y

CHARGE LED

UVW AC

!
y

Cn030

 TSTA ( TSTA)
TSTA PC

TSTA
y

ii

1-1 ............................................................................................................................1-1
1-1-1 .................................................................................................1-1
1-1-2 .....................................................................................................1-2
1-1-3 .........................................................................1-3
1-2 ............................................................................................1-7
1-3 ................................................................................................1-8
1-4 ....................................................................................1-9
1-4-1 .............................................................................................................1-9
1-4-2 .......................................................................................................1-10
1-5 ......................................................................................1-11
1-5-1 ...........................................................................................................1-11
1-5-2 ...................................................................................................................1-11
1-5-3 ...........................................................................................................1-12

2-1 ................................................................................................................2-1
2-1-1 .........................................................................2-1
2-1-2 .................................................................................................2-2
2-1-3 .....................................................................................................................2-3
2-1-4 .................................................................................................................2-4
2-1-5 .............................................................................................2-6
2-1-6 TB ..............................................................................................................2-7
2-1-7 (BRAKE) ....................................................................2-7
2-2 I/O ...............................................................................................................2-8
2-2-1 CN1 ............................................................................................2-9

iii

2-2-2 CN2 ......................................................................................2-21

2-3 ......................................................................................................2-23
2-3-1 (Pe Mode)(Line Driver) ................................................................2-23
2-3-2 (Pe Mode)(Open Collector) ..........................................................2-24
2-3-3 (Pi Mode) ......................................................................................2-25
2-3-4 (S Mode) .......................................................................................2-26
2-3-5 (T Mode) .......................................................................................2-27

3-1 ........................................................................................................3-1
3-2 ............................................................................................................3-8
3-2-1 .....................................................................................................3-8
3-2-2 ............................................................................................................. 3-9

4-1 ....................................................................................................4-2
4-2 ........................................................................4-5
4-3 .....................................................................4-8

5-1 ....................................................................................................................5-1
5-2 ............................................................................................................................5-2
5-2-1 .................................................................................................5-2
5-2-2 .............................................................................................5-3
5-2-3 .................................................................................................5-4
5-2-4 .....................................................................................................5-5
5-2-5 .....................................................................................................5-6
5-2-6 .................................................................................................5-6
5-2-7 .....................................................................................................5-8

iv

5-3 ............................................................................................................................5-9
5-3-1 ...........................................................................................................5-10
5-3-2 ...............................................................................................5-11
5-3-3 ...........................................................................................5-11
5-3-4 ...................................................................................................5-12
5-3-5 ...............................................................................................5-12
5-3-6 .......................................................................................................5-14
5-3-7 ...................................................................................................5-17
5-3-8 ...........................................................................................................5-18
5-3-9 (Notch Filter).................................................................................5-19
5-3-10 ............................................................................................5-21
5-3-11 ........................................................................................................5-22
5-3-12 ................................................................................................5-29
5-4 ..........................................................................................................................5-32
5-4-1 ...................................................................................................5-33
5-4-2 ...................................................................................................5-35
5-4-3 ...............................................................................................................5-40
5-4-4 .......................................................................................5-45
5-4-5 ...................................................................................................5-46
5-4-6 ...................................................................................................5-46
5-4-7 .......................................................................................................5-47
5-4-8 ...................................................................................................................5-48
5-4-9 ...................................................................................................5-56
5-5 ..................................................................................................................5-57
5-5-1 ...........................................................................................................5-61
5-5-2 ...........................................................................................................5-64
5-5-3 ...........................................................................................................5-65
5-6 ..........................................................................................................................5-66
5-6-1 / .........................................................................................5-66

5-6-2 ...........................................................................................................5-69
5-6-3 ...........................................................................................................5-69
5-6-4 ...................................................................................................................5-70
5-6-5 ...........................................................................................................5-70
5-6-6 CW/CCW .........................................................................................5-72
5-6-7 ...............................................................................................5-72
5-6-8 ...........................................................................................................5-77
5-6-9 ...................................................................................................................5-77
5-6-10 ................................................................................................................5-78

6-1 ...................................................................................................................6-1
6-2 .......................................................................................................................6-2

7-1 RS-232 & RS-485.......................................................................................7-1
7-1-1 .....................................................................................................................7-1
7-1-2 RS-232 ...........................................................................................7-2
7-1-3 RS-485 ...........................................................................................7-5
7-2 ..............................................................................................7-16

8-1 .....................................................................................................................8-1
8-2 .....................................................................................................................8-3

9-1 ....................................................................................9-1
9-2 ........................................................................................9-7
A .....................................................................................................................A-1

vi


1-1

()

()

()

1-1-1

TS

TA

20

C
AC
A 110V
B 220V
C/

220V
D 220V

15 / 20 / 30 / 50 / 75

15400 W 502 KW
20750 W 753 KW
301 KW

1-1

1-1-2

TS

TS

08

751

H 3

A1000 rpm
B2000 rpm
C3000 rpm
H1500 rpm

TS

B / C / T
Frame
B
0776 mm
0886 mm
13130 mm
C / T
0440 mm
0660 mm
0880 mm

101100 W
201200 W
301300 W
401400 W
551550 W
751750 W
1201 KW
1521.5 KW
2022 KW
3023 KW

AC
1 100V
2 200V
3 200V

B
N

F2000 ppr H / T2500 ppr

L / U8192 ppr

A2000 ppr B2500 ppr

1-2

A
1100 mm
2200 mm ... etc.

0None
1
2CE

0None

CBCCMB

CB

Frame
CB
554 mm
776 mm
887 mm
CC
660 mm
880 mm
MB
3130 mm

CBCB
CCCC
MBMB

30

2 D E 7 C

CB
12120 W
30300 W
75750 W
CC
201200 W
401400 W
751750 W
MB
1001 KW
1501.5 KW
2002 KW
3003 KW

AC
1 100V
2 200V
3 200V

C
(MB )
DAMP
(CBCC )

E
G

6
(15 )
7
(9 )
CC
B
(9 )

F2000 ppr
H2500 ppr
I5000 ppr
CC
E2000 ppr

CB
( 3000 rpm)
CC
G3000 rpm
MB
A1000 rpm
B2000 rpm
C3000 rpm

1-1-3

!
y

Cn030

1-3

 dn-08
Cn030

dn-08
Cn030

H0110
H1111
H0112
H0120
H0121
H0122
H0130
H1133
H1134
H0140
H1141
H0142
H1143
H1144
H0210
H0211
H0212
H0220
H1221
H0222
H1223
H1224
H0230
H1233
H1234

(W)
(rpm)

5CB12

120

3000

TSC06101

100

3000

300

3000

200

3000

400

3000

7CB30
TSB07301
TSTA15

6CC201
TST06201
6CC401
TSC06401
TST06401
8CB75
TSB08751

750

3000

400

3000

750

3000

6CC401
TSTA20

TSC06401
TST06401
8CC751
TST08751

1-4

2000
2500
8192
2000
2500
8192
2000
2500
8192
2000
2500
8192
2500
8192
2000
2500
8192
2000
2500
8192
2500
8192
2000
2500
8192

dn-08
Cn030

H0240
H0241
H0242
H0250
H0251
H0252
H0310
H1313
H1314
H0320
H0321
H0322
H0330
H0331
H0332
H0340
H0341
H0342
H0351
H0352
H0360
H0361
H0362
H0370
H0371
H0372
H0380
H0381
H0382

(W)
(rpm)

3MB055A
1000

TSB13551A
TSTA20

3MB055H

550
1500

TSB13551H
8CC751
TST08751

750

3000

3MB100A
1000

TSB13102A
3MB100B
TSB13102B

2000
1000

3MB100H
TSTA30

1500

TSB13102H
TSB13102C

3000

3MB150A
1000

TSB13152A
3MB150B
TSB13152B

1500

2000

3MB150C
TSB13152C

1-5

3000

2000
2500
8192
2000
2500
8192
2000
2500
8192
2000
2500
8192
2000
2500
8192
2000
2500
8192
2500
8192
2000
2500
8192
2000
2500
8192
2000
2500
8192

dn-08
Cn030

H0510
H0511
H0512
H0520
H0521
H0522
H0530
H0531
H0532
H0540
H0541
H0542
H0551
H0552
H0710
H0711
H0712
H0720
H0721
H0722

(W)
(rpm)

3MB150A
1000

TSB13152A
3MB150B
TSB13152B
TSTA50

1500

2000

3MB150C
3000

TSB13152C
3MB200B
TSB13202B

2000
2000

TSB13202C

3000

3MB300B
2000

TSB13302B
TSTA75

3MB300C
TSB13302C

1-6

3000
3000

2000
2500
8192
2000
2500
8192
2000
2500
8192
2000
2500
8192
2500
8192
2000
2500
8192
2000
2500
8192

1-2
TSTA15 / TSTA20

TSTA30

FG

FG

TSTA50 / TSTA75

FG
*

1-7

1-3

()

Pe

CN1

Pi

()

-10V ~ +10V

-10V ~ +10V

Pe-S

Pe S

Pe-T

Pe T

S-T

S T

1-8

1-4
1-4-1

0 ~ + 55 85% RH ()

- 20 ~ + 85 85%RH ()

0.5 G

55

M5

()

(Transformer)

1-9

1-4-2

10mm

30mm

25mm

25mm

25mm

1-10

30mm

10mm

1-5
1-5-1
y

0 ~ + 40 90% RH ()

- 20 ~ + 60 90%RH ()

2.5 G

1-5-2
1

1-11

1-5-3
1
2
3
4

1-12


2-1
2-1-1

2-1

2-1-2
y

3
20

( UVW)

FG

3 ( 100 )

()

()

() 30

()

2-2

2-1-3

TB

()

TSTA15

TSTA20

TSTA30

TSTA50

TSTA75

RST

2.0mm
A.W.G.14

2.0mm
A.W.G.14

2.0mm
A.W.G.14

2.0mm
A.W.G.14

3.5mm
A.W.G.12

UVW

2.0mm
A.W.G.14

2.0mm
A.W.G.14

2.0mm
A.W.G.14

2.0mm
A.W.G.14

3.5mm
A.W.G.12

rs

1.25mm
A.W.G.16

1.25mm
A.W.G.16

1.25mm
A.W.G.16

1.25mm
A.W.G.16

1.25mm
A.W.G.16

2.0mm
A.W.G.14

2.0mm
A.W.G.14

2.0mm
A.W.G.14

2.0mm
A.W.G.14

3.5mm
A.W.G.12

TSTA15

TSTA20

TSTA30

TSTA50

TSTA75

26,27,28

30,31

12

33,34

+15V -15V

29,32,44

1~13

18~25,43

45,46,
48,49

24V
I/O

14~17

35~40

1,2

5V

3,4

5~18

2,3

1,4,6,8

FG

CN1

CN2

RS232

0.2mm 0.3mm ()

0.2mm 0.3mm I/O ()

0.2mm 0.3mm ()

0.2mm 0.3mm ()

0.2mm 0.3mm ()

1
2CN1 50 Pins 3M
3CN2 20 Pins 3M
4RS232 9 Pins D-type

2-3

2-1-4

(1)

FG

DC +24V

0V

(2)()

FG

(3)()

FG

F
E

DC +24V
0V

2-4

A
G


(1)

+5V

0V

/A

/B

/Z

Shield

FG

(2)

+5V

0V

/A

/B

/Z

Shield

FG

2-5

2-1-5
(1KW )
ON
OFF

MC
MC/a

NFB

MC/R

MC/S

220V

TB1

R
S

TB1

W
FG

P
PC

PG

CN2

FG

(1KW )
ON
OFF

MC
MC/a

NFB

MC/R

MC/S

MC/T

TB1
TB1

W
FG
P

220V

PC

CN2

FG

2-6

PG

2-1-6 TB

r
s

AC
200~230VAC +10 ~ -15% 50/60Hz 5%

AC
200~230VAC

+10 ~ -15%

50/60Hz 5%

Cn012
Cn012

PC

PCP1 P

P1

PCP P1

FG

2-1-7 (BRAKE)
100/200/300/400/750W DC +24V (
)550/1K/1.5K/2K/3KW A
C

2-7

2-2 I/O
I/O RS232 CN1
CN2

RS232
1

CN1
2

27

26

CN2
2

10

12

19

24

11

20

2-8

25

49

50

2-2-1 CN1
(1) CN1

D I-2

D I-4

27

D I-6

31

D I-8

LOK

D I-10

SPD 1
/
1

D I-12

Pulse

Sign

D O -1

D O -3

D O -5

D O -7

/Sign

PA

PB

D O -2

ALM

D O -4

IN P

ZS

45

(L M )/
0(A 0)

47
D O -6

P (PC )/
1(A 1)

D O -8

B A SE
B LO C K (B B )/
3(A 3)

49

1.
2. I/O

2-9

28

N IC

CW

30

MON1

32

AG

34

-15V

-15V

36

/PA

/A

38

/PB

/B

40

/PZ

/Z

44

AG

46

IG 24

+24V

48

IG 24

+24V

50

FG

+15V

PZ

O PC

42
43

25

+15V

(-)

RDY

(ST )/
2(A 2)

MON2

SIN

(-)

41

23
24

/Pulse

AG

26

/C C W

SPD IN V

(+)

21
22

D I-13

39

19
20

D I-11

SPD 2
/
2

(+)

17
18

EM C

37

15
16

D I-9

M DC

PIC

CLR

35

13
14

D I-7

33

11
12

D I-5

CW L
CW

TLM T

9
10

PC N T
PI/P

29

7
8

D I-3

CCW L
CCW

5
6

SO N

ALRS

3
4

D I-1

ZO

IP24

D IC O M

IG 24

+24V

D I

+24V

(2) CN1
(a) I/O
I/O

Pin No.
Pulse

14

/Pulse
Sign

15
16

/Sign

17

OPC

41

SIN

26

/CCW

PIC

27

CW

NIC

28

MON1

30

1
2

MON2

31

ZO

43

IO3

IO3

IO5

PA

35

/A
B

/PA
PB

36
37

/B
Z

/PB
PZ

38
39

/Z

/PZ

40

AG

29,32,44

+15V

+15V

33

-15V

-15V

34

DICOM

47

+24V

IP24

45

+24V

IG24

46,48,49

FG

50

DI

IO6
IO2

Pin No.

