100
100
150
150
150

Applicable
motor
M1
M2
M3
M4
M5
M6
M7
M8
M9
MA
MB
MC
MD
ME
MF
MG
PA
P1
P2
P3
P4
P5
P6
P7
PR
P8
P9
AS
R2
R3
R4
R9
R5
R6
R7

Note)For example, P10B10030H□◇▽▽ is to be combined with PE2A015AW11△S▽▽.
(Note) For example, P10B10030H□◇▽▽ is to be combined with PE0A015W11□◇01.

1 - 11

1

BEFORE
Table 1-1-3

OPERATING
PZ/PE Series W Type Standard Combination Table(3 / 3)
Motor type “XX” (for only three-phase)

Servo Motor
P ☆ B ○○○○○○ □◇▽▽

Servo Amplifier
P ☆☆ A ○○○ W ○○ △S▽▽

Series

Flange square
Rated Output
Max. Revolution Speed

P10
P20
P30
P50
P60
P80

All combined motor to
amp. capacity in table
1-1-1 &
table 1-1-2

Amplifier Outline
PZ series

PE series

Amplifier
Capacity

Applicable
motor

Z0

E2

015

XX

Z0

E2

030

XX

Z0・Z1

E1・E2

050

XX

Z0

E0

100

XX

Z0

E0

150

XX

For example, The servo motors combined with PE0A100AWXX△S▽▽ are the followings in
table 1-1-1&1-1-2.
P10B18200H□◇▽▽, P10B18350B□◇▽▽, P10B18450B□◇▽▽, P20B10200D□◇▽▽
P20B10250D□◇▽▽, P20B13300D□◇▽▽, P20B10250H□◇▽▽, P20B13300H□◇▽▽
P20B13400H□◇▽▽, P60B13200H□◇▽▽, P60B18200H□◇▽▽, P80B22250H□◇▽▽
P80B22350H□◇▽▽
When the motor type of the servo amplifier model number is “XX”, it is necessary to transmit the
motor code into the amplifier to initialize for SERCOS communication. It is possible to use “XX”
in only three-phase input. For details, refer to IDN32848(P-IDN080)in chapter 7.

1.6

PZ / PE Series W Type Amplifier Accessories
The following parts are packed as accessories with the Servo Amplifier.
Although the Servo Motor has no accessories, an optional connector is available for it.

Table 1-2
Part Name

PZ/PE Series W Type Amplifier Accessories

Model

Plug connector 10120-3000VE
Shell kit

10320-52A0-R08

Plug connector 10126-3000VE
Shell kit
10326-52F0-008

Manufacturer
Sumitomo 3M Co., Ltd.
Sumitomo 3M Co., Ltd.

1 - 12

Q’ty
1
1
1
1

Use
Sensor Signal
Connector
(CN2)
I / O Connector
(CN1)

2

FUNCTION/CHARACTERISTIC/CONFIGURATION

2.1

Servo Amplifier Internal Features

・・・・・・・・・・ 2 - 2

2.2

PZ/PE Series W Type Characteristics ・・・・・・・・・・ 2 - 4

2.3

P Series Servo Motor Characteristics ・・・・・・・・・・ 2 - 6

2.4

Block Diagram

2.5

External Mounting and Wiring Diagram
・・・・・・・・・・ 2 - 7

2.6

Servo Amplifier Parts Designation

・・・・・・・・・・ 2 - 8

2.7

Optional Peripheral Parts List

・・・・・・・・・・ 2 - 9

・・・・・・・・・・ 2 - 7

2-1

2
2.1

FUNCTION/CHARACTERISTIC/CONFIGURATION
Servo Amplifier Internal Features
This sections describes the Servo Amplifier main functions.
In addition, the



OP mark means that the function is operated by the remote operator.

Position, velocity and torque control selection

OP

Position, velocity and torque control type are controlled by a packaged software.
The control system type can be selected with the remote operator. However, the
control system can not be changed by the remote operator during operation. (The
control system which can be changed during operation is available as a special
specification.)



Regenerative energy expending function

OP

A regenerative energy expending circuit and a regenerative resistor are built in a
Servo Amplifier.
However, when a built-in regenerative resistor can not expend regenerative energy,
an external regenerative resister has to be added to a Servo Amplifier.



Dynamic brake function
A dynamic brake circuit is actuated when the main power supply is interrupted.
However, in alarming, the circuit is actuated regardless of the main power supply.



