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DOOSAN AC SERVO MOTOR/DRIVER

DASD - RH Series
Model : 1.0/2.0/3.5 KW

Maintenance manual

1. For the prevention of electric shock

Please make a wire work and inspection more than 5 minute later after power is
off, and do the next work after checking the voltage by a tester because it may
cause the electric shock.
Please make sure to ground the servo driver and servo motor.
Please make the wire work and inspection by an authorized expert.
Please make the wire work after setting up the servo driver and servo motor.
Please do not touch the switch by wet hand to prevent the electric shock.
Please do not damage and stress the cable.
Please do not put the heavy goods on the cable because it may cause the electric
shock.

2. For the fire prevention

Please install the servo driver and servo motor to the noninflammble materials. If
you install it to the inflammble materials directly or near the inflammble materials,
it may cause the fire.
In case the servo driver is broken, please turn off the power from the part of
electric shock on the servo driver. If the high electric current is flowed
continuously, it may cause the fire.

3. For the injury prevention

Please permit the correct voltage in the maintenance manual to each terminal only to
prevent the breakage, damage and rupture.
Please do not make a mistake when terminal connection. it may cause the breakage and
damage.
Please make sure the right pole( + , - ) to prevent the breakage and damage.
Please do not touch the heat sink of servo driver and servo motor when power is on
or a few moment after power is off because it is heated. Do not touch the parts
(cable, etc), it may cause the damage and burn.

 Caution for safety operation

Caution before installation
Please keep the installation direction.
Please do not throw down it and make an impact.
Please do not install it at the place of water, corrosive gas, inflammble gas
and materials.

Caution for the wire work

Please use only AC 200 ~220V for the input power supply of servo driver.
Please connect the ground to the ground terminal.
Please do not connect the main power supply to servo motor directly.
Please do not connect the main power supply to output terminal U, V, W of servo
driver directly.
Please use only the compression terminal with insulated tube when wiring the
power terminal of servo driver.
Please wire the cable for power(U, V, W) and encoder cables of servo motor
separately.

Caution for operation

Please check and adjust each manu before operation.
Please do not touch the shaft of motor rotation when operating motor.
Please do not touch the heat sink when operating motor.
Please connect or disconnect the connecter of CN1,CN2 when power is off,

General caution
The contents of this manual may be changed according to the product modification
and the standard change.

 Caution when the first installation

Please make sure the power voltage (AC200~220V) and the wire before power is on.
Please apply the first power when the servo is turned off.
First of all, please check the name of motor and the number of encoder pulse
before power is on.
And then, set up the operation mode of servo driver by connecting with the upper
numerical controller like the menu.
Please wire CN1 connector of servo driver according to each operation mode as
referring to the system structure.

Caution when the maintenance and inspection

Please turn off l1,l2 of the control power and L1,L2,L3 of the main power, and
check the state of power off after enough time passes. After that, please do the
maintenance and inspection.
It is dangerous because the charged voltage in inner electrolytic condenser is
remained.
Please do not touch the terminal when power is on because high voltage flows.
It may cause the electric shock.
Please do not repair, inspect, replace the components except for authorized
expert and engineer.
Please do not alter the products.

< CONTENTS >

IMPORTANT
1. Specifications of TURRET Servo Motor and Driver
1.1 Specifications of TURRET Servo Motor
1.2 Specifications of TURRET Servo Driver
1.3 Torque-Speed Characteristics of Servo Motor

2. Explanation of Driver Structure and connection diagram

2.1 Explanation of CN1 Connector
2.2 Flow chart of CN1 connector terminal
2.3 Flow chart of CN2 connector terminal
2.4 Structure of driver Input/Output circuit
2.5 Connection diagram

3. Operation
3.1 Automatic operation
3.2 Method of machine reset

4. Explanation of each mode display

4.1 Status mode
4.2 Diagnosis mode
4.3 Parameter setting mode
4.4 Parameter list
4.5 Detailed explanation of parameter setting mode for user
4.6 Alarm record mode

5. Maintenance and inspection

5.1 Maintenance and inspection
5.2 Trouble diagnosis and countermeasure

IMPORTANT
. Definition of Symbols for Warning
Warning : This symbol means of not handled properly, there is

1)

possible danger such as electric shock.

Caution : This symbol means if not handled properly, there is possible

2)

danger of acquiring mild to severe injuries or machine damages.