2-10

IO4

 I/O

I/O

Pulse
/Pulse
Sign

Pe

(Pulse)+(Sign)
(CCW)/(CW)

5-4-1

AB

/Sign
OPC

Pe

OPC IP24
24V

SPD1=0SDP2=0() 5-3-1

SIN
T

CCW

PIC

CW

NIC

5-3-2
5-3-3

5-3-4
-10~+10VTn103 5-2-1
5-2-2
10V

-10V~+10VSn216 10V

SPD1=0SDP2=0()
0~+10V10V

Pi

TLMT=1()

Pe

0~+10V 10V CCW 5-3-10

300%

Pi

TLMT=1()

Pe

-10~0V-10V CW 5-3-10

300%
(10V/1.5 )

MON1

ALL

MON2

ALL

PA

/A

/PA

PB

/B

/PB

PZ

/Z

/PZ

ZO

ALL Z (Open Collector)

AG

ALL

+15V

+15V

ALL 15V (Max. 10mA)

-15V

-15V

ALL 3k

DI

DICOM

CCW
(10V/3.5 )
CCW

5-6-9

Cn005

ALL Cn004 1 CCW A 5-3-5

B 90
Line Driver

CN1 Pin 26272830313334

ALL

IP24

ALL +24V (Max. 0.2A)

+24V

IG24

ALL +24V

FG

5-6-9

+24V

5-2-6

ALL

1 IG24 0 IG24

2-11

(b) I/O

13 (Pin1~13) 4 (Pin18~21)
5-6-1

Pin
No.

Pin
No.

DI-1

SON

DI-8

LOK

DI-2

ALRS

DI-9

EMC

PI/P

DI-3

PCNT

DI-10

SPD1

10

DI-4

CCWL

DI-11

SPD2

11

DI-5

CWL

DI-12

MDC

12

DI-6

TLMT

DI-13 SPDINV

DI-7

CLR

CCW

CW

/ 1

IO1

/ 2

IO1

13

Pin
No.

DO-1

RDY

18

DO-2

ALM

19

/
A0
P /

IO2
DO-3

ZS

20

DO-4

INP

21

A1
/
A2
Base Block/
A3

2-12

Pin
No.

DO-5

LM/A0

22

DO-6

PC/A1

23

IO2
DO-7

ST/A2

24

DO-8

BB/A3

25


( CCWL CWL 5-6-1 )

SON

ALRS

PI/P

PCNT

CCW

CCWL

CW

CWL

TLMT
CLR

LOK

EMC

/
1
/
2

SPD1
SPD2

I/O

SON IG24 Servo ON IG24 5-6-3

Servo OFF 5-6-4
SON()
ALL ALRS IG24
8-1

Pi/Pe/S PCNT IG24 5-3-11

ALL CCW (over travel) CCWL 5-4-8

IG24 IG24 CCW
5-6-3
5-6-4
ALL CW (over travel) CWL IG24 5-4-8
IG24 CW
5-6-3
5-6-4
Pi/Pe/S TLMT IG24 5-3-10
(PICNIC)
Pi/Pe CLR IG24 (Position Error 5-4-7
Counter)
LOK IG24 5-3-12
S

ALL EMC IG24 Servo 5-6-4

OFF Cn008
S/T
5-2-6
5-3-1
ALL

SPD2 SPD1

()

()

(SIN)

(PIC)

Sn201

Tn105

Sn202

Tn106

Sn203

Tn107

1 IG24
0 IG24

2-13


( CCWL CWL 5-6-1 )

I/O

MDC

Pe/S/T MDC IG24 5-1

Cn001
5-6-2

INH IG24 ( 5-4-1

Pe
INH
)

SPDINV IG24 5-3-7

S
SPDINV

G-SEL Pi/Pe/S G-SEL IG24 5-3-11

GN1
Pi/Pe
5-4-3
1~2
GN2
GN2

GN1

Pn302

Pn303

Pn304

Pn305

1 IG24
0 IG24

PTRG

PHOLD

SHOME

ORG

PTRG IG24 ()
POS1~POS4
PHOLD IG24 ()
Pi

Pi/Pe SHOME IG24 ()

ORG IG24 ()
Pi

Pi

2-14

5-4-8
5-4-8
5-4-8
5-4-8


( CCWL CWL 5-6-1 )

1~4

I/O

POS1
POS2
POS3
POS4

Pi

5-4-2

POS4

POS3

POS2

POS1

Pn317, Pn318

Pn320, Pn321

Pn323, Pn324

Pn326, Pn327

Pn329, Pn330

Pn332, Pn333

Pn335, Pn336

Pn338, Pn339

Pn341, Pn342

Pn344, Pn345

Pn347, Pn348

Pn350, Pn351

Pn353, Pn354

Pn356, Pn357

Pn359, Pn360

Pn362, Pn363

1 IG24
0 IG24

TRQINV

TRQINV IG24 5-2-4

2-15


( 5-6-1 )

I/O

RDY

ALM

ZS

BI

INS

INP

HOME

INT

ALL

RDY IG24
ALL ALM IG24

IG24
Sn215 ZS
S
5-3-12
IG24
ALL Cn008 13 BI IG24 5-6-4
IG24 5-6-5

Cn007 INS 5-3-12

S
IG24
Pi/Pe Pn307 5-4-9
INP IG24
Pi/Pe
5-4-8
HOME IG24

ALL Tn108
INT IG24
/
LM/A0 ALL (Cn010&Cn011)
0
(PIC&NIC) LM/A0
IG24
A0
P /
PC/A1 Pe/Pi/S (P) PC/A1 IG24
1

A1
/
ALL CCW CW ST/A2
ST/A2
2
IG24
A2
Base Block / BB/A3
ALL BB/A3 IG24
3

A3

2-16

8-1

8-1

8-1

8-1

(3) CN1
CN1
(a) (IO1)

24V
24V

24V

Servo Driver

DC24V
IP24

CN1-45

CN1-47

i=4.3mA

5.6K

DICOM
SON

CN1-49

IG24

(b) (IO2)
Open
Collector 24V 10mA

24V

24V
Servo Driver

DC24V
LOAD
RDY

CN1-49

2-17

IG24

(c) (IO3)
Line Driver 500kpps
(Open Collector) 200kpps
24V
(Vcc) 24V 8~15mA R
5-4-1

(Line Driver)

(Open Collector)

500kpps

200kpps

( 24V)

(R)

Servo Driver
DC24V
IP24

CN1-45
CN1-41

OPC

2K

Vcc=24V

Vcc=12V

Vcc=5V

R=2K

R=750

R=100

330

Pulse
Sign

1K
/Pulse
/Sign
CN1-49

IG24

200kpps

2-18

(d) (IO4)
Line Driver Line Receiver (R=200
330)
(Line Driver)

(e) (IO5)
(ripple)
(Vc) 12V 10V
10mA
R( R 3K )
SIN 15K
PIC 40K
NIC 20K

2-19

(f) (IO6)
5mA(Impedance)

Servo Driver

TG
V
AG

2-20

2-2-2 CN2
(1) CN2
(a)

Pin
No.

+5V

0V

12

/A

/B

/Z

15

/A

16
B

17

/B

18
9

10

13

14

7
8

0V

11

+5V

19

/Z

20

FG

(b)

Pin
No.

+5V

0V

12

/A

/B

16

/Z

/V

/W

13

15

/V

/W

/B

11
/U

/A

17
18

9
10

/U

14

7
8

0V

+5V

/Z

19
20

2-21

FG

(2) I/O

9
15

()
()

Pin
No.

1
2

+5V

3
4

0V

/A

/B

/Z

6
7

8
9

10
11

12
13

14
15

16
17
18
19

20

/U

/V

/W

5V ()
20
2
30

FG

2-22

2-3
2-3-1 (Pe Mode)(Line Driver)

2-23

2-3-2 (Pe Mode)(Open Collector)

2-24

2-3-3 (Pi Mode)

NFB

S
T

S
T

FG

+24V
DI

(SON)
CCW(CCWL)
CW(CWL)
(EMC)
(SHOME)
(TLMT)
(PTRG)
(ALRS)
(PHOLD)
1(POS1)
2(POS2)

+24V

CCW

CW

45

DICOM

47

PC

P
PC
P1

DC 24V

IP24

RS232

C
N
4

r
s

U
SERVO
MOTOR

V
DI-1

DI-4

DI-5

DI-9

DI-3

DI-6

DI-12
DI-2
DI-8
DI-10
DI-11

IG24

PIC
AG
NIC

FG

12
2
8
10
11

R1

FG

R1
R1

R1

35

PA

R1

36

/PA

R1

37

PB

R1

38

/PB

R1

39

PZ

40

/PZ

43
48

Z0

R1
R1
R1

DC24V

48

27
29
28

C
N
2

20K
R2

A
/A
B
/B
Z
/Z

R4

IG24

+Vc

*Vc24V
Vc=24VR44.7K
Vc=12VR42.4K
Vc= 5VR41.0K

45
18

DO-1

LOAD

(RDY)

19

DO-2

LOAD

(ALM)

20

DO-3

LOAD

(HOME)

21

DO-4

LOAD

(INP)

22

DO-5

LOAD

/0

23

DO-6

LOAD

P/1

24

DO-7

LOAD

/2

25
49

DO-8

LOAD

Base Block/3

30

MON1

32

AG

31

MON2

24V
10mA

IG24

20K
R2

50

2-25

33

+15V

34

- 15V

5mA

+15V(AG)
10mA
- 15V(AG)

2-3-4 (S Mode)

NFB

S
T

S
T

FG

+24V
DI

(SON)
CCW(CCWL)
CW(CWL)
(EMC)
PI/P(PCNT)
(TLMT)
(MDC)
(ALRS)
(LOK)
1(SP1)

45

DICOM

47

DI-1

DI-4

DI-5

DI-9

DI-3

DI-6

DI-12
DI-2
DI-8
DI-10

12
2
8
10

DI-11

11

(SPDINV)

DI-13

13

IG24

48

CCW

CW

(10V)

U
SERVO
MOTOR

2(SP2)

+24V

PC

P
PC
P1

DC 24V

IP24

RS232

C
N
4

r
s

PIC
AG
NIC

SIN
AG

FG

FG

R1

C
N
2

R1

R1

35

PA

R1

36

/PA

R1

37

PB

R1

38

/PB

R1

39

PZ

40

/PZ

43
48

Z0

R1
R1
R1

DC24V

R1

20K

27
29
28

26
29

R1

R2

A
/A
B
/B
Z
/Z

R4

IG24

+Vc

*Vc24V
Vc=24VR44.7K
Vc=12VR42.4K
Vc= 5VR41.0K

45
18

DO-1

LOAD

(RDY)

19

DO-2

LOAD

(ALM)

20

DO-3

LOAD

(ZS)

21

DO-4

LOAD

(INS)

22

DO-5

LOAD

/0

23

DO-6

LOAD

P/1

24

DO-7

LOAD

/2

25
49

DO-8

LOAD

Base Block/3

30

MON1

32

AG

31

MON2

24V
10mA

IG24

20K
R2

20K
R2

50

2-26

33

+15V

34

- 15V

5mA

+15V(AG)
10mA
- 15V(AG)

2-3-5 (T Mode)

2-27


3-1
LED LED
POWER ()CHARGE ()

(MODE )

(UP )

(DOWN )

1
2

3

(ENTER )

1
2
3

3-1

 MODE

LED

MODE1

MODE1

MODE1

MODE1

MODE1

MODE1

MODE1

MODE1

10

MODE1
MODE1

11

Sn203( 3) 100rpm

LED

MODE6

UP2

ENTER2Sn203

ENTER1(LED)

3-2

LED

ENTER1(LED)

DOWN231
ENTER2-SET-
-SET-

MODE

LED

MODE6

UP2

ENTER2Sn203

MODE1

H
Pn365()=0212

3-3

3000

-3000

30000

-30000

Sn201( 1)
4
Pn317( 1-)

(1) 4 Sn201( 1)=100 -100

LED

MODE6

ENTER2Sn201
ENTER4

UPDOWN11
5

ENTER2-SET-
6

-SET-

3-4

(2) 4 Pn317( 1-)=0 -10000

LED

MODE7

UP16Pn317

ENTER2Pn317

ENTER4
DOWN101

ENTER2-SET-
-SET-

ALRS

LED

AL-01
SON(
)

UPDOWNRESET

3-5

LED

(1)

Servo OFF
Cn007(
(INS)
)
Cn007(

)
10%

BASE BLOCK

Servo ON
Cn007(
)
Cn007(
)
10%

BASE BLOCK
Servo OFF ()

Servo ON ()
CCW
CCWL

CW
CWL

3-6

(2)

Servo OFF
Pn307(
(INP)
)
Cn007(
(INS)
)

BASE BLOCK

CLR()

Servo ON
Pn307(
)
Cn007(
)

CLR()

BASE BLOCK
Servo OFF ()