Holding break excitation timing output
The power supply to the holding break is controlled by the timing of this output
signal. A holding brake prevents the system from falling down due to any
gravitational force. Keep this output signal open when not operating system.



Vibration restraining function

OP

When vibrations occur during system operation, set the parameters “BEF” and
“LPF” by a remote operator according to the vibration frequency as measured with
an oscilloscope on the current command monitor to minimize vibrations.



Separation of control and main circuit power supply
The control and the main circuit power supply are separated.
Only the main circuit power supply is interrupted for safety when alarms occur and
emergency stop is initiated. In this case, separating and supplying the control
power allows continuation the alarm signal, analysis of the alarm, and is helpful for
system maintenance.

2-2

2

FUNCTION/CHARACTERISTIC/CONFIGURATION


Servo tuning support function

OP

When this mode is set by a remote operator, the load inertia is automatically
estimated and the proper parameters are set.
When more appropriate tuning is required, the parameters can set manually by the
remote operator.



Alarm trace function

OP

The past 7 alarms are stored and can be reviewed from a remote operator. This
function can help troubleshoot alarms easily.



Compatibility with wire-saving incremental and absolute encoders
By only changing the parameter with a remote operator, it is possible to select a
wire-saving incremental encoder(INC-E)type or an absolute encoder(ABS-E) with
the motors in the same Servo Amplifier.



Compatibility with absolute sensors(ABS-RⅡ・ABS-RⅢ)

OP

By only changing the parameter with a remote operator, it is possible to select an
absolute sensor(ABS-RⅡ)type and a battery-less absolute sensor(ABS-RⅢ)
with the motors in the same Servo Amplifier.

(Note) The Servo Amplifier compatible with an incremental encoder and an absolute
encoder can not operate motors compatible with ABS-RⅡand ABS-Ⅲ type of
absolute sensor, so use the ABS-R Ⅱ -ready and ABS-R Ⅲ -ready Servo
Amplifier.

2-3

OP

2
2.2

FUNCTION/CHARACTERISTIC/CONFIGURATION
PZ / PE Series W Type Characteristics
This section describes characteristics of “PE Type Amplifier with SERCOS
Interface”.
l

Optical interface
The amplifier is insensitive to noise by means of entering the command to the
Servo Amplifier and providing a monitor output with the optical interface.
As an additional plus, the wiring is reduced due to the optical interface which
reduces cost and increases reliability.

l

Synchronization function between the Servo Amplifier and the controller
This system can synchronize between the Servo Amplifier and the controller using
the synchronization function in SERCOS without installing a synchronization signal
between controller and drive.

l

Servo parameter variable function
This system can vary servo parameters with the serial interface in real-time. When
operating the Servo Motor, this function can be used to enhance the response.

l

Servo data monitor function
When operating the Servo Motor, this system can monitor data such as the position
and velocity with the serial interface in real-time.

l

Unified height
All amplifiers which are compatible with the motors from 30W to7kW have height
235mm.

l

High response
Higher responsibility is provided, compared with our conventional models.

l

High reliability and long life
Efficient circuit technology is used from manufacturing experience of our conventional
models.

2-4

2

FUNCTION/CHARACTERISTIC/CONFIGURATION
Table 2 - 1

Input power

Comparison with PE Series and Our Other Series (for reference)

PE & PZ amplifier

PU amplifier

PR amplifier

RB amplifier

PV amplifier

AC200V
3-phase

AC100V
AC200V
Single-phase

AC200V
Single-phase

DC5V,38V
DC5V,24V
AC100V/single-phase
AC200V/single-phase

AC200V
Single-phase

●Small & compact
● Easy connection due to
adopting connector method
●High cost-performance

Data
communication
servo type
(Direct input of velocity,
acceleration, feed data.
Easy operation using PC
and CPU.)
●High cost-performance
●Downsizing
●Easy system design

● Data communication servo
type
(Direct input of velocity,
acceleration, feed data.
Easy operation using PC
and CPU.)
●High cost-performance
●Downsizing
●Easy system design

●Wide range interface
•Position/velocity/torque
command
•Serial communication
(RS-485)
•Contact input operation
command
・Small & compact
● Easy connection due to
adopting connector method

P3 series
30~750W
(6 models)

P3 series
30~750W
(6 models)

P5 series
30~1000W
(15 models)

P5 series
30~1000W
(15 models)