. Warning
1) Do not use in areas near corrosive, inflammable or explosive gas.
2) Take appropriate measures of protection while the servo motor is in operation.
3) While installing and wiring, turn the power switch off, in order to prevent electric
shock.
4) Ground the PE terminal block of the front panel terminal block L1(R), L2(S), L3(T) to
one-point with the class 3 (below 100) ground circuit, in order to prevent electric
shock or other malfunctions. For PE terminal block, use wire 30mm 2 thicker than the
electric wire of the terminal L1, L2, L3.
5) Connect the PE terminal block of the servo motor to the PE terminal block U, V, W of
the servo driver in order to prevent electric shock. To connect the wire, use wire
30mm 2 thicker than the power line of U, V, W.
6) Take precautions while mounting, dismantling, uninstalling and transferring the servo
motor.
7) Cover the terminal block while using the servo driver in order to prevent electric
shock.
8) Use SELV for maintenance brake power switch, input and output power switch and input
and output signal in order to prevent electric shock.
9) Do not dismantle the servo driver for another 5 minutes after the main power is turned
off-charged voltage may still remain inside the driver.
10) This product uses batteries. Take the following precautions while using the battery.
If used inappropriately, explosion or fire may occur. The contents of the battery are
harmful to the eye.
Do not heat above 100 and do not open when there is fire.
Do not take it apart. (The contents are harmful to the eye)
Do not recharge it.
11) During emergency shut down, stop the servo motor before shutting down the servo driver
(terminal L1, L2, L3).

. Caution
1) To avoid burns, do not touch the heat protecting board or the regenerative resistor
of the servo motor and driver while the servo motor is in operation or right after
the power switch is turned off. Take appropriate measures of protection.
2) Avoid the following to prevent damages to the servo motor and servo driver.
Do not connect the power directly to the U, V, W terminal block of the servo motor.
The servo motor will be damaged.
Avoid external impact such as hammering to the servo motor. The encoder inside the
servo motor will be damaged.
Do not connect the power to the U, V, W terminal block of the servo driver.
While doing the resisting pressure test or insulation voltage test, disconnect the
terminal of the servo driver terminal block or all the connectors and avoid the test
voltage from affecting the servo driver. Also avoid the test voltage from affecting the
encoder connector terminal of the servo motor.
Do not install the servo motor and the servo driver differently than it should.
Prevent water or oil from directly touching the servo motor. Use in areas free of
water or oil to prevent it from touching the main wire of the servo motor.
Do not use the servo motor and driver differently other than stated in this manual.

1. Specifications
1.1 Specifications of Turret Servo Motor
Items

Model

DS-RH10ZA-1

DS-RH20ZA-1

DS-RH35ZA-1

1.0

2.0

3.5

kgfcm

48.7

97.4

170.5

Nm

4.7

9.5

16.6

kgfcm

146.1

365.4

511.4

Nm

14.2

37.3

49.8

Rated speed(RPM)

2000

2000

2000

Maximum speed(RPM)

3000

3000

3000

7.33

14.05

35.50

7.48

14.31

34.79

F Class

F Class

F Class

Rated output(KWatt)

Rated Torque

Instant
maximum Torque

Rotor inertia
GD
/4

gfcms
(kgm
10

Insulation grade

Detector

Multi-turn Absolute Encoder

(17bits/1rotation)

Protection, cooling method

Totally closed, self cooled

Ambient temperature

0 ~ 40
C

Ambient humidity

20 ~ 80 %

Mounting structure

Flange type

Insulation resistance

DC 500V 50 M

Insulation voltage

AC 1500V one minute

Vibration grade

V15

1.2 Specifications of TURRET Servo Driver

Items

Model
Rated current[Arms]

DASD-RH10SPZA

DASD-RH20SPZA

DASD-RH35SPZB

6.5

12.3

19.8

Main input voltage

Triple phase AC 200 ~ 220V, +10/-15%, 50/60Hz

Control method

IPM full wave rectified, sine wave PWM control

Control mode

Position, Speed, Torque control

Control signal input

Servo ON, Start, Stop, Jog, Sensor

Position input

7bit pulse reference input

Control signal output

Alarm, Ready, Inposition, Unclamp

Position output

7bit present position output

Protection

over voltage, under voltage, over current,

over speed, over load, encoder error

Mounting
Dimension[mm] (W x H x D)

Rack Mount Type

115 x 230 x 203

140 x 250 x 250

1.3 Torque-Speed Characteristics of Servo Motor

DS-RH10ZA-1

DS-RH20ZA-1

DS-RH35ZA-1

2. Explanation of Driver Structure and connection diagram

2.1 Explanation of CN1 Connector
2.1.1 CN1 Connector Explanation of DASD-RH10SPZA, DASD-RH20SPZA
Signal

PIN No.

/SENSOR

21

/SVON

22

Description
This signal judges an Unclamp or Clamp.
This signal makes the motor ready to start operation. When this
signal is off, the motor remains free .
According to the fixed value of parameter 3, there are 2 types

I/O
Input
Input

of modes.
- fixed direction signal (fix value of parameter 3 to "0")
When the position is moving, the direction of the rotation
can be fixed to one direction.
CCW signal is OFF : Direction of the rotation is automatically
set by short distance.
CCW signal is ON : Direction of the rotation is fixed counterclock wise.
CW signal is ON : Direction of the rotation is fixed clock
wise.
/JOG+(CCW)

20

/JOG-(CW)

23

CCW, CW is ON : Can not be defined.