Servo ON ()
CCW
CCWL

CW
CWL

3-7

3-2
3-2-1

Un-01

rpm

Un-02

Un-03

Un-04

Un-05

Un-06

rpm

Un-07

pulse

Un-08

pulse

Un-09

5.25 5.25V

Un-10

(Vdc Bus)

310 310V

Un-11

rpm

Un-12

CCW

100 CCW 100%

Un-13

CW

100 CW 100%

Un-14

-()

rev

-
Un-15
Un-16

()
-()
-

Un-17

Un-18

()

120 120 rpm

20 20

120 120 rpm

2000 2000 rpm

pulse
rev

pulse

50 50
Cn002.2=0() Cn025

Un-19

x0.1

Cn002.2=1()

3-8

3-2-2

dn-01

dn-02

dn-03

dn-04

CPU

dn-05

JOG

dn-06

dn-07

dn-08

dn-09

ASIC

dn-01 ()
dn-01

dn-01 ()

T
S
()Pe
/Pe/S
/S/T
/Pe/T
() Pi

3-9

dn-02 ()
dn-02

LED

( IG24 ) LED
( IG24 ) LED LED
DO-1~DO-4 5-6-1
DO-5~DO-8

LED

DO-1

RDY

DO-2

ALM

DO-3

ZS

DO-4

INP

DO-5

LM/A0

DO-6

PC/A1

DO-7

ST/A2

DO-8

BB/A3

) 5-6-1

3-10

dn-03 ()
dn-03

( IG24 ) LED
( IG24 ) LED LED
DI-1~DI-10 5-6-1

LED

DI-1

SON

DI -2

ALRS

DI -3

PCNT

DI -4

CCWL

DI -5

CWL

DI -6

TLMT

DI -7

CLR

DI -8

LOK

DI -9

EMC

10

DI -10

SPD1

3-11

dn-04 ()
dn-04

LED

MODE2

UP3dn-04
ENTER2

2.30
MODE1

dn-05 (JOG )
dn-05 JOG
JOG Sn201( 1) Sn201
SON JOG

LED

MODE2

UP4dn-05
ENTER2JOG

UP

DOWN
MODE1

3-12

dn-07 ()
0V
dn-07

LED

SIN(CN1-26)AG(CN1-29)

MODE2

UP6dn-07

ENTER2dn-07

UP11
ENTER2-SET-

Tn104
Sn217ENTER

3-13

dn-08 ()
dn-08
Cn030

dn-08
Cn030

H0110
H1111
H0112
H0120
H0121
H0122
H0130
H1133
H1134
H0140
H1141
H0142
H1143
H1144
H0210
H0211
H0212
H0220
H1221
H0222
H1223
H1224
H0230
H1233
H1234

(W)
(rpm)

5CB12

120

3000

TSC06101

100

3000

300

3000

200

3000

400

3000

7CB30
TSB07301
TSTA15

6CC201
TST06201
6CC401
TSC06401
TST06401
8CB75
TSB08751

750

3000

400

3000

750

3000

6CC401
TSTA20

TSC06401
TST06401
8CC751
TST08751

3-14

2000
2500
8192
2000
2500
8192
2000
2500
8192
2000
2500
8192
2500
8192
2000
2500
8192
2000
2500
8192
2500
8192
2000
2500
8192

dn-08
Cn030

H0240
H0241
H0242
H0250
H0251
H0252
H0310
H1313
H1314
H0320
H0321
H0322
H0330
H0331
H0332
H0340
H0341
H0342
H0351
H0352
H0360
H0361
H0362
H0370
H0371
H0372
H0380
H0381
H0382

(W)
(rpm)

3MB055A
1000

TSB13551A
TSTA20

3MB055H

550
1500

TSB13551H
8CC751
TST08751

750

3000

3MB100A
1000

TSB13102A
3MB100B
TSB13102B

2000
1000

3MB100H
TSTA30

1500

TSB13102H
TSB13102C

3000

3MB150A
1000

TSB13152A
3MB150B
TSB13152B

1500

2000

3MB150C
TSB13152C

3-15

3000

2000
2500
8192
2000
2500
8192
2000
2500
8192
2000
2500
8192
2000
2500
8192
2000
2500
8192
2500
8192
2000
2500
8192
2000
2500
8192
2000
2500
8192

dn-08
Cn030

H0510
H0511
H0512
H0520
H0521
H0522
H0530
H0531
H0532
H0540
H0541
H0542
H0551
H0552
H0710
H0711
H0712
H0720
H0721
H0722

(W)
(rpm)

3MB150A
1000

TSB13152A
3MB150B
TSB13152B
TSTA50

1500

2000

3MB150C
3000

TSB13152C
3MB200B
TSB13202B

2000
2000

TSB13202C

3000

3MB300B
2000

TSB13302B
TSTA75

3MB300C
TSB13302C

3-16

3000
3000

2000
2500
8192
2000
2500
8192
2000
2500
8192
2000
2500
8192
2500
8192
2000
2500
8192
2000
2500
8192

()()

(1)( 4-1)
A.

B.

(2)( 4-2)
A.

B.

(3)( 4-3)
A.

B.

4-1

4-1

1.

2.

(CN1)

3.

CCWL CWL (
5-6-1 )
Cn002.1=1
Cn002.1=0

4-2

LED

MODE4

UP1Cn002

ENTER2Cn002

ENTER1(LED)
UP11

CCWLCWL
ENTER2-SET-
-SET-

8-2()

4.
+24V

4-3

5.
JOG
Sn201( 1) Cn004(
)JOG

JOG Sn201( 1) Sn201

SON JOG

LED

MODE2

UP4dn-05
ENTER2JOG

UP

DOWN
MODE1

4-4

4-2

A.

(Cn001=1)

(Cn001=2)

IP24
DICOM
SON

CN1-45

SON
CN1-1

CWL CN1-5

SIN
AG

DICOM

CN1-47

CCWL CN1-4

IG24

IP24

CN1-48

CN1-45
CN1-47
CN1-1

CCWL CN1-4

CWL CN1-5

IG24
Pulse

CN1-26

/Pulse
Sign

CN1-32

/Sign

CN1-48
CN1-14
CN1-15
CN1-16
CN1-17

a.
0V
Pulse /Pulse Sign /Sign
b. Servo ON
(SON)
8-2()

4-5

B.

(Cn001=1)

1.
0V

IP24
DICOM
SON

CN1-45
CN1-47
CN1-1

CCWL CN1-4

CWL CN1-5
IG24
SIN
AG

CN1-48
CN1-26
CN1-32

2.
(SON)
dn-07 ( 3-2-2)
3.
Un-01
Sn216 Sn218
Cn004(SON)

4.
(SIN)(PA, /PA,
PB, /PB, PZ, /PZ)

IP24
DICOM
SON

CN1-45
CN1-47
CN1-1

CCWL CN1-4
CWL CN1-5
IG24

CN1-48
CN1-35
CN1-36
CN1-37
CN1-38
CN1-39
CN1-40

SIN CN1-26
AG

CN1-32

PA
/PA
PB
/PB
PZ
/PZ

5.
Un-14
Cn005
(SON)

4-6

C.

(Cn001=2)

1.

IP24
DICOM
SON

CN1-45
CN1-47

CN1-1

CCWL CN1-4

CWL CN1-5
IG24

Pulse
/Pulse
Sign
/Sign

CN1-48
CN1-14
CN1-15
CN1-16
CN1-17

2.

Pn302~Pn306( 5-4-3)
3.
(SON)
4.
Un-15
Un-17 Un-14
Un-16
Pn302~Pn306
Pn301.0
Pn314(SON)

4-7

4-3

1.
2.
1-5
3.
5-5
4.
4-2

5.
3 4

4-8


5-1

Cn001

ALL

5-2

SPD1SPD2

5-3-1

()
5-4-1
/

MDC
5-6-2
/

MDC
5-6-2
/

MDC
5-6-2
()

POS1~POS4
5-4-2

5-1

5-2

SIN

(10V)

AG
FG

CN1-26
CN1-29
CN1-50

SIN() RS1RS2()
5-2-4

5-2-1

Tn103

300

%
/10V

300

(1) Tn103 300 10V 300%

5V 150%
5-2

(2) Tn103 200 10V 200%

5V 100%
300
(%)

200
100

-10

-5
5
-100

10

(V)

-200
-300

Tn103

5-2-2
0V
Tn104 ( 3-2-2)
SIN(CN1-26) AG(CN1-29)

Tn104

mV -10000

10000

(V)

(V)

(%)

(%)

5-3

5-2-3

Tn101 1

Tn101

Tn102

msec

50000

Tn102

(1) 10msec 50%

Tn102 = 10(msec)

100%
= 20(msec)
50%

(2) 10msec 75%

Tn102 = 10(msec)

100%
= 13(msec)
75%

5-4

(ms)

5-2-4

(1) RS1RS2()
(2) Cn004()
(3) TRQINV()

RS2

RS1

) 1 0
5-6-1

Cn004

( )
CCW

CW

(CCW) (CCW)

(CW)

(CCW) (CW)

(CW)

(CCW)
(CW)

TRQINV

0
T

1
) 1 0
5-6-1

5-5

5-2-5

Cn010

CCW

300

CCW

ALL

Cn010=200
Cn011

300

CW

-300

-300

CW

Cn011=-200

ALL

5-2-6
SPD1SPD2

(1)
(2) PIC(CN1-27)
5-3-6

SPD2

SPD1

PIC(CN1-27)
1
0
1
Tn105
T
2
1
0
Tn106
3
1
1
Tn107
) 1 0
5-6-1

5-6

CCW CW

Tn105

100

rpm

SPD1SPD2

1 SPD1SPD2

3000

SPD2

SPD1

) 1 0
5-6-1
Tn106

200

rpm

SPD1SPD2

2 SPD1SPD2

3000

SPD2

SPD1

) 1 0
5-6-1
Tn107

300

rpm

SPD1SPD2

3 SPD1SPD2

3000

SPD2

SPD1

) 1 0
5-6-1

5-7

5-2-7

Tn108() INT

Tn108

INT

ALL

300

) 1 0
5-6-1

Cn034()

Cn034

5-8

Hz

ALL

1000

5-3
CNC

A/D

1
Sn211 Sn212

Cn013 Cn014

Cn010 Cn011

2
Sn213 Sn214

Cn032

Cn015~Cn024

TLMT

PCNT
G-SEL

5-9

5-3-1
SPD1SPD2

(1)
(2) SIN(CN1-26)

SPD2

SPD1

SIN(CN1-26)
1
0
1
Sn201
S
2
1
0
Sn202
3
1
1
Sn203
) 1 0
5-6-1

rpm

Sn201

100

Sn202

200

Sn203

300

5-10

-3000

3000

5-3-2

Sn216

rpm

/10V

100

4500

(1) Sn216 3000 10V 3000rpm

5V 1500rpm

(2) Sn216 2000 10V 2000rpm

5V 1000rpm
4500
(rpm) 3000
1500
-10

-5
5
-1500

10

(V)

-3000
-4500

Sn216

5-3-3
0V
Sn217 (
3-2-2)
SIN(CN1-26) AG(CN1-29)

Sn217

5-11

mV -10000

10000

(V)

(V)

(rpm)

(rpm)

5-3-4

Sn218

x 1.02

Sn218

100
rpm

4500

5-3-5

()

()

CN1

CN2

Cn005

5-12

ALL

pulse

Cn005

Cn005

2000pulse 1000pulse

Cn005=1000

PA

CN1-35

/PA

/A

CN1-36

PB

CN1-37

/PB

/B

CN1-38

PZ

CN1-39

/PZ

/Z

CN1-40

ALL

CW

CCW

BA

AB

90

90

PA

PA

PB

PB

PZ

PZ

5-13

5-3-6

Sn205

Sn205

(1)
Sn205=1

Sn206

msec

Sn205=1

10000

63.2%

63.2%

(%)

100

63.2
50

(ms)

Sn206

5-14

(1) 30msec 95%

Sn206 =

30(msec)
= 10(msec)
- ln(1 - 95%)

(2) 30msec 75%

Sn206 =

30(msec)
= 22(msec)
- ln(1 - 75%)

) ln(x)
(2)
Sn205=2

Sn207

msec

Sn205=2

50000

Sn207

(1) 10msec 50%

Sn207 = 10(msec)

100%
= 20(msec)
50%

(2) 10msec 75%

Sn207 = 10(msec)

100%
= 13(msec)
75%

5-15

(ms)

(3) S
Sn205=3 S

Sn208

msec

Sn205=3 S

1000

Sn209

ta
t
> ts d > ts
2
2

200

msec

Sn208
Sn210

0
5000

200

msec

Sn208

5000

(rpm)
ts=Sn208
ta=Sn209
td=Sn210

ts

ts

ts

ta

ts
td

ta
t
> ts d > ts
2
2

5-16

(ms)

5-3-7
Cn004() SPDINV

Cn004

( )

CW

CCW

(CCW) (CCW)

(CW)

(CCW) (CW)

(CW)

(CCW)
(CW)

SPDINV

0
1

) 1 0
5-6-1

5-17

5-3-8
(
5-3-11)

10

Pi

Pe

450

x0.2

Pi

ms

Pe

500

10

Pi

Pe

450

x0.2

Pi

msec

Pe

500

Sn211

40

Hz

Cn025()

Sn212

100

Sn213

1
2

40

Hz

Sn211
Sn214

100

Sn212

5-5

K v 1 +

TiS

K v : (Hz )
Ti : (sec)

5-18

5-3-9 (Notch Filter)

(Notch Filter)
Cn013() Cn014(
)Cn014
Cn013

Cn013

Hz

Cn013

Cn014

Cn014

5-19

Pi

Pe

1000

Pi

Pe

100

5-20

5-3-10
TLMT

(1) Cn010(CCW ) Cn011(CW

)