Feature

Motor
combined

Sensor

I/F

Built-in
function

CE
marking
measures

●Multi-function
●High response
/high performance

P1 series
0.3~5.5Kw(15 models)
P2 series
1~5Kw(14 models)
P3 series
30~750W(6 models)
P5 series
30~1000W(15 models)
P6 series
0.5~15Kw(11 models)
P8 series
0.75~4.5Kw(6 models)
Wiring-saved incremental
ABS-RⅡ(ABS-RⅢ)
ABS-E
Pulse train input
Analog input
Serial input
●Regenerative energy expend
-ing
●Auto tuning
●Electronic gear
●Remote operator
●Vibration restraining function
●Dynamic brake
●Holding brake exciting timing
output
●Inrush prevention
●Discharge circuit
TÜV certification obtained
(PE type)

Wiring-saved incremental
ABS-RⅡ
Pulse train input
or
Analog input

Regenerative
energy
expend -ing
●Auto tuning
●Electronic gear
●Remote operator

Wiring-saved incremental
Centronics-compatible 8-bit
parallel data input
●Built-in pattern generator
●Inrush prevention
●Discharge circuit

TÜV certification obtained

2-5

Robustsyn series
Equivalent to 10~600W
(9 models)

Incremental
(200P/R、800P/R)
Centronics-compatible 8-bit
parallel data
input
●Built-in pattern generator
●Inrush prevention
●Discharge circuit

TÜV certification obtained

P3 series
30~750W
(6 models)
P5 series
30~1000W
(15 models)

Wiring-saved incremental
ABS-RⅡ(ABS-RⅢ)
ABS-E
Serial command
(RS-485), pulse train input or
analog input
●Regenerative energy expend
-ing
●Vibration restraining function
●Dynamic brake
●Inrush prevention

TÜV & UL certification
obtained

2

FUNCTION/CHARACTERISTIC/CONFIGURATION

2.3

P Series Servo Motor Characteristics
Wide range models



P1 series from 0.3 to 5.5kW : 15 models

P2 series from 1 to 5kW :14 models

P3 series from 30 to 750W :6 models

P5 series from 30 to 1000W :15 models

P6 series from 0.5 to 7kW :11models

P8 series from 0.75 to 4.5kW :6 models

High-revolution-speed motor



1

1

1

1

P1 series : Maximum revolution speed of 2000min- and 3000min-
P2 series : Maximum revolution speed of 3000min- and 4500min-
1

P3・P5 series : Maximum revolution speed of 4500min-

1

P6・P8 series : Maximum revolution speed of 3000min-

High-speed allows for a shorter positioning time. Maximum revolution speed of P1・P6・
P8 series output of 4.5kW or more is little lower.

Compatible design



As regards installing, this series is compatible with our conventional motors.

Adapting to various sensors



This series adapts to a wire-saving incremental encoder, an absolute encoder(ABS-E) or an
absolute sensor(ABS-RⅡand ABS-RⅢ), However, a parameter inside the drive is used to
select the various sensor types.

Table 2 - 2

Comparison with Servo Motor
of PE Series and Our Other Series (for reference)

P1 series
(High rigidity)
High
servo
perfor-mance
● Compatible with
“861”
motor
for
in-stalling
● High inertia
Features
● Series expanded
● Flange size
□100 added
●Down-sizing
80% smaller than our
conventional models
Rated
0.3~5.5Kw
output
(15 models)

P2 series
(Low-inertia)

P3 series
(Low-inertia)

P5 series
(High rigidity)



●Incre.
Sensor ●Absolute
ABS-E

Water
proof

●Low inertia
●High power rate
●Low inertia
Successor to “862”
●High power rate
series
●Down-sizing
●Higher capacity model
50% smaller than our
for P3 series
conventional models
●Down-sizing
40% smaller than our
conventional models
1~5 kW
(14 models)
●Incre.
●Absolute
ABS-E
ABS-RⅡ(RⅢ)

30~750W
(6 models)
●Incre.
●Absolute
ABS-RⅡ(RⅢ)

●IP67

●IP40
(IP55 option)

Holding ● Standard equipment
(DC24Vor90V)
brake

●Standard equipment
(DC24Vor90V)

●Standard equipment
(DC24Vor90V)