Input

- JOG Operation signal (fix value of parameter 3 to "1")

Used for manual jog operation signal.
JOG+ signal is ON : When the signal is on, the motor rotates
counter-clock wise and when it is off, the motor stops at the
nearest POST.
JOG- signal is ON : When the signal is on, the motor rotates
clock wise, and when it is off, the motor stops at the nearest
POST.
Rotation speed and Accel/Decel time is the same as when it is
operated automatically, but ignore it during running by

/STOP

/SPARE

COM1

/START

automatic operation.
When the signal is ON, the motor stops. When the motor starts
according to input, and runs the rest of the distance.
This is spare signal.
COMMON terminal of sequence input signals (When DC 24V is input,
the signal turns ON)
When this signal is ON while SVON signal is ON, it moves toward
the POST of position data input (POSI0~POSI6) of the motor.

/POSI0, /POSI1, 24, 25,

Maintain the time it is ON at minimum 50msec.

Input POST to 7bit binary code to set the position data input

/POSI2, /POSI3, 26, 27,

signal.

/POSI4, /POSI5, 28, 6,

Input data more than 10msec before the START signal is ON.

/POSI6
COM2

7
9

(minimum input data is '1'.)

COMMON terminal(+24V) of START, POSI0~POSI6 signals.

Input
Input
Input

Input

Input

Input

Signal

PIN No.

ALM

30

SVRDY

10

UN-SOL

29

COM3

11

Description
Alarm signal is on, output is 'OFF' and when it is normal, the
output is 'ON'.
The servo is ready. When the SVON is ON, the driver turns on
after the normal condition. When the SVON is OFF, the driver
turns off.
This signal is running the contact point of Unclamp solenoid.
(This signal is Unclamp after it is ON)
COMMON terminal of sequence output signals(ALM, SVRDY, SPARE).

I/O
Output
Output
Output
Output

In case there is an inner brake in the motor, this signal

controls the power ON/OFF for the brake.
(The current flow capacity is within 30mA due to the output of
photo coupler contact point, thus a different relay contact point
must be used from the actual brake ON/OFF. the circuit so that
BRAKE+

12

when output contact point is ON, the brake is free, when output

BRAKE-

13

contact point is OFF, design the circuit diagram to control the

Output

brake).
when SVON is ON and this turns on after fixed time of parameter
14 and then SVRDY is ON after fixed time of parameter 13.
When SVON is OFF and this turns off after fixed time of parameter
14.
Position completion signal output.
VPF

16

After the motor moved, if the pulse error is within the fixed

Output

value of parameter 18, the signal turns ON.

POSO0, POSO1,

31, 32,

POSO2, POSO3,

33, 34,

POSO4, POSO5

35, 36,

POSO6

14

As position data output signal, the POST number is sent out in

7bit binary code.
While the motor is rotating, the signal will not be on. It will
be on before the VPF turns on.
When SVON is OFF, it will output data of the nearest POST number.

Output

2.1.2 CN1 Connector explanation of DASD-RH35SPZB

Signal

PIN No.

/SENSOR

/SVON

Description
This signal judges an Unclamp or Clamp.
This signal makes the motor ready to start operation. When this
signal is off, the motor remains free.

I/O
Input
Input

According to the fixed value of parameter 3, there are 2 types

of modes.
- fixed direction signal (fix value of parameter 3 to "0")
When the position is moving, the direction of the rotation
can be fixed to one direction.
CCW signal is OFF : Direction of the rotation is automatically
set by short distance.
CCW signal is ON : Direction of the rotation is fixed counterclock wise.
CW signal is ON : Direction of the rotation is fixed clock
/JOG+(CCW)

/JOG-(CW)

22

wise.
CCW, CW is ON : Can not be defined.

Input

- JOG Operation signal (fix value of parameter 3 to "1")

Used for manual jog operation signal.
JOG+ signal is ON : When the signal is on, the motor rotates
counter-clock wise and when it is off, the motor stops at the
nearest POST.
JOG- signal is ON : When the signal is on, the motor rotates
clock wise, and when it is off, the motor stops at the nearest
POST.
Rotation speed and Accel/Decel time is the same as when it is
operated automatically, but ignore it during running by

/STOP

23

/SPARE

24

COM1

40

automatic operation.
When the signal is ON, the motor stops. When the motor starts
according to input, and runs the rest of the distance.
This is spare signal.
COMMON terminal of sequence input signals (When DC 24V is input,
the signal turns ON)

Input
Input
Input

When this signal is ON while SVON signal is ON, it moves toward

/START

43

the POST of position data input (POSI0~POSI6) of the motor.

Input

Maintain the time it is ON at minimum 50msec.

/POSI0,
/POSI1,
/POSI2,
/POSI3,
/POSI4,
/POSI5,

10, 11,

Input POST to 7bit binary code to set the position data input

12, 26,

signal.

27, 28,

Input data 10msec before the START signal is ON.

42

(minimum input data is '1'.)

44

COMMON terminal(+24V) of START, POSI0~POSI6 signals.

Input

/POSI6
COM2

Input

Signal

PIN No.