(2) PIC(CN1-27) CCW

NIC(CN1-28) CW

TLMT

CCW

CW

Cn010

Cn011

ALL

Pi/Pe/S
PIC(CN1-27)
NIC(CN1-28)
) 1 0
5-6-1

Cn010

CCW

300

CCW

ALL

Cn010=200
Cn011

300

CW

-300

-300

CW

Cn011=-200

PIC
CCW
(0~10V)

AG

CW
(-10~0V)

NIC
FG

5-21

CN1-27

CN1-29
CN1-28
CN1-50

ALL

5-3-11
PI/P

(1)
(2)
(3) (Servo Lock)

PI/P
PI/P Cn015.0(PI/P )
PI/P

Pi

Pe

Pi

Cn015.0=0 Cn016

Pe

PI Cn016

399

Pi

Cn015.0=1 Cn017

Pe

PI Cn017

4500

Pi

Cn015.0=2 Cn018

Pe

PI Cn018

18750

Pi

Cn015.0=3 Cn019

Pe

PI Cn019

50000

Cn015.0 PI/P

Cn016

Cn016

Cn017

Cn018

Cn019

PCNT

PI/P ()

200

P
Cn017

PI/P ()

rpm

P
Cn018

PI/P ()

rps/s

P
Cn019

PI/P ()

5-22

pulse

(1) PI/P
Cn016 PI Cn016
P

Cn016

PI/P
()

PI

PI

PI

(2) PI/P
Cn017 PI Cn017
P

Cn017

PI/P
()

PI

5-23

PI

PI

(3) PI/P
Cn018 PI Cn018
P

Cn018

PI/P
()

PI

PI

PI

(4) PI/P
Cn019 PI Cn019
P

Cn019

PI/P
()

PI

5-24

PI

(5) PCNT PI/P

PCNT PI PCNT P

PCNT
PI/P

PCNT

1
0
PI

PI

) 1 0
5-6-1

Cn015.1()
PI/P

Pi

Pe

x02

Pi

msec

Pe

10000

Pi

Cn015.1=0 Cn021

Pe

Cn021

399

Pi

Cn015.1=1 Cn022

Pe

Cn022

4500

Cn015.1

Cn020

Cn021

Cn022

Cn023

Cn024

G-SEL
0

Cn021

200

()

Cn021
Cn020

Cn022

()

Cn022
Cn020

5-25

rpm

Pi

Cn015.1=2 Cn023

Pe

Cn023

18750

Pi

Cn015.1=3 Cn024

Pe

Cn024

50000

Cn023

()

rps/s

Cn023 Cn020

Cn024

()

pulse

Cn024 Cn020

) Pn310( 1)Sn211( 1) Sn212(

1)
Pn311( 2)Sn213( 2) Sn214(
2)

(1)
Cn021 Cn021
Cn021 Cn020

5-26

(2)
Cn022 Cn022
Cn022 Cn020

Cn022

()

Cn020

Cn020

(3)
Cn023 Cn023
Cn023
Cn020

Cn023

()

Cn020

Cn020

1
2

5-27

1
2

(4)
Cn024 Cn024
Cn024
Cn020

(5) G-SEL
G-SEL G-SEL
G-SEL Cn020

) 1 0
5-6-1

5-28

5-3-12

Cn007() INS

Cn007

rpm

Cn007()

x 1/3

INS

4500

Cn007

INS
1
0

) 1 0
5-6-1

Sn215() ZS

Sn215

Sn215()
ZS

50

rpm

4500

5-29

Sn215

ZS
1
0

) 1 0
5-6-1

Sn204() 1

Sn204

0V
LOK
5-6-1 LOK

5-30


Cn032()

Cn032

5-31

500

Hz

Pe

Pi

1000

5-4

(Pn317~Pn364) POS1~POS4
Cn001()

Cn001

ALL

()
5-4-3
()

5-4-2

5-32

5-4-1

Pn301.0

Pn301.1

Pe

(Pulse)+(Sign)

(CCW)/(CW)

AB x2

AB x4
0

0
1

(Pulse)+
(Sign)
(CCW)/
(CW)

AB

5-33

(Open collector)(Line driver)

2-2-1

(Pulse)+
(Sign)

t3

t1

t1, t2 0.1s
t3
3s

1.0s
(/T) 50%

t3

Pulse
t

t2

t1, t2 0.2s
t3
3s

2.0s
(/T) 50%

t2

Sign

t1

(CCW)/
(CW)

t1, t2 0.1s
t3
3s

1.0s
(/T) 50%

Pulse
t

t2

t1, t2 0.2s
t3
3s

2.0s
(/T) 50%

Sign
t3

t1, t2 0.1s

1.0s
(/T) 50%

t1

Pulse
t2

AB

t1, t2 0.2s

2.0s
(/T) 50%

Sign
t

INH

INH

Pe

) 1 0
5-6-1

5-34

5-4-2
(Pn317~Pn364) POS1~POS4

POS4 POS3 POS2 POS1

P1

P2

P3

P4

P5

P6

P7

P8

P9

P10

P11

Pn317

Pn318

Pn320

Pn321

Pn323

Pn324

Pn326

Pn327

Pn329

Pn330

Pn332

Pn333

Pn335

Pn336

Pn338

Pn339

Pn341

Pn342

Pn344

Pn345

Pn347

Pn348

5-35

Pn319

Pn322

Pn325

Pn328

Pn331

Pn334

Pn337

Pn340

Pn343

Pn346

Pn349

 POS4 POS3 POS2 POS1

P12

Pn350

Pn351

Pn353

Pn354

Pn356

Pn357

Pn359

Pn360

Pn362

Pn363

P13

P14

P15

P16

Pn352

Pn355

Pn358

Pn361

Pn364

Pn316

Pn316.0

Pi

10pulse 20pulse

(pulse)

(pulse)

30

30

20

20

20

10
10

10
10

10

5-36

 POS1~POS4 PTRG

pulse

P1=10pulses, P8=-10pulses
P16=20pulses, P4=30pulses

P4

30
P16

20
P1

10
-10
SON

P8
1

POS1

POS2

POS3

POS4

P8

P16

P4

PTRG

1 P1

) 1 0
5-6-1

5-37

 PHOLD
PTRG PHOLD

) 1 0
5-6-1

5-38

 CLR (Pn315
1 2 5-4-7 )
PTRG POS1~POS4

) 1 0

5-6-1

5-39

5-4-3

10mm

1. 5mm

( 1

2. 10mm
10mm 5mm/rev = 2

3. 2000pulse/rev 4 = 8000pulse

1um)
1. 1 1um
2. 10mm

4.

8000pulse/rev 2 rev = 16000pulse

10mm 1um/pulse = 10000pulse

5-40

1.

( 1-1-2 )

2.
1um
2000 2000pulse 1um/pulse = 2mm (
)

3.

(m n )

4
m

5-41

4.
50000

Pn302

Pn303

Pn304

Pn305

Pi

Pe

50000

Pn306

1
200
200

GN1GN2

GN2

GN1

1
Pn302
2
0
1
Pn303
Pi/Pe
3
1
0
Pn304
4
1
1
Pn305
) 1 0
5-6-1

5-42

1.
()=5mm
=2000pulse

2.
=1um
3.
=

2000 pulse / rev 4

8000
=
5mm / rev 1um / pulse 5000

4.

8000
5000

1.
=1/5

()=360

=2500pulse
2.
=0.1
3.
=

2500pulse / rev 4 5 50000

=
360 0.1 / pulse 1 3600

4.

5-43

50000
3600

1.
=1/8
()

= 3.14 100mm = 314mm

=8192pulse
2.
=10um
3.
=

8192pulse / rev 4
8 262144
=
314mm 10um / pulse 1 31400

4.

50000

5-44

32768
3925

5-4-4

msec

Pn313

Pi

Pe

10000

63.2%

63.2%

(1) 30msec 95%

Pn313 =

30(msec)
= 10(msec)
- ln(1 - 95%)

(2) 30msec 75%

Pn313 =

30(msec)
= 22(msec)
- ln(1 - 75%)

) ln(x)

5-45

5-4-5
Pn314()

Pn314 ()

CW

CCW

Pi

Pe

(CW)

(CCW)

5-4-6
(
5-3-11)

Pi

Pe

450

Pn310

40

1/s

Pn311

40

1/s

Pn310
Pn312

Pi

Pe

450
0

Pi

Pe

INP(

100

)
Cn033

40

Hz

Pe

Pi

100

5-46


5-5

K pff
Kp

K p : (1/s )
K pff : (%)

5-4-7
Pn315() CLR

Pn315

0
1
2

CLR

Pe

CLR

Pi

Pe

CLR

Pi

) 5-6-1

5-47

5-4-8

ORG()CCWL CWL
Z

Pi

Pe

Pn365.0

CCWL CWL
CCWL
0

CWL Pn365.1
1 2Cn002.1(
CCWL CWL )
0

CWL CCWL
CWL

CCWL Pn365.1
1 2Cn002.1(
CCWL CWL )
0

ORG()

Pn365.1=2
ORG
Pn365.3

ORG()

Pn365.1=2
ORG
Pn365.3

Z
Pn365.1=2( Z
Pn365.3 )

Z
Pn365.1=2( Z
Pn365.3 )

5-48

Pi

Pe

Pn365.1

Z Pn365.3

Z Pn365.3

Pn365.0=2 3 ORG

Pn365.3
Pn365.0=4 5 Z
Pn365.3
0

Pn365.2

(Servo ON)

SHOME

SHOME

Pn365.3

(Un-14 Un-15
)

(Un-14 Un-15
)

Pn365
Pn365.0
Pn365.1

0
1
2

5-49

Pn366

100

rpm

Pn367

Pi

Pe

2000
50

rpm

Pi

Pe

500

/ Pn365()
Pn368() Pn369()

-30000

Pi

Pn365()

Pe

Pn368() Pn369(

30000

Pn368

rev

)
Pn369

pulse -32767

=Pn368()x x4+Pn369()

Pi
Pe

32767

SON()
HOME()
Pn365.2=2
(SHOME)

Pn365.2=1

((Servo ON))

1
RDY

1
SON

RDY

1
SHOME

SON

1
HOME

HOME

)/10
5-6-1

5-50

/
Pn365 /
Pn365.0
Pn365.1

0
1
2

(1)

(2)

(1)
(3)
(5)

(2)
(4)
(6)

(7)

(8)

(1)
Pn365.0=02(CCWLCWLORG)
Pn365.1=0(Z)
Pn365.2=2(SHOME)
Pn365.3=0()

5-51

(2)
Pn365.0=13(CWLCCWLORG)
Pn365.1=0(Z)
Pn365.2=2(SHOME)
Pn365.3=0()

Pn367()

Pn365.1=0

Pn365.3=0

Pn366()
Z
Pn365.0=1
CWL

CCWL
ORG

Pn365.0=3

SHOME

Pn365.2=2

(3)
Pn365.0=2(ORG)
Pn365.1=1(Z)
Pn365.2=2(SHOME)
Pn365.3=0()

Pn366()
Pn365.1=1
Pn367()

Pn365.3=0

Z
1

ORG
Pn365.0=2
SHOME

1
Pn365.2=2

5-52

(4)
Pn365.0=3(ORG)
Pn365.1=1(Z)
Pn365.2=2(SHOME)
Pn365.3=0()

Pn365.3=0

Pn367()
Pn365.1=1
Pn366()

Z
1

ORG
Pn365.0=3
1

SHOME

Pn365.2=2

(5)
Pn365.0=2(ORG)
Pn365.1=2(ORG)
Pn365.2=2(SHOME)
Pn365.3=0()

Pn366()

Pn365.3=0

Pn367()
Pn365.1=2
1

ORG
Pn365.0=2
SHOME

1
Pn365.2=2

5-53

(6)
Pn365.0=3(ORG)
Pn365.1=2(ORG)
Pn365.2=2(SHOME)
Pn365.3=0()

Pn367()

Pn365.3=0

Pn366()
Pn365.1=2
1

ORG
Pn365.0=3
SHOME

1
Pn365.2=2

(7)
Pn365.0=4(Z)
Pn365.1=2(Z)
Pn365.2=2(SHOME)
Pn365.3=0()

5-54

(8)
Pn365.0=5(Z)
Pn365.1=2(Z)
Pn365.2=2(SHOME)
Pn365.3=0()

Pn367()

Pn365.3=0

Pn366()
Pn365.1=2
Z
Pn365.0=5
SHOME

1
Pn365.2=2

5-55

5-4-9

Pn307() INP

Pn307

10

pulse

Pn307()
INP

Pn307

Pi

Pe

50000

pulse

INP
1
0

) 1 0
5-6-1

Pn308() Pn309()
AL-11()

Pn308

50000

pulse

Pn308()
AL-11()
Pn309

Pn309()
AL-11()

5-56

Pi

Pe

50000
50000

pulse

Pi

Pe

50000

5-5

()>()>()

10

Pi

Pe

450

x0.2

Pi

ms

Pe

500

10

Pi

Pe

450

Sn211

40

Hz

Cn025()

Sn212

100

Sn213

1
2

40

Sn211

5-57

Hz

x0.2

Pi

msec

Pe

500

Pi

Pe

450

Sn214

100

Sn212
Pn310

40

1/s

Pn311

40

1/s

Pn310
Pn312

Pi

Pe

450
0

Pi

Pe

INP(

100

)
Cn025

40

(J L )
(J M )

x0.1

100%

Pi

Pe

1000

Cn025() Sn211( 1)
Sn213( 2)
=

(J L )
100%
(J M )

5-58

Sn212(1) 5

1
2 Sn211(1)