Oil seal ●Standard equipment

●Standard equipment

●Option

CE
marking
measures

●IP67

TÜV certification
obtained

TÜV certification
obtained

TÜV certification
obtained

2-6

● Medium inertia, high
rigidity
● Compatible with
“861Z” motor for
in-stalling
●Flange size
□35,□42added
●Down-sizing
70% smaller than our
conventional models
30~1000W
(15 models)
●Incre.
●Absolute
ABS-E
ABS-RⅡ(RⅢ)
●IP55
(□55~□86)
●IP55
(□35~□42)
(IP55 option)
●Standard equipment
(DC24Vor90V)
●Standard equipment
(□54~□86)
●Option
(□35~□42)
TÜV certification
obtained

P6 series
(High rigidity)

P8 series
(Flat type)

● Medium inertia, high
rigidity
●Medium inertia, super
●Higher capacity model
flat type
for P5 series
● Compatible
with
● Compatible with
“868z”
motor
for
“861”
motor
for
installing
in-stalling
●Down-sizing

P8
series
70% smaller and 60%
complement-ed
flatter
than
our
●Down-sizing
con-ventional models
50% smaller than our
conventional models
0.5~15kW
(11 models)
●Incre.
●Absolute
ABS-E
ABS-RⅡ(RⅢ)

0.75~4.5kW
(6 models)
●Incre.
●Absolute
ABS-E
ABS-RⅡ(RⅢ)

●IP67

●IP67

●Standard equipment
(DC24Vor90V)

●Standard equipment
(DC24Vor90V)

●Standard equipment

●Standard equipment

TÜV certification
obtained

TÜV certification
obtained

2
2.4

FUNCTION/CHARACTERISTIC/CONFIGURATION
Block Diagram
SERCOS fiber optic I/F

External regenerative
resister

Command

Host
controller

Feedback
Servo Amp.

Amp. ready

Holding brake
Excitation timing output
Encoder

Remote operator

Fig. 2 - 1 System configuration Schematic Diagram

External Mounting and Wiring Diagram

Power supply 3 φ
200V
50Hz/60Hz

Circuit breaker

Used to protect the power line.
Turn circuit off when overcurrent
occurs.

Noise filter

See figure 5-1 in
“5 Operation”

Install a filter equivalent to the FL
series of Tokin Corp. to prevent
common and normal mode noise.

Safety
circuit

Magnetic conductor

Turn the servo amp. on or off.
Install the spark-killer on it.
(Equivalent to CRE-50500 of Okaya
Elertric Industries Co. Ltd.)

Relay for
brake control

DC power supply for brake

Wiring for
equipped brake

Use this for a brake which is equipped
with a servo motor.

External regenerative resister
Optional

2.5

Use one in cases such as
high inertia load.
Remove the short bar
between H1 and H2,X
and COM when it is used.

Fig. 2 - 2

External Mounting and Wiring Diagram
2-7

To controller

Motor

2

FUNCTION/CHARACTERISTIC/CONFIGURATION

2.6

Servo Amplifier Parts Designation

Fig. 2 - 3 Front view of Servo Amplifier
1.

External thermostat input terminal(H1、H2)
b-contact input. When it is not used, short
between H1 and H2.

2.

Main circuit power supply input terminal(R・S・T)
Connects a three-phase AC200V/230V power
supply.

3.

Earth terminal(



Connects the earth cable of a servo motor for
class 3 grounding.

4.

Amplifier ready output terminal(RDY1、RDY2)
When control power is supplied and no alarm
occurs then output is valid.
(a-contact output, AC250V/2A,DC30V/2A, Min.
applicable load : DC5V/20mA )

5.

Control power supply input terminal(r・t)
Connects a single phase AC200V/230V power
supply.

6.

Regenerative resister connecting terminal(X、COM、Y)
・ When an external regenerative resister is not

used, X and COM must be shorted together.
・ When external regenerative resister is used, X

and COM is open and the resister is connected
between Y and COM.

7.

Main circuit output terminal(U・V・W)
Connects the main circuit cable of a servo motor.

8.

+5V power supply ready(POWER)

9.

Main circuit charge(CHARGE)
Indicates the charge of the smoothing capacitor for
main circuit.

10. 7-segmant LED
Indicates the alarm and status.

11. Rotary switch
Determines lower 4 bit address of a amplifier.
(See table 8-11-8)

12. Connector for remote operator(OP)
13. Connector for sensor signal(CN2)
14. utput terminal
For SERCOS optical communication(TXD)
15. nput terminal
For SERCOS optical communication(RXD)
16. onnector for input/output signal(CN1)

2-8

2
2.7

FUNCTION/CHARACTERISTIC/CONFIGURATION
Optional Peripheral Parts List
PE series W type amplifier uses the following optional peripheral equipment.
Please order as necessary.

