Document Outline

• Safety Instructions
• COMPLIANCE WITH EC DIRECTIVES
• CONFORMANCE WITH UL/C-UL STANDARD
• CONTENTS
• Optional Servo Motor Instruction Manual CONTENTS
• About the Manuals
• Relevant manuals
• 1. FUNCTIONS AND CONFIGURATION
  • 1.1 Introduction
  • 1.2 Function List
  • 1.3 Model Code Definition
  • 1.4 Combination with Servo Motor
  • 1.5 Parts Identification
  • 1.6 Servo System with Auxiliary Equipment
• 2. INSTALLATION
  • 2.1 Environmental conditions
  • 2.2 Installation direction and clearances
  • 2.3 Keep out foreign materials
  • 2.4 Cable stress
  • 2.5 Using the DIN rail for installation
• 3. SIGNALS AND WIRING
  • 3.1 Standard connection example
    • 3.1.1 Position control mode AD75P[] (A1SD75P[])
    • 3.1.2 Speed control mode
    • 3.1.3 Torque control mode
  • 3.2 Internal Connection Diagram of Servo Amplifier
  • 3.3 I/O Signals
    • 3.3.1 Connectors and signal arrangements
    • 3.3.2 Signal explanations
  • 3.4 Detailed Description of the Signals
    • 3.4.1 Position control mode
    • 3.4.2 Speed control mode
    • 3.4.3 Torque control mode
    • 3.4.4 Position/speed control change mode
    • 3.4.5 Speed/torque control change mode
    • 3.4.6 Torque/position control change mode
  • 3.5 Alarm Occurrence Timing Chart
  • 3.6 Interfaces
    • 3.6.1 Common line
    • 3.6.2 Detailed description of the interfaces
  • 3.7 Input Power Supply Circuit
    • 3.7.1 Connection example
    • 3.7.2 Explanation of signals
    • 3.7.3 Power-on sequence
  • 3.8 Servo Motor with Electromagnetic Brake
  • 3.9 Grounding
  • 3.10 Instructions for the 3M Connector
• 4. OPERATION
  • 4.1 When Switching Power On for the First Time
  • 4.2 Startup
    • 4.2.1 Selection of control mode
    • 4.2.2 Position control mode
    • 4.2.3 Speed control mode
    • 4.2.4 Torque control mode
  • 4.3 Multidrop Communication
• 5. PARAMETERS
  • 5.1 Parameter List
    • 5.1.1 Parameter write inhibit
    • 5.1.2 Lists
  • 5.2 Detailed Description
    • 5.2.1 Electronic gear
    • 5.2.2 Changing the status display screen
    • 5.2.3 Using forward/reverse rotation stroke end to change the stopping pattern
    • 5.2.4 Alarm history clear
• 6. DISPLAY AND OPERATION
  • 6.1 Display Flowchart
  • 6.2 Status Display
  • 6.3 Diagnostic mode
  • 6.4 Alarm mode
  • 6.5 Parameter mode
  • 6.6 External I/O signal display
  • 6.7 Output signal forced output (DO forced output)
  • 6.8 Test operation mode
    • 6.8.1 Mode change
    • 6.8.2 Jog operation
    • 6.8.3 Positioning operation
    • 6.8.4 Motor-less operation
• 7. ADJUSTMENT
  • 7.1 What Is Gain Adjustment?
    • 7.1.1 Difference between servo amplifier and other drives
    • 7.1.2 Basics of the servo system
  • 7.2 Gain Adjustment
    • 7.2.1 Parameters required for gain adjustment
    • 7.2.2 Block diagram
    • 7.2.3 What is auto tuning?
  • 7.3 Gain Adjustment by Auto Tuning
    • 7.3.1 Adjustment method
    • 7.3.2 Valid conditions
  • 7.4 Manual Gain Adjustment
    • 7.4.1 When machine rigidity is low
    • 7.4.2 When the machine vibrates due to machine resonance frequency
    • 7.4.3 Load inertia moment is 20 or more times
    • 7.4.4 When shortening the settling time
    • 7.4.5 When the same gain is used for two or more axes
  • 7.5 Slight Vibration Suppression Control
• 8. INSPECTION
• 9. TROUBLESHOOTING
  • 9.1 Trouble at Start-Up
    • 9.1.1 Position control mode
    • 9.1.2 Speed control mode
    • 9.1.3 Torque control mode
  • 9.2 When Alarm or Warning Has Occurred
    • 9.2.1 Alarms and Warning list
    • 9.2.2 Remedies for alarms
    • 9.2.3 Remedies for Warnings
• 10. SPECIFICATIONS
  • 10.1 Servo Amplifier Standard Specifications
  • 10.2 Outline Dimension Drawings
    • 10.2.1 Servo amplifiers
    • 10.2.2 Connectors
• 11. CHARACTERISTICS
  • 11.1 Overload Protection Characteristics
  • 11.2 Dynamic Brake Characteristics
  • 11.3 Encoder Cable Flexing Life
• 12. OPTIONS AND AUXILIARY EQUIPMENT
  • 12.1 Options
    • 12.1.1 Cables and connectors
    • 12.1.2 Junction terminal block (MR-TB20)
    • 12.1.3 Servo configurations software
  • 12.2 Auxiliary Equipment
    • 12.2.1 Recommended wires
    • 12.2.2 Circuit protector
    • 12.2.3 Relays
    • 12.2.4 Noise reduction techniques
• 13. COMMUNICATION FUNCTIONS
  • 13.1 Configuration
    • 13.1.1 RS-422 configuration
    • 13.1.2 RS-232C configuration
  • 13.2 Communication Specifications
    • 13.2.1 Communication overview
    • 13.2.2 Parameter setting
  • 13.3 Protocol
  • 13.4 Character Codes
  • 13.5 Error Codes
  • 13.6 Checksum
  • 13.7 Time-Out Operation
  • 13.8 Retry Operation
  • 13.9 Initialization
  • 13.10 Communication Procedure Example
  • 13.11 Command and Data No. List
    • 13.11.1 Read commands
    • 13.11.2 Write commands
  • 13.12 Detailed Explanations of Commands
    • 13.12.1 Data processing
    • 13.12.2 Status display
    • 13.12.3 Parameter
    • 13.12.4 External I/O pin statuses (DIO diagnosis)
    • 13.12.5 Disable/enable of external I/O signals (DIO)
    • 13.12.6 External input signal ON/OFF (Test operation)
    • 13.12.7 Test operation mode
    • 13.12.8 Output signal pin ON/OFF (DO forced output)
    • 13.12.9 Alarm history
    • 13.12.10 Current alarm
    • 13.12.11 Other commands
• REVISIONS