Cn025() 100Hz
Sn211( 1)=100(Hz)

Sn212(1) 5

1
= 40 (0.2msec)
2 100

INP()
INP()

5-59

Enter

10

Pi

Pe

450

x0.2

Pi

ms

Pe

500

10

Pi

Pe

450

x0.2

Pi

ms

Pe

500

Pi

Pe

450

qn401 1

40

Hz

Cn025()

qn402 1

100

1
2

qn403 2

40

Hz

qn401
qn404 2

100

qn402
qn405 1

40

1/s

qn406 2

40

1/s

qn405

Pi

Pe

450
0

Pi

Pe

INP(

100

qn407

Enter

5-60

5-5-1
ON-LINE

Cn002.2

Pi

Pe

Cn002.2 0

Cn025

Sn211

Sn212

Sn213

Sn214

Pn310

Pn311

Pn312

Cn002.2 1 Cn026()
Un-19()
Cn002.2 0
Cn025()
Un-19()

5-61


ON-LINE

(1) 2000rpm 1
(2) 200rpm
(3) 100
(4)

Cn026

Pn310 [1/s]

Sn211 [Hz]

Sn212 [x0.2msec]

1
2
3
4
5
6
7
8
9
A

15
20
30
40
60
85
120
160
200
250

15
20
30
40
60
85
120
160
200
250

300
225
150
100
75
50
40
30
25
20

5-62

IC

)(Cn002.2=1) Cn002.2

Cn025

5-63

5-5-2

1 5-5-1()
2()

3 Sn211( 1)
Sn212( 1)

4 Sn212( 1)

1 5-5-1()
2 Pn310( 1) Sn212(
1)
3 Sn211( 1)

4 Pn310( 1)

5 Sn212( 1)

5-64

5-5-3

PI/P

(1)
(2)
(3) (Servo Lock)

5-3-11

1 5-5-1~5-5-2
2 Pn312() INP()

INP()

5-65

5-6
5-6-1 /
13 4

Hn501.0
Hn501.1

DI-1

01

01

ALL

Hn501.2

1C

01

SON

02

ALRS

03

PCNT

PI/P

04

CCWL

CCW

05

CWL

CW

06

TLMT

07

CLR

08

LOK

09

EMC

0A

SPD1

0B

SPD2

0C

MDC

0D

INH

0E

SPDINV

0F

G-SEL

10

GN1

11

GN2

12

PTRG

13

PHOLD

14

SHOME

15

ORG

16

POS1

17

POS2

18

POS3

19

POS4

1A

TRQINV

1B

RS1

1C

RS2

DI-1

( IG24 )

( IG24 )

5-66

Hn502 DI-2

002

001

ALL

Hn501

11C

Hn503 DI-3

003

001

ALL

Hn501

11C

Hn504 DI-4

104

001

ALL

Hn501

11C

Hn505 DI-5

105

001

ALL

Hn501

11C

Hn506 DI-6

006

001

ALL

Hn501

11C

Hn507 DI-7

007

001

ALL

Hn501

11C

Hn508 DI-8

008

001

ALL

Hn501

11C

Hn509 DI-9

009

001

ALL

Hn501

11C

Hn510 DI-10

00A

001

ALL

Hn501

11C

Hn511 DI-11

00B

001

ALL

Hn501

11C

Hn512 DI-12

00C

001

ALL

Hn501

11C

Hn513 DI-13

00E

001

ALL

Hn501

11C

DI-1~DI-13
AL-07(/)

5-67

Hn514.0
Hn514.1

01

DO-1

RDY

02

ALM

03

ZS

04

BI

05

INS

06

INP

07

HOME

08

INT

01

ALL

08

01

Hn514.2

DO-1

( IG24 )

( IG24 )

Hn515 DO-2

002

001

ALL

Hn514

108

Hn516 DO-3

003

001

ALL

Hn514

108

Hn517 DO-4

006

001

Hn514

108

DO-1~DO-4 AL-07
(/)

5-68

ALL

5-6-2
MDC Cn001

Cn001

ALL

MDC

MDC

()

()

) 5-6-1

5-6-3
SONCCWL CWL

Cn002.0

SON

0
1

Cn002.1

ALL

SON
SON

CCWL CWL

CCWL CWL CCW CW

CCWL CWL CCW CW

CCW CW

5-69

5-6-4
(Servo off)(EMC)CCW/CW

Cn008

ALL

(Servo off)(EMC)CCW/CW

CCW/CW Cn009
Cn008 Cn008 0 1() Cn009 1()

5-6-5

BI Cn003(
)

5-70

Cn003

msec -2000

ALL

)(BI)

/ 1 0

2000

/ 5-6-1

Cn008() 1 3
Cn003

(1) Cn003()

SON Cn003 BI
()
SON BI () Cn003

(2) Cn003()

SON BI () Cn003

SON Cn003
BI ()

)(BI)/ 1
0 / 5-6-1

5-71

5-6-6 CW/CCW
CW/CCW

Cn009 CW/CCW

0
1
2

(Cn010Cn011)
0

ALL

Cn008)
300%

CCW/CW Cn009
Cn008 Cn008 0 1() Cn009 1()

5-6-7

()
(1)
(2)
(3)

5-72


()

(W)

(W)
()

TSTA15

50

60

24

50

TSTA20

50

60

24

41

TSTA30

25

60

24

23

TSTA50

20

200

80

15

TSTA75

12.5

200

80

()

() 40%

(W)

Cn012

Cn012

5-6-7
Cn012
)

5-73

60

ALL

150

10000


TB1 PC P1
P1 PC

100C

TSTA15

TSTA20

(/)

TSB07301C

433

6CC201C

1775

TSC06401C

1004

TSB08751C

118

TSC06401C

1004

8CC751C

321

TSB13551A

411

TSB13551H

186

5-74

EC (J)

TSTA30

TSTA50

TSTA75

8CC751C

321

TSB13102A

213

TSB13102B

102

TSB13102H

95

TSB13152A

145

TSB13152B

73

TSB13152C

45

TSB13152A

484

TSB13152B

245

TSB13152C

152

TSB13202B

178

TSB13302B

121

TSB13302C

79

13

13

18

(/) =

(
)2
(1 + )

= /

()
rm

tD
TL

5-75

E M (J)
1

2
E M = J T rm
/ 182

J T ( kg m 2 )

rm (rpm)
E L (J)
2

E L = ( / 60)rmTL t D

TL (Nm)
t D (s)

EC

EC (J)

E R = E M - ( E L + EC )

E R (J)

PR = ( E R /T ) / 0.4

PR (W)

T (s)
1) PR 0.4 40%
2) E L E L = 0

EG (J)

rm ,G (rpm)
EG = ( / 60)rm ,G TG t G
TG (Nm)
t G (s)

4 E R = E M - ( E L + EC ) + EG

5-76

5-6-8

Cn031

()

ALL

5-6-9

Cn006.0 MON1

ALL

(Vdc Bus)

Cn006.1 MON2

Cn006.0

CN1-30

CN1-32
CN1-31
CN1-50

MON1
1
(10V)

AG

2
(10V)

MON2
FG

5-77

 Cn027Cn028

Cn027

1
Cn028

x40

-250

ALL

mV

250
4

x40

-250

mV

ALL

250

5-6-10
1

Cn029

ALL

5-78


6-1

Un-xx

dn-xx

AL-xx

Cn-xx

Tn1xx

Sn2xx

Pn3xx

qn4xx

Hn5xx

)xx

ALL

Pi

()

Pe

()

Enter

6-1

6-2

Cn001

Cn002.0

()

()

Cn002.2

ALL

5-1

ALL

5-6-3

Pi

5-5-1

Pe

ALL

0
1

CCWL CWL CCW CW

CCWL CWL CCW CW

CCW CW
0

EMC

EMC Servo Off (SON

) ALRS AL-09
) Servo On (SON )
EMC Servo On Servo off
AL-09

SON

SON

Cn002.3

5-6-2

CCWL CWL

SON

Cn002.1

Servo On

6-2

Cn003

msec -2000

ALL

5-6-5

5-2-4

5-3-7

ALL

5-3-5

2000

)(BI)
/ 1 0
/ 5-6-1
Cn004

( )
CCW

CW

(CCW) (CCW)

(CW)

(CCW) (CW)

(CW)

(CCW)
(CW)
pulse

Cn005

Cn005

2000pulse 1000pulse

Cn005=1000

6-3

Cn006.0 MON1

(Vdc Bus)

ALL

5-6-9

5-3-12

Cn006.1 MON2
Cn006.0
Cn007

rpm

Cn007()

x 1/3

4500

INS
Cn008

1
2

(Cn010Cn011)

ALL

5-6-4

ALL

5-6-6

ALL

5-2-5

Cn009 CW/CCW

(
Cn008)
300%
300

CCW

CCW

5-3-10

300

Cn010=200
Cn011

(Servo off)(EMC)CCW/CW

Cn010

-300

CW

-300

CW

Cn011=-200

6-4

ALL

5-2-5
5-3-10

Cn012

5-6-7
Cn012

60

ALL

5-6-7

Pi

5-3-9

Pe

1000

Pi

Pe

100

Pi

Pe

150

10000

)
Cn013

Hz

Cn013

Cn014

Cn014

Cn015.0 PI/P

Cn016

Cn017

Cn018

Cn019

PCNT
4

Cn015.1

Cn016

Cn021

Cn022

Cn023

Cn024

G-SEL

5-3-11

5-3-9

200

Pi

Cn015.0=0 Cn016

Pe

PI Cn016

399

Pi

Cn015.0=1 Cn017

Pe

PI Cn017

4500

PI/P ()

5-3-11

P
Cn017

PI/P ()

6-5

rpm

5-3-11

Pi

5-3-11

Cn015.0=2 Cn018

Pe

PI Cn018

18750

Pi

Cn015.0=3 Cn019

Pe

PI Cn019

50000

x02

Pi

msec

Pe

10000

Pi

Cn015.1=0 Cn021

Pe

Cn021

399

Pi

Cn015.1=1 Cn022

Pe

Cn022

4500

Pi

Cn015.1=2 Cn023

Pe

Cn023

18750

Pi

Cn015.1=3 Cn024

Pe

Cn024

50000

Pi

Pe

1000

Cn018

PI/P ()

rps/s

P
Cn019

PI/P ()

pulse

5-3-11

P
Cn020

Cn021

200

()

5-3-11

5-3-11

Cn021
Cn020

Cn022

()

rpm

5-3-11

Cn022
Cn020

Cn023

()

rps/s

5-3-11

Cn023 Cn020

Cn024

()

pulse

5-3-11

Cn024 Cn020

Cn025

40

(J L )
(J M )

6-6

100%

x0.1

5-5

Pi

5-5-1

Pe

x40

-250

ALL

5-6-9

mV

ALL

5-6-9

ALL

5-6-10

ALL

3-2-2

Cn026

Cn027

Pn310 [1/s]

Sn211 [Hz]

Sn212 [x0.2msec]

15

15

300

20

20

225

30

30

150

40

40

100

60

60

75

85

85

50

120

120

40

160

160

30

200

200

25

250

250

20
4

1
1

250

Cn028

2
2

-250

mV

250

Cn029

x40

0
1

Cn030

dn-08
3-2-2 dn-08

6-7

Cn031

()

Cn032

500

Hz

40

Hz

Cn034

Hz

3-1

Un-01 ~ Un-19 3-2-1

Cn035=1

19

(Un-01 )
0

Modbus
bps

19200

38400

57600

115200
1

4800

9600

19200

38400

Pi

1000

Pe

Pi

bps

5-3-12

5-4-6

ALL

5-2-7

ALL

3-1
3-2-1

ALL

ALL

Cn037.1 PC Software RS-232

Pe

9600

254
1

Cn037.0 Modbus RS-485

5-6-8

4800

ALL

19

1000

Cn036

100

Cn035

Cn033

6-8

ALL

Cn038

Cn039

7 , N , 2 ( Modbus , ASCII )

7 , E , 1 ( Modbus , ASCII )

7 , O , 1 ( Modbus , ASCII )

8 , N , 2 ( Modbus , ASCII )

8 , E , 1 ( Modbus , ASCII )

8 , O , 1 ( Modbus , ASCII )

8 , N , 2 ( Modbus , RTU )

8 , E , 1 ( Modbus , RTU )

8 , O , 1 ( Modbus , RTU )

ALL

ALL

ALL

sec

20

0
Cn040

6-9

0.5

msec

255

Tn101

5-2-3

5-2-3

5-2-1

1
1

Tn102

msec

50000

Tn103

300

/10V

300

6-10

Tn104

5-2-2

5-2-6

5-2-6

5-2-6

ALL

5-2-7

10000

(V)

(%)

Tn105

(V)

mV -10000

(%)

100

rpm

SPD1SPD2

1 SPD1SPD2

3000

SPD2

SPD1

) 1 0
5-6-1
Tn106

200

rpm

SPD1SPD2

2 SPD1SPD2

3000

SPD2

SPD1

) 1 0
5-6-1
Tn107

300

rpm

SPD1SPD2

3 SPD1SPD2

3000

SPD2

SPD1

) 1 0
5-6-1
Tn108

INT

300

6-11

Sn201

100

rpm

-3000

5-3-1

5-3-1

5-3-1

5-3-12

5-3-6

SPD1SPD2

1 SPD1SPD2

3000

SPD2

SPD1

) 1 0
5-6-1
Sn202

200

rpm

-3000

SPD1SPD2

2 SPD1SPD2

3000

SPD2

SPD1

) 1 0
5-6-1
Sn203

300

rpm

-3000

SPD1SPD2

3 SPD1SPD2

3000

SPD2

SPD1

) 1 0
5-6-1
Sn204

Sn205

0
1

6-12

Sn206

msec

Sn205=1

5-3-6

5-3-6

10000

63.2%
(%)