●External regenerative resister
When operating large load inertia, please order as necessary.
Model No.

Model No.

REGIST-120W

100B

REGIST-500W

20B

REGIST-120W

50B

REGIST-500W

14B

REGIST-220W

100B

REGIST-500W

10B

REGIST-220W

50B

REGIST-500W

7B

REGIST-220W

20B

Without thermal type is available.
●Cable

Only sensor cable is available.
Model No.
6879019-1
6870010-1

Remarks
For wire-saving incremental sensor
For absolute sensor(ABS-E)
For absolute sensor(ABS-RⅡ)

●Connector

Is used for between the Servo Amplifier and the Servo motor.
Model No.

Remarks

MS06B24-11S-16

Straight plug for the “P1”, “P2”, “P6”, “P8” motor
power line

MS06B20-29S-12

Straight plug for the “P1”, “P2”, “P6”, “P8”
encoder

●Parts

for noise reduction
Is available as the following.
Model No.

Remarks

CRE-50500

Spark killer

R・A・V-781BXZ-2A

Surge protector
2-9

3

WIRING

3.1
3.2
3.3

3.4

3.5
3.6
3.7

3.8

Application Wire Size
・・・・・・・・・・・・・・・・・・・ 3 - 2
Specifications of Encoder Cable
・・・・・・・・・・・・・・・・・・・ 3 - 3
External Connection Diagram
・・・・・・・・・・・・・・・・・・・ 3 - 4
3 . 3 . 1 Lead Wire Type(INC - E/ABS - E)
3-4
3 . 3 . 2 Lead Wire Type(ABS - RⅡ/ABS - RⅢ)
3-5
3 . 3 . 3 Cannon Plug Type(INC - E/ABS - E)
3-6
3 . 3 . 4 Cannon Plug Type(ABS - RⅡ/ABS - RⅢ)
3-7
3 . 3 . 5 Motor Power Cable & Holding Brake Wiring
of Cannon Plug Type
3-8
Terminal Arrangement of Connector CN1 and CN2
・・・・・・・・・・・・・・・・・・・ 3 - 12
3 . 4 . 1 Terminal Arrangement
of I/O Interface Connector(CN1)
3 - 12
3 . 4 . 2 Terminal Arrangement
of I/O Interface Connector(CN2)
3 - 13
Connection to Optical Interface
・・・・・・・・・・・・・・・・・・・ 3 - 15
Wiring Procedure
・・・・・・・・・・・・・・・・・・・ 3 - 18
Precautions on Wiring
・・・・・・・・・・・・・・・・・・・ 3 - 19
3 . 7 . 1 Recommended Surge Protector
3 - 20
3 . 7 . 2 CN1 & CN2 Shielding Method
3 - 21
EMC Directive
・・・・・・・・・・・・・・・・・・・ 3 - 24
3 . 8 . 1 Compliance with EMC
3 - 24
3 . 8 . 2 About the EMC
3 - 24
3 . 8 . 3 Grounding Method
3 - 25
3 . 8 . 4 Recommended Parts for EMC Considerations
3 - 26

3-1

3

WIRING

3 . 1 Applicable Wire Size
Refer to the following for Servo Amplifier external terminal and applicable wire size.
However, the values are under the condition when the rated current is fed to the amplifier
on three lead wiring in an ambient temperature 40℃.

Table 3 - 1 Applicable wire size
Example of applicable wire size(mm2)

Model

External terminal name

Signal circuit side Main circuit side

Main circuit side

Terminal
code

PE2A
015W

PE2A
030W

PE1A・2A

PE0A

PE0A

050W

100W

150W

1.25
or more

2.0
or more

3.5
or more

5.5
or more

8
or more

Main circuit power supply
input terminal

R・S・T

Control power supply
input terminal

r・t

Motor connecting
terminal(power line)

U・V・W

Earth terminal

E

2.0 or more

External thermostat input
terminal

H1
H2

0.5 or more

Amp. Ready output terminal

RDY1
RDY2

0.5 or more

External regenerative
resister connecting terminal

COM
Y

1.25 or more
1.25
or more

2.0
or more

1.25 or more

3.5
or more

2.0
or more

5.5
or more

8
or more

3.5 or more

Connector for input/output
signal

CN1

0.2mm2 or more
(A twisted pair lump shielded wire is partly
used.)

Connector for encoder

CN2

Twisted pair lump shielded wire 0.2mm2 or more

1

Connectors CN1,CN2 are packed with the Servo Amplifier main body.