ALM

SVRDY

35

UN-SOL

COM3

36

Description
Alarm signal is on, output is 'OFF' and when it is normal, the
output is 'ON'.
The servo is ready. When the SVON is ON, the driver turns on
after the normal condition. When the SVON is OFF, the driver
turns off.
This signal is running the contact point of Unclamp solenoid.
(This signal is Unclamp after it is ON)
COMMON terminal of sequence output signals(ALM,SVRDY,SPARE).

I/O
Output
Output
Output
Output

In case there is an inner brake in the motor, this signal

controls the power ON/OFF for the brake.
(The current flow capacity is within 30mA due to the output of
photo coupler contact point, thus a different relay contact point
must be used from the actual brake ON/OFF. the circuit so that
BRAKE+

19

when output contact point is ON, the brake is free, when output

BRAKE-

20

contact point is OFF, design the circuit diagram to control the

Output

brake).
when SVON is ON and this turns on after fixed time of parameter
14 and then SVRDY is ON after fixed time of parameter 13.
When SVON is OFF and this turns off after fixed time of parameter
14.
Position completion signal output.
VPF

47

After the motor moved, if the pulse error is within the fixed

Output

value of parameter 18, the signal turns ON.

As position data output signal, the POST number is sent out in

POSO0, POSO1,

14, 15,

POSO2, POSO3,

16, 30,

POSO4, POSO5

31, 32,

POSO6

46

BAT+

49

Battery(3.6V) voltage power (+),

BAT-

50

Battery(3.6V) voltage power (-).

GND

GROUND

SHIELD

18

Frame ground (it is connected with Shield of cable.)

7bit binary code.

While the motor is rotating, the signal will not be on. It will
be on before the VPF turns on.
When SVON is OFF, it will output data of the nearest POST number.

Output

2.2 Flow chart of CN1 connector terminal

2.2.1 Flow chart of CN1 connector terminal of DASD-RH10SPZA, DASD-RH20SPZA
Spec. : 10236-52A2JL (Housing), 10136-3000VE (Plug) , Manufacturer : 3M

19

21

23

25

27

29

10

31

12

33

14

35

16

2.2.2 Flow chart of CN1 connector terminal of DASD-RH35SPZB

Spec. : MR-50RMA (Housing), MR-50LF (Plug) , Manufacturer : HONDA

18

SHIELD

17
16

POSO2

15

POSO1

14

POSO0

13
12

POSI2/

11

POSI1/

10

POSI0/

9
8

JOG+/

SVON/

SENSOR/

5
4

ALM

UN-SOL

2
1

32

POSO5

31

POSO4

30

POSO3

29
28

POSI5/

27

POSI4/

26

POSI3/

25
24

SPARE/

23

STOP/

22

JOG-/

21
20

BRAKE-

19

BRAKE+

50

BAT-

49

BAT+

48

COM4

47

VPF

46

POSO6

45
44

COM2

43

START/

42

POSI6/

41
40
39
38
37
36

COM3

35

SVRDY

34
GND

COM1

33

18

2.3 Flow chart of CN2 connector terminal

2.3.1 Flow chart of CN2 connector terminal of DASD-RH10SPZA, DASD-RH20SPZA
: 10220-52A2JL (Housing), 10120-3000VE (Plug), Manufacturer : 3M

2.3.2 Flow chart of CN2 connector terminal of DASD-RH35SPZB

Spec. : MR-20RMA (Housing), MR-20LF (Plug) , Manufacturer : HONDA

7
6
5
4
3
2
1

+5V
+5V
+5V

13

GND

12

GND

11

GND

10
9
8

20

SHIELD

19

BAT-

18

BAT+

17
16
15

PRX/

14

PRX

2.4 Structure of driver Input/Ouput circuit

Input
The signals of SENSOR, SVON, JOG+, JOG-, STOP, SPARE, START, POSI0~POSI6 can be used the
following method.
(The current is limited to 5mA due to inner resistance.)

AC SERVO DRIVE
4.4K
+24V
COM1
COM2
5mA
TR

TLP620 or EQ.
SW

Output
The signals of SVRDY, ALM, VPF, POSO0~POS06 are photo coupler output, thus the current is
limited to 50mA.

AC SERVO DRIVE
COM3 or COM4
+24V

50mA max
R
L
O
A
D

2.5 Connection diagram

2.5.1 Connection diagram of DASD-RH10SPZA and DASD-RH20SPZA
3 Phase AC 220V

MCCB

TURRET
SERVO DRIVE
NOISE
FILTER

NC

POWER POWER
OFF
ON

CN1
MC1
COM1

SEQUENCE INPUT

JOG JOG +
SVON

sensor
COM3

SEQUENCE OUTPUT
DC24V

SVRDY
RY1

L1 (R)

MC1

STOP

L2 (S)
23
L3 (T)
20

AC SERVO MOTOR

22
21

U
V

PE

11
10

ALM

30

UNSOL

29

BRAKE +

12

BRAKE -

13

*2

G
RY3
DC24V

DC24V

RY2

*2

COM2

POSITION INPUT

START
POSI6
POSI5
POSI4
POSI3

9
8
7
6
28

14
27

POSI2

26

16

POSI1

25

17

24

18

POSI0

19
COM4

POSITION OUTPUT
DC24V

15

VPF

16

11

POSO6

14

POSO5

36

10

15

RX

RX

M
N
VBAT+

VBAT-

+5V

GND

2
12
3

POSO4

35
13

POSO3

34

POSO2

33

POSO1

32

POSO0

31

SHIELD
*1

20

Battery

GND

17

CN3
2
SHIELD
*1

NOTE
1.