100

63.2
50

(ms)

Sn206

Sn207

Sn205=2

(%)

100

50

Sn207

(ms)

6-13

msec

50000

5-3-6

5-3-6

5-3-6

10

Pi

5-3-8

Pe

5-5

450

x0.2

Pi

5-3-8

ms

Pe

5-5

500

Sn208

msec

Sn205=3 S

1000

Sn209

ta
t
> ts d > ts
2
2
200

msec

Sn208
Sn210

5000
200

msec

Sn208
Sn211

5000
40

Hz

Cn025()

Sn212

100

1
2

6-14

Sn213

10

Pi

5-3-8

Pe

5-5

450

x0.2

Pi

5-3-8

msec

Pe

5-5

500

5-3-12

5-3-2

5-3-3

5-3-4

40

Hz

Sn211
Sn214

100

2
Sn212

Sn215

50

rpm

Sn215()

4500

ZS
Sn216

rpm

/10V

100

4500

4500
(rpm) 3000
1500
-10

-5
10

5
-1500

(V)

-3000
-4500

Sn217

Sn216

mV -10000

(V)

(V)

Sn218

10000

(rpm)

(rpm)

rpm

Sn218

6-15

x 1.02

100

4500

Pn301.0

Pn301.1

(Pulse)+(Sign)

(CCW)/(CW)

AB x2

AB x4
0

Pe

5-4-1

Pi

5-4-1

Pe

1
0

Pn302

Pn301.2

1
1

Pi

GN1GN2

Pe

1 GN1GN2

50000

5-4-3

GN2

GN1

) 1 0
5-6-1
Pn303

Pi

GN1GN2

Pe

2 GN1GN2

50000

5-4-3

GN2

GN1

) 1 0
5-6-1
Pn304

Pi

GN1GN2

Pe

3 GN1GN2

50000

GN2

GN1

) 1 0
5-6-1

6-16

5-4-3

Pi

5-4-3

GN1GN2

Pe

4 GN1GN2

50000

Pn305

GN2

GN1

) 1 0
5-6-1
1

Pi

Pn306() GN1GN2

Pe

50000

Pn306

5-4-3

1
200
200

Pn307

10

pulse

Pn307()
50000

pulse

Pn308()
AL-11()
Pn309

Pe

5-4-9

50000

Pi

Pe

5-4-9

50000
pulse

Pn309()
AL-11()
Pn310

Pi

50000

INP
Pn308

Pi

Pe

5-4-9

50000
40

Pi

5-4-6

Pe

5-5

450

Pi

5-4-6

Pe

5-5

Pi

5-4-6

Pe

5-5

INP(

100

1/s

Pn311

40

1/s

Pn310
Pn312

450
0

6-17

Pn313

msec

Pi

5-4-4

Pe

10000

63.2%

Pn314 ()

CW

CCW

Pi

Pe

5-4-5

Pn315

(CW)

(CCW)

0
1
2
Pn316.0

5-4-7
Pe

CLR

Pi

Pe

CLR

Pi

Pi

5-4-2

Pi

5-4-2

1
0

(PHOLD)

CLR

Pn316.1

PHOLD PTRG

PHOLD
PHOLD PTRG

6-18

Pn317

1-

rev

-30000

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

POS1~POS4 1

30000

5-4-2
Pn318

1-

pulse -32767

32767

1 =Pn317()x x4+Pn318()

Pn319

1-

rpm

1
Pn320

3000
0

2-

rev

30000
0

2-

pulse -32767

Pn318
Pn322

32767
0

2-

rpm

3000
0

3-

rev

30000
0

3-

pulse -32767

Pn318
Pn325

32767
0

3-

rpm

3000
0

4-

rev

30000
0

4-

pulse -32767

Pn318
Pn328

-30000

Pn317
Pn327

Pn319
Pn326

-30000

Pn317
Pn324

Pn319
Pn323

-30000

Pn317
Pn321

32767
0

4-

rpm

Pn319

3000

6-19

Pn329

5-

rev

5-

5-

rpm

6-

rev

6-

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

-30000

32767
0

6-

rpm

3000

7-

rev

-30000

30000

7-

pulse -32767

32767

7-

rpm

3000

8-

rev

-30000

30000

8-

pulse -32767

Pn318
Pn340

5-4-2

pulse -32767

Pn317
Pn339

Pi

30000

Pn319
Pn338

5-4-2

Pn318
Pn337

Pi

3000

Pn317
Pn336

-30000

Pn319
Pn335

32767

Pn318
Pn334

Pn317
Pn333

pulse -32767

Pn319
Pn332

30000

Pn318
Pn331

Pn317
Pn330

32767
0

8-

rpm

Pn319

3000

6-20

Pn341

9-

rev

9-

9-

rpm

10-

rev

10-

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

-30000

32767
0

10-

rpm

3000

11-

rev

-30000

30000

11-

pulse -32767

32767

11-

rpm

3000

12-

rev

-30000

30000

12-

pulse -32767

Pn318
Pn352

5-4-2

pulse -32767

Pn317
Pn351

Pi

30000

Pn319
Pn350

5-4-2

Pn318
Pn349

Pi

3000

Pn317
Pn348

-30000

Pn319
Pn347

32767

Pn318
Pn346

Pn317
Pn345

pulse -32767

Pn319
Pn344

30000

Pn318
Pn343

Pn317
Pn342

32767
0

12-

rpm

Pn319

3000

6-21

Pn353

13-

rev

13-

13-

rpm

14-

rev

14-

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

Pi

5-4-2

-30000

32767
0

14-

rpm

3000

15-

rev

-30000

30000

15-

pulse -32767

32767

15-

rpm

3000

16-

rev

-30000

30000

16-

pulse -32767

Pn318
Pn364

5-4-2

pulse -32767

Pn317
Pn363

Pi

30000

Pn319
Pn362

5-4-2

Pn318
Pn361

Pi

3000

Pn317
Pn360

-30000

Pn319
Pn359

32767

Pn318
Pn358

Pn317
Pn357

pulse -32767

Pn319
Pn356

30000

Pn318
Pn355

Pn317
Pn354

32767
0

16-

rpm

Pn319

3000

6-22

Pi

5-4-8

Pe

Pn365.0

CCWL CWL
CCWL
0

CWL Pn365.1

1 2Cn002.1(
CCWL CWL )
0

CWL CCWL
CWL
1

CCWL Pn365.1

1 2Cn002.1(
CCWL CWL )
0

ORG()
2

Pn365.1=2
ORG
Pn365.3

ORG()

Pn365.1=2
ORG
Pn365.3

Z
Pn365.1=2( Z
Pn365.3 )

Z
Pn365.1=2( Z
Pn365.3 )

6-23

Pi

5-4-8

Pe

Pn365.1

Z Pn365.3

Z Pn365.3

Pn365.0=2 3 ORG

Pn365.3
Pn365.0=4 5 Z

Pn365.3
0

Pn365.2

(Servo ON)

SHOME

SHOME

Pn365.3

(Un-14 Un-15
)

(Un-14 Un-15
)

6-24

Pn366

100

rpm

Pn367

Pi

5-4-8

Pe

2000
50

rpm

Pn368

Pi

Pe

5-4-8

500
0

-30000

Pi

Pn365()

Pe

Pn368() Pn369(

30000

rev

5-4-8

)
Pn369

=Pn368()x x4+Pn369()

6-25

pulse -32767

32767

Pi
Pe

5-4-8

10

Pi

5-3-8

Pe

5-5

450

x0.2

Pi

5-3-8

ms

Pe

5-5

500

10

Pi

5-3-8

Pe

5-5

450

x0.2

Pi

5-3-8

ms

Pe

5-5

500

Pi

5-4-6

Pe

5-5

450

Pi

5-4-6

Pe

5-5

Pi

5-4-6

Pe

5-5

INP(

100

qn401 1

40

Hz

Cn025()

100

qn402 1

1
2

40

qn403 2

Hz

qn401
100

qn404 2

qn402
40

qn405 1

1/s

40

qn406 2

1/s

qn405

450
0

qn407

6-26

Hn501.0
Hn501.1

DI-1

01

01

ALL

5-6-1

Hn501.2

1C

01

SON

02

ALRS

03

PCNT

PI/P

04

CCWL

CCW

05

CWL

CW

06

TLMT

07

CLR

08

LOK

09

EMC

0A

SPD1

0B

SPD2

0C

MDC

0D

INH

0E

SPDINV

0F

G-SEL

10

GN1

11

GN2

12

PTRG

13

PHOLD

14

SHOME

15

ORG

16

POS1

17

POS2

18

POS3

19

POS4

1A

TRQINV

1B

RS1

1C

RS2

DI-1

( IG24 )

( IG24 )

DI-1~DI-13
AL-07(/)

6-27

Hn502 DI-2

002

001

ALL

5-6-1

ALL

5-6-1

ALL

5-6-1

ALL

5-6-1

ALL

5-6-1

ALL

5-6-1

ALL

5-6-1

ALL

5-6-1

ALL

5-6-1

ALL

5-6-1

ALL

5-6-1

ALL

5-6-1

Hn501

11C
003

Hn503 DI-3

001

Hn501

11C
104

Hn504 DI-4

001

Hn501

11C
105

Hn505 DI-5

001

Hn501

11C
006

Hn506 DI-6

001

Hn501

11C
007

Hn507 DI-7

001

Hn501

11C
008

Hn508 DI-8

001

Hn501

11C
009

Hn509 DI-9

001

Hn501

11C
00A

Hn510 DI-10

001

Hn501

11C
00B

Hn511 DI-11

001

Hn501

11C
00C

Hn512 DI-12

001

Hn501

11C
00E

Hn513 DI-13

001

Hn501

11C

DI-1~DI-13
AL-07(/)

6-28

Hn514.0
Hn514.1

DO-1

01

RDY

02

ALM

03

ZS

04

BI

05

INS

06

INP

07

HOME

08

INT

01

ALL

5-6-1

ALL

5-6-1

ALL

5-6-1

ALL

5-6-1

08

01

Hn514.2

DO-1

( IG24 )

( IG24 )
002

Hn515 DO-2

001

Hn514

108
003

Hn516 DO-3

001

Hn514

108
006

Hn517 DO-4

001

Hn514

108

DO-1~DO-4 AL-07(/
)

6-29

Hn518

H0000

H0000

ALL

5-6-1

()

H1FFF

DI-1 ~ DI-13 0 ~ 12

H0000
H1FFF
DI-1DI-3DI-6DI-10DI-12

0 1010 0010 0101

0 1 DI-1 1 0
DI-2
H 0 A 2 5
Hn519

H0000

()
Hn518
0 OFF

H0000

H1FFF

1 ON

H0000

H1FFF

) Hn518

6-30

ALL

5-6-1
7

Un-01

rpm 120 120 rpm

Un-02

20 20

Un-03

Un-04

Un-05

Un-06

rpm 120 120 rpm

Un-07

pulse

Un-08

pulse

Un-09

5.25 5.25V

Un-10 (Vdc Bus)

310 310V

Un-11
Un-12

CCW

rpm 2000 2000 rpm

%

100 CCW
100%

CW
100 CW
%

100%
-
rev
Un-14
()
Un-13

Un-15

-
pulse
()

Un-16

-
rev
()

Un-17

-
pulse
()

Un-18

Un-19

% 50 50

Cn002.2=0() Cn025

x0.1
Cn002.2=1()

6-31

dn-01

dn-02

dn-03

dn-04

dn-05

JOG

dn-06

dn-07

dn-08

3-2-2

6-32


7-1 ( RS-232 & RS-485 )
RS-232RS-485

7-1-1
RS-232
D-Type 9Pins

PC D-Type 9Pins()

Pin 4Pin 6
Pin 7Pin 8

RS-485
D-Type 9Pins

PC D-Type 9Pins()

7-1

7-1-2 RS-232

Baud rate

9600bps ( Cn037.1 )

Parity

No

Data bit

Stop bit

H 16

(1) WORDR5XxSs
Xx (BYTE16)
Ss Check SumSs =R+5+X+x (BYTE16)
30H
(R530ASCII)
Check Sum=52H+35H+33H+30H=EA
R

30HR530EA
%XxYySs
Ss Check SumSs=%+X+x+Y+y

30H0008H
Check Sum=25H+30H+30H+30H+38H=EDH
%

%0008ED
!(ASCII21H)

7-2

(2) WORDL5NnSs
Nn (BYTE16)
Ss Check SumSs =L+5+N+n (BYTE16)
60H
(L560ASCII)
Check Sum=4CH+35H+36H+30H=E7
L

60HL560E7
%XxYyAaBbSs
Ss Check SumSs=%+X+x+Y+y +A+a+B+b
XxYyNn+1AaBb Nn

60H0001 000AH
Check Sum=25H+30H+30H+30H+31H+30H+30H +30H+41H=1B7H
%

%0001000AB7
!(ASCII21H)

7-3

(3) WORDW5XxYyZzSs
Xx (BYTE16)
YyZz (WORD16)
Ss Check SumSs =W+5+X+x+Y+y+Z+z (BYTE16)

30H0008H
(W5300008ASCII)
Check Sum=57H+35H+33H+30H+30H+30H+30H+38H=1B7H
W

30H0008HW5300008B7
%(ASCII25H)
!(ASCII21H)

(4) WORDM5NnXxYyAaBbSs
Nn (BYTE16)
XxYy Nn+1(WORD16)
AaBb Nn(WORD16)
Ss Check SumSs =M+5+N+n+X+x+Y+y+A+a+B+b (BYTE
16)
60H0002 000BH
(M5600002000BASCII)
Check Sum=4DH+35H+36H+30H+30H+30H+30H+32H+30H+30H+30H+42H =27CH
M