2

When tying the wire and putting it in a duct, a reduction ratio of the wire’s
allowable current should be considered.
When a wire is used in a high ambient temperature, its lifetime is
shortened depending on thermal degradation. In this case, use the
heat-impervious-vinyl cable(HIV).

3

Separate the main circuit wiring from the signal wiring as far as possible,
or noise trouble will be caused.

4

The cable for connecting the encoder signal is available, but it is not an
accessory of this product. It can be purchased by the accessory model
number.
3-2

3

WIRING

3 . 2 Specifications of Encoder Cable
Table 3-2 describes the specifications of encoder cables.

Table 3 - 2 Specification of encoder cables
Specifications

Items
Connecting
method
Manufacturer
Approximate
specifications
Finished
outside
diameter
Conductor
resistance

Wire-saving incremental encoder

Absolute encoder
ABS - E / ABS - RⅡ

By soldering

By soldering

Tonichi cable Co.,Ltd.
6-pair×0.2mm2
(Tinned soft copper wire)

Tatsuta Electric Wire Co.,Ltd
10-pair×0.2mm2
(High-strength copper alloy twisted wire)

8.0mm MAX

10.0mm MAX

91Ω / km MAX

123Ω / km MAX


Pair

Pair




Binding
tape

え巻





10





Striping

線 シーshield
ルド










え 巻tape
テープ
Binding









ドレ
ワイヤ
Drainイン
wire



シー

Sheath

Inside
composition
&
Lead color
1
2
3
4
5
6

Red-Black
Blue-Brown
Green-Purple
White-Yellow
Sky-blue-Pink
Orange-Gray

Copper
yarn

箔 糸 foil
編組
mesh

ゃshielding
へい

Twisted pair

Our available Our model No. 6879019 - 1
specifications (Without connector)

ト ゙レイwire
ンワイヤ
Drain

シース
Sheath

Blue-White
1
2 Yellow-White
3 Green-White
Red-White
4
5 Purple-White
6 Blue-Brown
7 Yellow-Brown
8 Green-Brown
Red-Brown
9
10 Purple-Brown

Twisted Pair

Our model No. 6870010 - 1
(Without connector)

1

The maximum permissible wiring distance is up to 50m.

2

When ordering cables from us, please specify our Model No. and the
length of cable.

3

When cables are used with any moving element please contact us.

3-3

3

WIRING

3 . 3 External Connection Diagram
Typical external connection diagrams are shown on pages 3.3.1 to 3.3.4 .

3 . 3 . 1 Lead Wire Type(INC - E/ABS - E)

User unit
Ac power supply




Orange












RY1
90V
(24V)

Orange



CN1

TB
INC-E

13

Note5)

17

18

19

10120-3000VE

20

12

16

Orange

Orange
23
14
15

Battery
Note6) DC3.6V

1

BAT+

2

BAT-

ABS-E

Note4)

Note1)
10120-3000VE

Note1: For"  

  ",use a twisted pair armored shielded cable.

Note2: The RDY(RDY1/RDY2 terminal)output is a contact output.
Contactrating AC250V 2A
DC30V 2A

Inductive load
(cosφ=0.4,L/R=7ms)

Note3: When using no external regenerative resistor,strap between X
and COM terminal and between H1 and H2 terminal.
Note4: When the sensor cable is less than 5m in length,don't connect CN2
pins 11,12,17 and 18.
Note5) Prepare a power supply on the user side.
Note6) Battery for ABS-E and ABS-RⅡ
Note7) Max DC30V 50mA

RY1
90V
(24V)

22

Ron 30Ω

3-4

3

WIRING

3 . 3 . 2 Lead Wire Type(ABS - RⅡ/ABS - RⅢ)

User unit
Ac power supply




RY1



90V
(24V)





CN1

TB

13

Note5)

17

18

19

20

Note4)

Note1)

12

10120-3000VE
16

22

23
14

RY1

15

Battery
Note6) DC3.6V

1

BAT+

2

BAT-

90V
(24V)

Note4)

Note1)
10120-3000VE

Note1: For"  

  ",use a twisted pair armored shielded cable.