; Twisted Pair Shielded Cable

2. Use for Built-In Brake Type Motor

CN2

RY2

DC24V

FG

RY1

MC1

TB1

MC1

MC1

DC24V

SPARE

19

OPERATOR

PG

2.5.2 Connection diagram of DASD-RH35SPZB

3. Operation
3.1 Automatic operation

If the drive operates normally (after 500msec) after the POWER is 'ON', the absolute
encoder will detect the initial position and output the position data according to the
initial position. After that output the inposition signal (VPF).
When SVON signal is ON and, SVRDY will turn ON after inner GATE is ON.
When START signal is ON, the servo will move according to the position data.
(Maintain ON status of START signal to about 50msec~100msec)
When the operation is started and UNCLAMP SENSOR will turn on after UNCLAMP SOLENOID is ON.
After UNCLAMP SENSOR is ON, this signal waits for the fixed time of parameter 31.
When movement is started, VPF(inposition signal) will turn 'OFF'.
After position movement is completed, UNCLAMP SOLENOID signal is OFF and UNCLAMP SENSOR
input will turn off. After UNCLAMP SENSOR is OFF, this signal waits for the fixed time of
parameter 32. The current position data will be output and then the inposition signal(VPF)
will be 'ON'.
From the upper controller, if VPF signal is 'ON', please turn 'OFF' the SVON signal.
(Move to the next position after SVRDY signal is OFF)

3.2 Method of machine reset

When assembling the first motor, please set the zero-point of absolute encoder to the
status of original machine.
The Setting method is as follows.
(The below steps should be done when the external servo signal is OFF.)
Turn 'ON' the power to the machine power supply.
Clamp the Turret.
Fix the POST number of the current position to parameter 8 .
Press the MODE key and change the operating display to parameter setting mode.

MODE

parameter setting mode

Press UP key and change the number of the first two segments to 08.

Press SET key and the dot under the first two segments will be blinking.

SET

Press UP or DOWN key to adjust the data of last 4 segments on the POST number of the
current position.
(example :If the current position number is 10, 10 is set as the initial POST)

 Press SET key and the dot under first two segments will disappear.
The data will be stored and the dot will appear after a while.
The display will turn back to the former status. (After turn off the power and then turn on
it again, the stored data will be displayed)

SET

Set the zero-point at zero-point setting mode in diagnosis mode.

Press the MODE key and change the operating mode to the diagnosis mode of servo ON/OFF.

MODE

Diagnosis display

Press the DOWN key and change the display to zero-point setting mode.

Press SET key for 5 seconds and the display will set the parameter related to the
zero-point automatically and turn back to the zero-point setting mode.

SET

press for 5 secs.

Turn OFF the power and then ON again. The zero-point setting is completed.

4. Explanation of each mode display

4.1 Status mode

The function of status mode can check the status of the driver during the operation.
Command pulse accumulation
The command pulse accumulation will accumulate the pulse capacity counted by the inner
position control device to move the target position after the START signal is on and
it will be displayed and divided into lower and upper word(16bit).
When SVON signal is off, it will resume to '0'.

: Lower word display range of command pulse accumulation value

[00000 ~ 65535]

: Upper word display range of command pulse accumulation value

[00000 ~ 65535]
Current position
The absolute current position within one turret rotation will be displayed by pulse counts.
It will be displayed and divided into lower and upper word(16bit).
Display range [00000 ~ pulse per turret rotation]

: Lower word of current position

: Upper word of current position

Remaining pulse
It will display the Error capacity between position command and position feedback as
accumulating the pulse unit. If the pulse exceeds over the set value of the parameter 19,
the overload alarm of position deviation will appear.
If the value is minus pulse, the dot under the segment will light up and when SVON signal
turns OFF, it will resume to '0'.

: Display range of remaining pulse accumulation value

[6.0.0.0.0.0. ~ 600000]

: minus display (-100)

 Current POST number

This displays the post number of current position. The value will be renewed only when
the motor stops or when SVON signal is OFF.

: Display range of current POST number [1 ~ max POST no.]

Motor rotation speed
The rotation speed of the motor is displayed by RPM unit. The changes of fast speed cannot
be seen due to inner filtering process. (To view the speed changes, use the monitor output)
In case of counterclockwise rotation (clock wise in side of motor), '-' will be displayed.