60H0002000BHM5600002000B7C
%(ASCII25H)
!(ASCII21H)

7-4

7-1-3 RS-485
RS-485 Modbus Cn036
ID
Modbus network ASCIIAmerican
Standard Code for information interchange RTURemote Terminal Unit
Cn038

ASCII
8-bit ASCII
1-byte 26H ASCII 26 2 ASCII 32H
6 ASCII 36H
HEX 0 ~ 9 A ~ F ASCII

ASCII

30H

31H

32H

33H

34H

35H

36H

37H

ASCII

38H

39H

41H

42H

43H

44H

45H

46H

RTU
8-bit 4-bit
1-byte 26H

7-5


ASCII
10 bit 7-bit

7N2

Start
bit

Stop
bit

Stop
bit

Data7 bits
Character Frame10 bits

7E1

Start
bit

Even
parity

Stop
bit

Data7 bits
Character Frame10 bits

7O1

Start
bit

Odd
parity

Stop
bit

Data7 bits
Character Frame10 bits
11 bit 8-bit

8N2

Start
bit

Stop
bit

Stop
bit

Data8 bits
Character Frame11 bits

8E1

Start
bit

Even
parity

Stop
bit

Data8 bits
Character Frame11 bits

8O1

Start
bit

Odd
parity

Stop
bit

Data8 bits
Character Frame11 bits

7-6


ASCII

STX

ADR

CMD

DATA(n-1)

DATA(0)
LRC
END 1
END 0

1 (CR)
0 (LF)

3AH
1-byte 2 ASCII
1 ~ 254
20 14H
ADR = 1 , 4 1 = 31H , 0 = 34H
1-byte 2 ASCII
03H()06H(
)08H()10H()
n-word = 2n-byte ( 4n ASCII )n30

1-byte 2 ASCII
0DH \ r
0AH \ n

RTU

STX

ADR

CMD

DATA(n-1)

DATA(0)
CRC-Low
CRC-High
END 0

-
-
0

10ms
1-byte
1 ~ 254
20 14H
ADR = 14H
1-byte
03H()06H(
)08H()10H()
n-word = 2n-byten30

1-byte
1-byte
10ms

7-7


03H
N (word)N 29 (1DH)
01H 0200 2
ASCII
PC Servo

STX
ADR
CMD

()

()

STX

:
0

ADR

1
0

CMD

0
3

()

0
0
0

( word )

0
2

LRC

Servo PC (OK)

()

0200H

()

()

0201H

()

END1 (CR)

(0DH)

END0 (LF)

(0AH)

0
0

Servo PC (ERROR)

STX
ADR
CMD

LRC

:
0
1
8
3
0
2
7
A

END1 (CR)

(0DH)

END0 (LF)

(0AH)

1
F
4
0
E

LRC

END1 (CR)

(0DH)

END0 (LF)

(0AH)

RTU
PC Servo

Servo PC (OK)

Servo PC (ERROR)

ADR

01H

ADR

01H

ADR

01H

CMD
()

03H

03H
04H

CMD

83H

02H

CMD
()

02H

()

00H

00H

( word )

02H

CRC

04H

CRC

07H

0200H

()

00H

CRC

C0H

()

BAH

CRC

F1H

0201H

()

1FH

()

40H

CRC

A3H

CRC

D4H

7-8

06H

100 (0064H) 01 0200H

ASCII
PC Servo

STX
ADR
CMD

()

()

:
0
1
0
6

Servo PC (OK)

STX
ADR
CMD

0
2

()
()

:
0
1
0
6
0
2
0
0

LRC

1
8
6
0
3
7
6

END0 (LF)

(0AH)

(word )

(word )

CMD

(0DH)

ADR

END1 (CR)

LRC

STX

Servo PC (ERROR)

4
LRC

9
3

END1 (CR)

(0DH)

END1 (CR)

(0DH)

END0 (LF)

(0AH)

END0 (LF)

(0AH)

RTU
PC Servo

Servo PC (OK)

Servo PC (ERROR)

ADR

01H

ADR

01H

ADR

01H

CMD
()

06H

03H
02H

CMD

86H

02H

CMD
()

03H

()

00H

00H

CRC

02H

00H

00H

CRC

61H

(word )

64H

(word )

64H

CRC

89H

CRC

89H

CRC

99H

CRC

99H

()

7-9

08H
0000H Master Slaver
01H
ASCII
PC Servo

STX
ADR
CMD

()
()

Servo PC (OK)

STX

ADR

1
0

CMD

8
0
0

()
()

:
0
1
0
8
0
0
0
0

ADR
CMD

LRC

:
0
1
8
8
0
3
7
4

END1 (CR)

(0DH)

END0 (LF)

(0AH)

(word )

(word )

LRC

STX

Servo PC (ERROR)

LRC

1
B

END1 (CR)

(0DH)

END1 (CR)

(0DH)

END0 (LF)

(0AH)

END0 (LF)

(0AH)

RTU
PC Servo

Servo PC (OK)

Servo PC (ERROR)

ADR

01H

ADR

01H

ADR

01H

CMD
()

08H

08H
00H

CMD

88H

00H

CMD

()

03H

00H

00H

CRC

06H

CRC

01H

()

()

A5H

A5H

(word )

37H

(word )

37H

CRC

DAH

CRC

DAH

CRC

8DH

CRC

8DH

7-10

10H
N N 27 (1BH)
100 (0064H)300 (012CH) 01 0100H

ASCII
PC Servo

STX
ADR
CMD

()
()

:
0
1
1
0

Servo PC (OK)

STX
ADR
CMD

0
1

()
()

:
0
1
1
0
0
1
0
0

( word )

()

0100H

()

()

0101H

()

LRC

2
E
C

END1 (CR)

(0DH)

END0 (LF)

(0AH)

6
4
0
1
C
2
5
7

END1 (CR)

(0DH)

END0 (LF)

(0AH)

7-11

LRC

9
0
0
2
6
D
(0AH)

( word )

()

END0 (LF)

LRC

CMD

(0DH)

ADR

END1 (CR)

STX

Servo PC (ERROR)

RTU
PC Servo

Servo PC (OK)

Servo PC (ERROR)

ADR

01H

ADR

01H

ADR

01H

CMD
()

10H

10H
01H

CMD

90H

01H

CMD
()

02H

00H

00H

CRC

CDH

CRC

C1H

()

()

00H

00H

( word )

02H

( word )

02H

()

04H

CRC

40H

()

00H

CRC

34H

()

64H

()

01H

()
0101H
CRC

2CH
BFH

CRC

ADH

0100H

LRC (ASCII ) CRC (RTU )

LRC
ASCII LRCLongitudinal Redundancy Check
LRC ADRCMD
256 (100H) ( 19DH 9DH
LRC
01H
STX
ADR
CMD

()
()

(word )

LRC

1
B

END1 (CR)

(0DH)

END0 (LF)

(0AH)

01H+08H+00H+00H+A5H+37H = E5H
E5H 1BH LRC 1 , B

7-12

CRC
RTU CRCCyclical Redundancy Check
CRC
1. 16-bits CRC FFFFH
2. 8-bits CRC XOR (Exclusive OR)
CRC
3. CRC (LSB) 0 (MSB)
4. (LSB)
0 CRC
1 A001H XOR CRC
5. 3 ~ 4 8 bit 6
6. 8-bits 2 ~ 5
CRC CRC

Example
An example of a C language function performing CRC generation is shown on the following
pages. All of the possible CRC values are preloaded into two arrays, which are simply indexed
as the function increments through the message buffer. One array contains all of the 256
possible CRC values for the high byte of the 16-bit CRC field, and the other array contains all
of the values for the low byte.
Indexing the CRC in this way provides faster execution than would be achieved by calculating a
new CRC value with each new character from the message buffer.
Note
This function performs the swapping of the high/low CRC bytes internally. The bytes are
already swapped in the CRC value that is returned from the function.
Therefore the CRC value returned from the function can be directly placed into the message for
transmission.
The function takes two arguments:
unsigned char *puchMsg ;
unsigned short usDataLen ;

A pointer to the message buffer containing binary data

to be used for generating the CRC
The quantity of bytes in the message buffer.

The function returns the CRC as a type unsigned short.

7-13

CRC Generation Function

unsigned short CRC16(puchMsg, usDataLen)
unsigned char *puchMsg ;
unsigned short usDataLen ;
{
unsigned char uchCRCHi = 0xFF ;
unsigned char uchCRCLo = 0xFF ;
unsigned uIndex ;

/* message to calculate CRC upon*/

/* quantity of bytes in message*/
/* high byte of CRC initialized*/
/* low byte of CRC initialized*/
/* will index into CRC lookup table*/

while (usDataLen--)
{
uIndex = uchCRCHi ^ *puchMsgg++ ;
uchCRCHi = uchCRCLo ^ auchCRCHi[uIndex} ;
uchCRCLo = auchCRCLo[uIndex] ;
}
return (uchCRCHi << 8 | uchCRCLo) ;
}

/* pass through message buffer

/* calculate the CRC*/

High-Order Byte Table

/* Table of CRC values for high-order byte */
static unsigned char auchCRCHi[] = {
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01,
0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0,
0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01,
0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81,
0x40
};

7-14

Low-Order Byte Table

/* Table of CRC values for low-order byte */
static char auchCRCLo[] = {
0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4,
0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09,
0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD,
0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3,
0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7,
0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A,
0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE,
0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26,
0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2,
0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F,
0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB,
0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5,
0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91,
0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C,
0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88,
0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C,
0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80,
0x40
};

80H
ModBus

01

02

03

04

The function code received in the query is not an allowable

action for the server (or slave).
The data address received in the query is not an allowable
address for the server (or slave).
A value contained in the query data field is not an allowable
value for server (or slave).
An unrecoverable error occurred while the server (or slave)
was attempting to perform the requested action.

05

RTU mode: CRC check error

06

ASCII mode: LRC check error or no end code(CRLF)

7-15

7-2

Address

RS485

RS232

0001

510H

Cn001

0002

51DH

Cn002

EMC

0003

511H

Cn003

0004

512H

Cn004

0005

513H

Cn005

0006

514H

Cn006

0007

515H

Cn007

0008

516H

Cn008

0009

517H

Cn009

CW/CCW

000A

518H

Cn010

CCW

000B

519H

Cn011

CW

000C

51AH

Cn012

000D

5DEH

Cn013

000E

5DFH

Cn014

000F

58FH

Cn015

PI/P

0010

5F8H

Cn016

PI/P ()

0011

5F9H

Cn017

PI/P ()

0012

5FAH

Cn018

PI/P ()

0013

5FBH

Cn019

PI/P ()

0014

53CH

Cn020

0015

53DH

Cn021

()

0016

53EH

Cn022

()

0017

53FH

Cn023

()

0018

540H

Cn024

()