Note2: The RDY(RDY1/RDY2 terminal)output is a contact output.
Contactrating AC250V 2A
DC30V 2A

Inductive load
(cosφ=0.4,L/R=7ms)

Note3: When using no external regenerative resistor,strap between X
and COM terminal and between H1 and H2 terminal.
Note4: When the sensor cable is less than 5m in length,don't connect CN2
pins 11,12,17 and 18.
Note5) Prepare a power supply on the user side.
Note6) Battery for ABS-E and ABS-RⅡ
Note7) Max DC30V 50mA

Ron 30Ω

3-5

3

WIRING

3 . 3 . 3 Cannon Plug Type(INC - E/ABS - E)

User unit
Ac power supply




RY1












90V
(24V)



CN1

TB
INC-E

13

Note5)

17

18

19

10120-3000VE

MS3102A20-29P

20

12

16

RY1
22

90V
(24V)

23
14
15

Battery
Note6) DC3.6V

1

BAT+

2

BAT-

ABS-E

Note4)

Note1)
10120-3000VE

Note1: For"     ",use a twisted pair armored shielded cable.
Note2: The RDY(RDY1/RDY2 terminal)output is a contact output.
Contactrating AC250V 2A Inductive load
DC30V 2A (cosφ=0.4,L/R=7ms)
Note3: When using no external regenerative resistor,strap between X
and COM terminal and between H1 and H2 terminal.
Note4: When the sensor cable is less than 5m in length,don't connect CN2
pins 11,12,17 and 18.
Note5: Prepare a power supply on the user side.
Max. 30V 50mA Ron 30Ω
Note6: Foreward revolution is Counterclockwise when veiwed from motor shaft.
Note7: Battery for ABS-E and ABS-RⅡ.
Note8: Refer to chapter 5.3.3 in this manual.

3-6

MS3102A20-29P

3

WIRING

3 . 3 . 4 Cannon Plug Type(ABS - RⅡ/ABS - RⅢ)

User unit
Ac power supply




RY1



90V
(24V)





CN1

TB

13

Note5)

17

18

19

20

Note4)

12

Note1)
10120-3000VE

MS3102A20-29P

16

22

23
14

RY1

15

Battery
Note6) DC3.6V

90V
(24V)

1

BAT+

2

BAT-

Note4)

Note1)
10120-3000VE

Note1: For"  

  ",use a twisted pair armored shielded cable.

Note2: The RDY(RDY1/RDY2 terminal)output is a contact output.
Contactrating AC250V 2A Inductive load
DC30V 2A (cosφ=0.4,L/R=7ms)
Note3: When using no external regenerative resistor,strap between X
and COM terminal and between H1 and H2 terminal.
Note4: When the sensor cable is less than 5m in length,don't connect CN2
pins 11,12,17 and 18.
Note5: Prepare a power supply on the user side.
Max. 30V 50mA Ron 30Ω
Note6: Foreward revolution is Counterclockwise when veiwed from motor shaft.
Note7: Battery for ABS-E and ABS-RⅡ.
Note8: Refer to chapter 5.3.3 in this manual.

3-7

MS3102A20-29P

3

WIRING

3 . 3 . 5 Motor Power Cable & Holding Brake Wiring of Cannon Plug Type
P1 Series Motor (Standard Type)

Motor model Number

Brake
(△)

Non-Holding Brake
(×)
P10B10030*△***
P10B10075*△***
P10B13050*△***
P10B13100*△***
P10B13150*△***

Holding BrakeEquipped
(B or C)
DC90V or DC24V

Non-Holding Brake
(×)

P10B18200*△***
P10B18350*△***

Holding BrakeEquipped
(B or C)
DC90V or DC24V

Non-Holding Brake
(×)

P10B18450*△***
P10B18550*△***
Holding BrakeEquipped
(B or C)
DC90V or DC24V

Terminal PIN No.
Connector Model
For Amplifier

For Motor

U
V
W
E

A
B
C
D

Motor

U
V
W
E

A
B
C
D

Motor

E
F

Brake

U
V
W
E

A
B
C
D

Motor

U
V
W
E

D
E
F
G・ H

Motor

A
B

Brake

MS3106B18-10S
MS3108B18-10S
JL04V-6A18-10SE-EB
JL04V-8A18-10SE-EB
JL04V-6A18-10SE

MS3106B20-15S
MS3108B20-15S
JL04V-6A20-15SE-EB
JL04V-8A20-15SE-EB
JL04V-6A20-15SE

MS3106B22-22S
MS3108B22-22S
JL04V-6A22-22SE-EB
JL04V-8A22-22SE-EB
JL04V-6A22-22SE

MS3106B24-10S
MS3108B24-10S
JL04V-6A24-11SE-EB
JL04V-8A24-11SE-EB
JL04V-6A24-11SE

U
V
W
E

A・B
C・ D
E・F
G

MS3106B24-10S
MS3108B24-10S
Motor JL04V-6A24-10SE(G)-EB
JL04V-8A24-10SE(G)-EB
JL04V-6A24-10SE(G)