: Display range of motor rotation speed [-3000 ~ 3000]

: minus display (-1000rpm)

Absolute value of encoder rotation count

Displays the rotation count of the absolute value of encoder built in the motor.
(a count per motor rotation) When the count exceeds 8191, it will resume to '0'.

: Display range of absolute value of encoder rotation speed count

[0 ~ 8191]
Absolute value of encoder one rotation
Displays the pulse count per rotation of the absolute value of encoder built in the motor.
(2048 count per rotation) When the count exceeds 2047, it will resume to '0'.

: Display range of absolute value of encoder pulse count per rotation

[0 ~ 2047]
Effective load factor
It is displayed the percent(%) unit counted the effective value of current load.
(100% is standardization). If the value is the minus, a '-' will be displayed and
it will resume to '0' when the SVON signal is OFF.

: Display range of effective load factor [-300.0 ~ 300.0]

: minus display (-100%)

 Maximum load factor

It is displayed the percent(%) unit counted the maximum value of current load.
While the SVON signal is ON, it is always renewed the maximum value and can be resumed to
'0' as pressing the operator SET key. If the value is the minus, a '-' will be displayed
and it will resume to '0' when the SVON signal is OFF.

: Display range of maximum load factor [-300.0 ~ 300.0]

: minus display (-250%)

4.2 Diagnosis mode

This is very convenient mode to verify the external sequence status and the system
condition.
It will display on the OP panel LED display of driver. The contents and it's use is as
follows.
Servo ready status

: SVON signal is OFF and then displays the free status of motor.

: SVON signal is ON and displays the available running status.

Sequence I/O signal

Display ON/OFF status of external input signal in 7 segments.

SEQUENCE
INPUT
SENSOR
SVON
JOG +
JOG -

STOP

< external input signal >

Display ON/OFF status of external output signal in 7 segments.

SEQUENCE
OUTPUT
BAT_L
ALM
BRAKE
SVRDY

< external output signal >

The I/O display of 7 segment LED display panel will be displayed when the LED is on and
this will verify ON and OFF. (If it is ON, the LED will be on, if it is OFF, the LED
will be off.)

Position data I/O signal

Display the ON/OFF status of position data input signal in 7 segments.

POSITION
INPUT
START

POSI0

POSI6

POSI1

POSI5

POSI2

POSI4

POSI3

< PLC input signal >

Display the ON/OFF status of the position data output signal in 7 segments.

POSITION
OUPUT
VPF

POSO0

SOL-OUT

POSO1

POSO5

POSO2

POSO4

POSO3

< PLC output signal >

The I/O display of 7 segment LED display panel will be displayed when the LED is on and
this will verify ON and OFF. (If it is ON, the LED will be on, if it is OFF, the LED
will be off.)

Passive Unclamp output

It outputs Unclamp signal by the hand.

SET

SET

; set the output data by the SET key.

UCON signal OFF

UCON signal ON

SET

SET

; Resume to initial display mode

 Jog operation
The driver operates jog operation by itself regardless of external signals.
When setting the zero-point, use this to move the right position of fixed POST.
The driver will rotate according to the fixed speed of parameter 27 while pressing the UP
or DOWN key.

SET

If press the SET key and the SVON signal will turn ON automatically, and it will change to
Jog operation mode.

; Jog operation mode

CCW rotation

CW rotation

SET

; Resumes to initial display mode

Parameter initialization
Saves in Memory as resetting the parameters by fixing value when outgoing.
The stored value when sending out will be reset if pressing the SET key, but The parameters
related to the zero-point setting will remain the value as it is.

SET

Press SET key and it will carry out the Parameter initialization.

 Initialization of position compensation value

Saves in Memory as initializing the position compensation value per POST to '0'.
Press the SET key and it will start the initialization.

SET

Press the SET key and it will initialize the position compensation value.

4.3 Parameter setting mode

The parameter must be set according to the system composition and operation contents
before the motor operation. the setting method is as follows.
Set the operator display to parameter setting mode by pressing the MODE key.

Parameter setting mode

Set the first two segments for intended setting number by pressing the UP key.
(example : set 08)

The dot will appear under the first two segments when Press the SET key.

SET

Set the latter 4 segments for intended setting number by pressing the UP or DOWN key.
(example : in case of fixing the data to 10)

 When Press the SET key in current status, the dots under first two segments from
parameter 00 to 09 will appear, and the data will be saved. After a while, the dot
will appear and it will resume to the initial value before the set up.

SET

When press the SET key, the dot under the first two segments from parameter 10 to 33
will appear, and it will display the set value.

SET

When the zero-point setting, parameters from 34 to 45 is set automatically.