0019

587H

Cn025

001A

5D0H

Cn026

001B

58BH

Cn027

001C

58CH

Cn028

001D

5FDH

Cn029

001E

50BH

Cn030

001F

50EH

Cn031

0020

546H

Cn032

0021

51EH

Cn033

0022

5B8H

Cn034

0023

541H

Cn035

7-16

Address

RS485

RS232

0024

51BH

Cn036

0025

544H

Cn037

Modbus RS-485 PC Software RS-232

0026

545H

Cn038

0027

567H

Cn039

0028

579H

Cn040

Address

RS485

RS232

0101

520H

Tn101

0102

523H

Tn102

0103

521H

Tn103

0104

522H

Tn104

0105

526H

Tn105

0106

527H

Tn106

0107

528H

Tn107

0108

5CDH

Tn108

Address

RS485

RS232

0201

536H

Sn201

0202

537H

Sn202

0203

538H

Sn203

0204

529H

Sn204

0205

52AH

Sn205

0206

52BH

Sn206

0207

52CH

Sn207

0208

52DH

Sn208

0209

52EH

Sn209

020A

52FH

Sn210

020B

530H

Sn211

020C

531H

Sn212

020D

53AH

Sn213

020E

53BH

Sn214

020F

532H

Sn215

7-17

Address

RS485

RS232

0210

533H

Sn216

0211

534H

Sn217

0212

599H

Sn218

Address

RS485

RS232

0301

550H

Pn301

0302

560H

Pn302

0303

561H

Pn303

0304

562H

Pn304

0305

563H

Pn305

0306

554H

Pn306

0307

552H,553H

Pn307

0308

556H,557H

Pn308

0309

558H,559H

Pn309

030A

55AH

Pn310

030B

551H

Pn311

030C

55BH

Pn312

030D

55CH

Pn313

030E

55DH

Pn314

030F

51FH

Pn315

0310

50DH

Pn316

0311

568H

Pn317

1-

0312

569H

Pn318

1-

0313

56AH

Pn319

1-

0314

56BH

Pn320

2-

0315

56CH

Pn321

2-

0316

56DH

Pn322

2-

0317

56EH

Pn323

3-

0318

56FH

Pn324

3-

0319

575H

Pn325

3-

031A

576H

Pn326

4-

031B

577H

Pn327

4-

031C

578H

Pn328

4-

031D

59CH

Pn329

5-

031E

59DH

Pn330

5-

031F

59EH

Pn331

5-

7-18

Address

RS485

RS232

0320

59FH

Pn332

6-

0321

5A0H

Pn333

6-

0322

5A1H

Pn334

6-

0323

5A2H

Pn335

7-

0324

5A3H

Pn336

7-

0325

5A4H

Pn337

7-

0326

5A5H

Pn338

8-

0327

5A6H

Pn339

8-

0328

5A7H

Pn340

8-

0329

5A8H

Pn341

9-

032A

5A9H

Pn342

9-

032B

5AAH

Pn343

9-

032C

5ABH

Pn344

10-

032D

5ACH

Pn345

10-

032E

5ADH

Pn346

10-

032F

5AEH

Pn347

11-

0330

5AFH

Pn348

11-

0331

5B3H

Pn349

11-

0332

5E0H

Pn350

12-

0333

5E1H

Pn351

12-

0334

5E3H

Pn352

12-

0335

5E4H

Pn353

13-

0336

5E5H

Pn354

13-

0337

5E6H

Pn355

13-

0338

5E7H

Pn356

14-

0339

5E8H

Pn357

14-

033A

5E9H

Pn358

14-

033B

5EAH

Pn359

15-

033C

5EBH

Pn360

15-

033D

5ECH

Pn361

15-

033E

5EDH

Pn362

16-

033F

5EEH

Pn363

16-

0340

5EFH

Pn364

16-

0341

54AH

Pn365

0342

54BH

Pn366

0343

54CH

Pn367

0344

54DH

Pn368

0345

54EH

Pn369

7-19


Address

RS485

RS232

0401

530H

qn401

0402

531H

qn402

0403

53AH

qn403

0404

53BH

qn404

0405

55AH

qn405

0406

551H

qn406

0407

55BH

qn407

Address

RS485

RS232

0501

5C0H

Hn501

DI-1

0502

5C1H

Hn502

DI-2

0503

5C2H

Hn503

DI-3

0504

5C3H

Hn504

DI-4

0505

5C4H

Hn505

DI-5

0506

5C5H

Hn506

DI-6

0507

5C6H

Hn507

DI-7

0508

5C7H

Hn508

DI-8

0509

5C8H

Hn509

DI-9

050A

5C9H

Hn510

DI-10

050B

5CAH

Hn511

DI-11

050C

5CBH

Hn512

DI-12

050D

5CCH

Hn513

DI-13

050E

5F4H

Hn514

DO-1

050F

5F5H

Hn515

DO-2

0510

5F6H

Hn516

DO-3

0511

5F7H

Hn517

DO-4

0512

5CEH

Hn518

0513

5FFH

Hn519

7-20


Address

RS485

RS232

0601

6E4H

Un-01

0602

9B6H

Un-02

0603

691H

Un-03

0604

693H

Un-04

0605

694H

Un-05

0606

678H

Un-06

0607

65CH

Un-07

0608

688H

Un-08

0609

632H

Un-09

060A

6B7H

Un-10

(Vdc Bus)

060B

695H

Un-11

060C

6C0H

Un-12

CCW

060D

6C1H

Un-13

CW

060E

8BBH

Un-14

-()

060F

8BAH

Un-15

-()

0610

8C5H

Un-16

-()

0611

8C4H

Un-17

-()

0612

67EH

Un-18

0613

844H

Un-19

7-21


8-1
LED

LED

01

AL-xx

A1-xx

A2-xx

A3-xx

A4-xx

A5-xx

A6-xx

A7-xx

A8-xx

A9-xx

)xx

8-1

LED

MODE3
UP11

LED03()
UP12

LED01()
MODE1

8-2

8-2

00

01

CN1-25

CN1-24

CN1-23

CN1-22

BB/A3

ST/A2

PC/A1

LM/A0

CN1-22~CN1-25
2-2-1
1

(190V)

02

()
1
(
410V)
2

2 Cn012

()

03

1(UVW)

10

04

1(UVW)

230

8-3

05

ABZ

06

CN1-25

CN1-24

CN1-23

CN1-22

BB/A3

ST/A2

PC/A1

LM/A0

3 CN2-1

CN2-2( 5V)

UVW

07

1 Hn501~Hn513

DI-1~DI-13

2 Hn514~Hn517

DO-1~DO-4

08
09

ON

1 EMC

EMC

5-6-1
10

1(UVW)

4 2

11

Pn308 Pn309

1 (Pn310

Pn311)
2(Pn307)

4(UVW)

8-4

12

CN1-25

CN1-24

CN1-23

CN1-22

BB/A3

ST/A2

PC/A1

LM/A0

3(Sn211
Sn213)

13

CPU

30

14

1 CCWL CWL

CCWL
CWL

5-6-1
15

90

1
(a) SON ()
ALRS
5-6-1
(b) SON ()

2()

SON ()

8-5


9-1

TSTA15C

TSTA20C

TSTA30C

TSTA50D

TSTA75D

TSC04101C

TSC06401C

8CC751C

TSB13152A

TSB13302B

6CC201C

6CC401C

TSB13102A

TSB13152B

TSB13302C

TSC06401C

8CC751C

TSB13102B

TSB13152C

6CC401C

TSB08751C

TSB13102C

TSB13202B

TSB07301C

TSB13551A

TSB13102H

TSB13202C

TSB13551H

0.4

0.8

1.0

2.0

3.0

3.5

4.4

5.16

9.18

14.00

10.5

13.8

15.50

27.50

42.00

[KW]

[A rms]

[A rms]

RST

rs

AC 170 ~ 253V
50 / 60Hz

50 / 60Hz

IGBT-SVPWM

2000ppr / 2500ppr / 8192ppr

[]

5%

5%

AC 170 ~ 253V

AC 170 ~ 253V

()()//
/

CPU

RS-232 / RS-485 (Modbus protocol)

9-1

+CCW +CW (A +B )

(+5V )

500KHz() / 200KHz()

0 ~ 10sec

0 ~ 50000 Pulse

10K
15000() / 12000()

10%

0.2%

2525 0.5%

S 0 ~ 50sec0 ~ 10sec
400Hz

0 ~ 3000rpm

0 ~ 3000rpm

10V

0 ~ 100% 0.03%

1/200 A/B 200 (A/B A=1 ~ 50000B=1 ~ 50000)

10V
10K
0 ~ 50sec
/
0 ~ 300%

9-2

ABZ
1 ~ 8192()
P/PI CCW CW

[NPN/PNP]

13

1
2
1 2

[
]

Base Block

()()

1000M

0 ~ 50-20 ~ +85

90%RH ()

0.5G

9-3

 TSTA15C TSTA20C

9-4

 TSTA30C

9-5

 TSTA50D TSTA75D

9-6

9-2

TS

TS

08

751

H 3

A1000 rpm
B2000 rpm
C3000 rpm
H1500 rpm

TS

B / C / T
Frame
B
0776 mm
0886 mm
13130 mm
C / T
0440 mm
0660 mm
0880 mm

101100 W
201200 W
301300 W
401400 W
551550 W
751750 W
1201 KW
1521.5 KW
2022 KW
3023 KW

AC
1 100V
2 200V
3 200V

B
N

F2000 ppr H / T2500 ppr

L / U8192 ppr

A2000 ppr B2500 ppr

9-7

A
1100 mm
2200 mm ... etc.

0None
1
2CE

0None

CBCCMB

CB

Frame
CB
554 mm
776 mm
887 mm
CC
660 mm
880 mm
MB
3130 mm

CBCB
CCCC
MBMB

30

2 D E 7 C

CB
12120 W
30300 W
75750 W
CC
201200 W
401400 W
751750 W
MB
1001 KW
1501.5 KW
2002 KW
3003 KW

AC
1 100V
2 200V
3 200V

C
(MB )
DAMP
(CBCC )

E
G

CB
( 3000 rpm)
CC
G3000 rpm
MB
A1000 rpm
B2000 rpm
C3000 rpm

9-8

6
(15 )
7
(9 )
CC
B
(9 )

F2000 ppr
H2500 ppr
I5000 ppr
CC
E2000 ppr

9-9

9-10

9-11

1kgf cm 0.0980665 N m

1gf cm s 0.980665kgcm

5CB12

7CB30

8CB75

6CC201

6CC401

8CC751

PR

120
TSTA15C

300
TSTA15C

750
TSTA20C

200
TSTA15C

400
TSTA20C

750
TSTA30C

VT

43.1

107.7

149.4

81.92

77.53

105.3

0.382
2.2
3000

0.95
2.0
3000

2.391
3.4
3000

0.637
1.8
3000

1.274
3.5
3000

2.386
4.4
3000

1.146

2.861

7.164

1.911

3.822

7.159

6.6
0.19
20.2

6.0
0.524
54.9

10.2
0.776
81.4

5.6
0.45
42.4

11.1
0.409
42.8

13.8
0.606
63.4

TR
Nm
IR
A
NR
rpm
TP
Nm
N
IP
A
KT
Nm/A
KE
V/k rpm

JM
Ra
La
tm

kgcm

mH
ms

0.127
6.03
4.68
1.98

0.671
8.37
17.4
1.96

2.449
3.27
10.2
1.032

0.164
7.12
14.4
0.7

0.29
2.81
6.33
0.48

0.907
1.73
7.11
0.42

te

ms
kgf

0.78
0.89

2.05
1.82

3.12
2.02
3.41
0.9
F155
VDC 24V 10

2.25
1.2

4.11
2.2

0.294
0.02
0.29
0.23

1.176
0.098
0.45
0.68

2.352
0.225
0.44
1.94

1.3
0.0254
0.25
0.55

3.25
0.22
0.5
0.75

V
Nm
kgcm
A
kgf

1.3
0.0254
0.25
0.55
040

9-12

1kgf cm 0.0980665 N m

3MB055A

3MB100A

3MB100B

PR

VT
TR
IR
NR
TP
N
IP
KT
KE
JM
Ra
La

V
Nm
A
rpm

550
TSTA20C
162.3
5.252
3.43
1000

1000
TSTA30C
188.7
9.545
5.16
1000

1000
TSTA30C
185.3
4.782
5.16
2000

Nm

15.758

28.645

14.327

A
Nm/A
V/k rpm
kgcm

mH

10.3
1.679
175.9
6.37
5.37
27.5

15.5
2.039
213.6
12.25
2.78
18.21

15.5
1.019
106.8
6.37
1.82
10.05

ms
ms
kgf

1.21
5.12
6.6

0.82
6.55
10.3

1.11
5.52
6.6

tm
te

B120

V
Nm
kgcm
A
kgf

3MB150C

VDC 24V 10
15
0.725
0.59
1.7
040
3MB200B
3MB300B

3MB150C

3MB200B

3MB300B

3MB300C

PR

1500
TSTA50D

2000
TSTA50D

3000
TSTA75D

3000
TSTA75D

VT
TR
IR
NR

V
Nm
A
rpm

200.3
4.782
7.06
3000

205.4
9.545
9.18
2000

189.4
14.327
14
2000

199.7
9.545
14
3000

14.327

28.645

42.963

28.645

1gf cm s 0.980665kgcm

TP
Nm
N
IP
A

8
0.675
0.58
1.2

8
0.675
0.58
1.2
3MB300C

21.2

27.5

42

42

KT
KE
JM
Ra

Nm/A
V/k rpm
kgcm

0.74
77.5
6.37
0.98

1.139
119.4
12.25
0.86

1.13
118.3
18.03
0.5

0.75
78.5
12.25
0.37

La
tm

mH
ms

5.37
1.14

5.67
0.81

3.54
0.71

2.43
0.81

te

ms
kgf

5.48
6.6

6.59
7.08
10.3
14
B120
VDC 24V 10

6.57
10.3

Nm
kgcm

8
0.675

15
0.725

15
0.725

15
0.725

A
kgf

0.58
1.2

0.59
1.2

0.59
1.7

0.59
1.7

040

9-13

CC

QK

6CC201G

3.0

20

6CC401G

3.0

20

8CC751G

3.5

30

LC

LZ

LA

LB

LE

LG

LR

LS
L

kg

kg

6CC201G

60

4.5

70

50

14

30

26

79

0.9

115.5

1.7

6CC401G

60

4.5

70

50

14

30

26

94

1.2

130.5

2.0

8CC751G

80

5.5

90

70

19

40

36

100.5

2.2

135.5

3.2

9-14

CB120W

9-15

CB300W

9-16

CB750W

9-17

DTY2C3MMDR20P0000

3M 20pin

DTY2C3MMDR50P0000

3M 50pin

DTY3FAMPUVW000000

UVW(AMP 4pin)

DTY3FAMPPOPG000000

PG(AMP 9pin)

DTY3CMS08A2004S00

UVW L(MS 4pin)

UVW / PG L
DTY3CMS08A2018S00

(MS 9pin)

UVW (MS
DTY3CMS06A2004S00
4pin)
UVW / PG
DTY3CMS06A2018S00

(MS 9pin)

DTY3FCB01MUVWCB00

1UVW(AMP)

DTY3FCB03MUVWCB00

3UVW(AMP)

DTY3FCB05MUVWCB00

5UVW(AMP)

DTY3FCB10MUVWCB00

10UVW(AMP)

DTY3FCB01M0PGCB00

1PG(AMP+3M)

DTY3FCB03M0PGCB00

3PG(AMP+3M)

DTY3FCB05M0PGCB00

5PG(AMP+3M)

DTY3FCB10M0PGCB00

10PG(AMP+3M)

A-1

DTY3FCB01MUVWMB00

1LUVW(MSL)

DTY3FCB03MUVWMB00

3LUVW(MSL)

DTY3FCB05MUVWMB00

5LUVW(MSL)

DTY3FCB10MUVWMB00

10LUVW(MSL)

DTY3FCB01M0PGMB00

1LPG(MSL+3M)

DTY3FCB03M0PGMB00

3LPG(MSL+3M)

DTY3FCB05M0PGMB00

5LPG(MSL+3M)

DTY3FCB10M0PGMB00

10LPG(MSL+3M)

A-2