U
V
W
E

D
E
F
G・H

Motor

A
B

Brake

3-8

MS3106B24-11S
MS3108B24-11S
JL04V-6A24-11SE-EB
JL04V-8A24-11SE-EB
JL04V-6A24-11SE

3

WIRING
P2 Series Motor (Standard Type)

Motor model Number

Brake
(△)

Non-Holding Brake
(×)

P20B10100*△***
P20B10150*△***
P20B10200*△***
P20B10250*△***

Holding BrakeEquipped
(B or C)
DC90V or DC24V

Non-Holding Brake
(×)

P20B10100*△***
P20B10150*△***
P20B10200*△***

Holding BrakeEquipped
(B or C)
DC90V or DC24V

Terminal PIN No.
Connector Model
For Amplifier

For Motor

U
V
W
E

A
B
C
D

Motor

U
V
W
E

A
B
C
D

Motor

E
F

Brake

U
V
W
E

A
B
C
D

Motor

U
V
W
E

D
E
F
G・ H

Motor

A
B

Brake

3-9

MS3106B20-15S
MS3108B20-15S
JL04V-6A20-15SE-EB
JL04V-8A20-15SE-EB
JL04V-6A20-15SE

MS3106B20-15S
MS3108B20-15S
JL04V-6A20-15SE-EB
JL04V-8A20-15SE-EB
JL04V-6A20-15SE

MS3106B24-11S
MS3108B24-11S
JL04V-6A24-11SE-EB
JL04V-8A24-11SE-EB
JL04V-6A24-11SE

MS3106B24-11S
MS3108B24-11S
JL04V-6A24-11SE-EB
JL04V-8A24-11SE-EB
JL04V-6A24-11SE

3

WIRING
P6 Series Motor (Standard Type)

Motor model Number

P60B13050*△***
P60B13100*△***
P60B13150*△***
P60B13200*△***
P60B15300*△***
P60B18200*△***
P60B18350*△***
P60B18450*△***
P60B22550*△***
P60B22700*△***

Brake
(△)

Non-Holding Brake
(×)

Holding BrakeEquipped
(B or C)
DC90V or DC24V

Non-Holding Brake
(×)
P60B18550*△***
P60B18750*△***
P60B2211K*△***
P60B2215K*△***

Holding BrakeEquipped
(B or C)
DC90V or DC24V

Terminal PIN No.
Connector Model
For Amplifier

For Motor

MS3106B24-11S
MS3108B24-11S
JL04V-6A24-11SE-EB
JL04V-8A24-11SE-EB
JL04V-6A24-11SE

U
V
W
E

A
B
C
D

Motor

U
V
W
E

A
B
C
D

Motor

E
F

Brake

U
V
W
E

A
B
C
D

Motor

MS3106B32-17S
MS3108B32-17S
JL04V-6A32-17SE

U
V
W
E

D
E
F
G・ H

Motor

MS3106B32-17S
MS3108B32-17S
JL04V-6A32-17SE

A
B

Brake

MS3106B10-4S
MS3108B10-4S

3 - 10

MS3106B24-11S
MS3108B24-11S
JL04V-6A24-11SE-EB
JL04V-8A24-11SE-EB
JL04V-6A24-11SE

3

WIRING
P8 Series Motor (Standard Type)

Motor model Number

Brake
(△)

Non-Holding Brake
(×)
P80B15075*△***
P80B18120*△***
P80B22250*△***
P80B22350*△***
P80B22450*△***

Holding BrakeEquipped
(B or C)
DC90V or DC24V

Terminal PIN No.
Connector Model
For Amplifier

For Motor

U
V
W
E

A
B
C
D

Motor

U
V
W
E

A
B
C
D

Motor

E
F

Brake

MS3106B24-11S
MS3108B24-11S
JL04V-6A24-11SE-EB
JL04V-8A24-11SE-EB
JL04V-6A24-11SE

MS3106B24-11S
MS3108B24-11S
JL04V-6A24-11SE-EB
JL04V-8A24-11SE-EB
JL04V-6A24-11SE

The motor power cable and holding brake wiring is different via
motor type. Check the wiring by referring to the drawing for
confirmation.

3 - 11



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