The parameter is for maker management. Please do not change it.
(If you change this parameter, Driver will not operate properly)

4.4 Parameter list

N0.
00
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
Section
A

Abbr.
MPC
MRD
JFS
MPN
GR1
GR2
HSP
PKP
VKP
VKI
SROT
BFT
BOT
VTO
VTM
INP
RPA
FFG
FTC
TLP1
TLN1
TLP2
TLN2
VLS
JSP
VEL
ATC
DTC
UDT
CDT
ISD
AOL
AOM
HOL
HOM
IKP
IKI
EPN
FPL
FPM
ACR
REM
-

Name
motor power capacity
motor running direction
reserve parameter
fixed direction, jog function selection
reserve parameter
maximum POST number
gear ratio - motor side
gear ratio - machine side
POST number of home
reserve parameter
position loop proportional gain
speed loop proportional gain
speed loop integral gain
servo ready on delay time
brake off control delay time
brake on delay time
monitor offset voltage
monitor selection
positioning complete range
remaining pulse allowance
position loop feed-forward gain
feed-forward filter time constant
positive torque limit 1
negative torque limit 1
positive torque limit 2
negative torque limit 2
speed limit
jog speed at set home
operation speed
acceleration time
deceleration time
speed monitor output voltage
torque monitor output voltage
initial status display
encoder coordinates compensation (lower)
encoder coordinates compensation (upper)
set value of machine zero-point (lower)
set value of machine zero-point (upper)
current loop proportional gain
current loop integral gain
encoder pulse per one rotation
feedback pulse (lower)
feedback pulse (upper)
acceleration rate of remaining value
accel rate compensation of remaining value
reserve parameter

Range
0
0 ~ 1
0
0 ~ 1
0
2 ~ 127
1 ~ 9999
1 ~ 9999
1 ~ 127
0
0 ~ 2048
0 ~ 2048
0 ~ 2048
0 ~ 40
0 ~ 40
0 ~ 40
-12 ~ 12
0 ~ 3
1 ~ 9999
1 ~ 6000
0 ~ 100
0 ~ 100
0 ~ 300
0 ~ 300
0 ~ 300
0 ~ 300
0 ~ 3000
1 ~ 1000
10 ~ 3000
0 ~ 500
0 ~ 500
0 ~ 1000
0 ~ 1000
0 ~ 10

Default
0
1
0
0
0
12
33
12
1
0
256
250
1
0
0
0
0
0
100
6000
0
0
250
250
50
50
1850
100
1800
50
80
100
100
6

Unit

Division
A, B
A, B
A, B
A, B
A, B
POST
A, B
Rev
A, B
POST
A, B
A, B
A, B
B, C
B, C
B, C
50 msec
B, C
50 msec
B, C
50 msec
B, C
10/128 V
B, C
B, C
PULSE
B
100 PULSE
B
%
B
4 msec
B
%
B
%
B
%
B
%
B
rpm
B
rpm
B
rpm
B
msec
B
msec
B
msec
B
msec
B
B
D
D
D
D
D
D
D
D
D
D
D
D

Contents
Power is OFF after parameter setting, and the setting value will be valid if it is put into again.

Available to set on SVON is OFF. After the setting, it will be vaild right away.

Valid to set on SVON status, but temporary save. It has to be reset on SVON is OFF.

When machine zero-point setting, User can not set it as automatic setting or for a maker management.

Note. Adjusted parameter operated as follows.

4.5 Detailed explanation of parameter setting mode for user

[1] No.0 : Motor power capacity
This is the parameter that enables to select the applied motor capacity.
The capacity is selected according to each ROM now.
0 : 1.0KW / 2.0KW / 3.5 KW
[2] No.1 : Motor rotation direction
This sets the motor rotation direction. Please set it according to the structure of
the equipment.
0 : In case that The motor rotation direction accords with the rotation direction of
equipment.
1 : In case that The motor rotation direction discords with the rotation direction of
equipment.
[3] No.2 : Spare parameter
[4] No.3 : Direction fixing and selection of JOG function
Defines the function of JOG+(no.20) and JOG-(no.23) signal of CN1 connector.
0 : Defines the signal of direction fixing.
JOG+

JOG-

Rotation direction

OFF

OFF

Rotates to distinguish the shortest distance.

OFF

ON

The motor always rotates to clock wise.

ON

OFF

The motor always rotates to counter-clock wise.

ON

ON

The motor always rotates to counter-clock wise.

This is applicable if the parameter 1 is set to '0'.

If the parameter is set to '1', it rotates to the opposite.
1 : Defines JOG operation signal
JOG+

JOG-

Contents

OFF

OFF

Only operates by position data input.

OFF

ON

Do Step JOG operation toward decreasing of POST number

ON

OFF

Do Step JOG operation toward increasing of POST number

ON

ON

Can not be defined.

This is applicable if the parameter 1 is set to '0'.

If the parameter is set to '1', it rotates to the opposite.
Position data input is ignored if JOG+ and JOG- signal is ON.
For more detailed explanation, refer to 'JOG operation' section.
[5] No.4 : Spare parameter
[6] No.5 : Maximum POST number
This sets the maximum POST number. The position data input exceeding the set data
is ignored.
Setting range : 2 ~ 127,

Outgoing value : 12

[7] No.6 : Gear ratio of motor side

This sets the rotation count when it moves as the POST number set at parameter 7.
Setting range : 1 ~ 9999,

Outgoing value : 33

[8] No.7 : Gear ratio of machine side

This sets the POST number when the motor rotates as the set value at parameter 6.
Setting range : 1 ~ 9999,

Outgoing value : 12

Example)
1. The machine is 10 POST turret. When the motor makes 30.75 rotations and in case the
deceleration ratio is fixed so that the turret is made 1 rotation, Turret 1 rotation
fits the 10 POST movement, thus the value will be set as follows.
[5] Maximum POST data : 10
[6] Gear ratio of motor side : 3075
[7] Gear ratio of machine side : 1000

[9] No.8 : Origin POST number

Inputs the POST number that sets as the origin when setting the machine origin(zero-point).
Setting range : 1 ~ 127,

Outgoing value : 1

[10] No.9 : Spare parameter

[11] No.10 : Position loop proportionality gain
The position loop proportionality gain is the parameter that determines the response of
position control loop. If the value increases, the mechanical response gets better.

However, the added impact for machine increases when the motor starts or stops.
If the value decreases, the mechanical response will be late, and the position
error may increase due to the remaining pulse. This is also related to the speed
loop proportionality gain.
Setting range : 0 ~ 2048,

Outgoing value : 256

[12] No.11 : Speed loop proportionality gain

The speed loop proportionality gain is the parameter that determines the response of
speed control loop. On the external characteristics, it determines the degree of rigidity.
If the value of the proportionality gain increases, the rigidity becomes strong.
Thus, it is good as large as possible, but if it is larger than any degree, it may cause
the oscillation and hunting. Accordingly, the value will be set as large as possible under
stable condition.
Setting range : 0 ~ 2048,

Outgoing value : 250

[13] No.12 : Speed loop integral gain

The speed loop integral gain is the compensatory factor that reduces the normal state
error, and increases the rigidity. If the value of integral gain is increased, the rigidity
will get larger, but if it is increased too much, it may cause the oscillation, and the
system may become unstable.
Setting range : 0 ~ 2048,

Outgoing value : 1

[14] No.13 : Brake off delay time

In case of the brake motor, this is the delay time until SVRDY signal is ON after the brake
signal is ON. Please set the value higher than the time releasing the actual brake.
The unit is 50msec.
Setting range : 0 ~ 40 [x 50msec],

Outgoing value : 0

[15] No.14 : Brake off control delay time

In case the brake motor, this is the delay time until BRAKE signal is ON after SVON signal
is input. After this delay, the brake signal turns OFF.
Setting range : 0 ~ 40 [x 50msec],

Outgoing value : 0

[16] No.15 : Brake ON delay time

In case the brake motor, this is the delay time until the gate of the power device is OFF
after the brake signal turns OFF and the SVON signal turns OFF.
(Of course SVRDY signal is off as the same time)

Please set the value higher than the time operating the actual brake.
Setting range : 0 ~ 40 [x 50msec],

Outcome value : 0

[17] No.16 : Spare parameter

[18] No.17 : Spare parameter
[19] No.18 : Positioning decision completion range
When position control, it is set the positioning decision completion range.
If the error between the target position and the current position is within the set range,
the VPF terminal (Number 16 of CN1 connector) will turn ON.
Setting range : 1 ~ 9999 [pulse],

Outgoing value : 100

[20] No.19 : Remaining pulse allowance

When position control, The difference of position command and position feedback per each
position control loop is accumulated. lf this difference value exceeds the set value, the
overload alarm of position deviation will appear.
Setting range : 1 ~ 6000 [x 100 pulse],

Outgoing value : 6000

[21] No.20 : Position loop feed-forward gain

This can be enable to have a response characteristic that shortens the position determine
time by using the feed-forward control. However, if the value is set too high, it may cause
the oscillation in the machine.
Setting range : 1 ~ 100 [%],

Outgoing value : 0

[22] No.21 : Feed-forward filter time constant

This sets the time constant when the first delay filter is put in the feed-forward position
command.
Setting range : 0 ~ 500 [x 4msec],

Outgoing value : 0

[23] No.22 : Positive torque limit 1

This limits the torque output of positive (+) polarity in the areas except the positioning
decision completion range. If the value is set at 0%, the positive torque will not occur.
If the value is set too low, the hunting may occur when the motor starts or stops.
Setting range : 0 ~ 300 [%],

Outgoing value : 250

[24] No.23 : Negative torque limit 1

This limits the torque output of negative (-) polarity in the areas except the positioning
decision completion range. If the value is set at 0%, the negative torque will not occur.
If the value is set too low, the hunting may occur when the motor starts or stops.
Setting range : 0 ~ 300 [%],

Outgoing value : 250

[25] No.24 : Positive torque limit 2

This limits the torque output of the positive (+) polarity in the areas within the
positioning decision completion range. After the position decision completes, if the low
value is set on the use to provide the invariable load constantly under SVON signal of
driver is ON, it can be avoided from the overstrain of the equipment or motor.
Setting range : 0 ~ 300 [%],

Outgoing value : 50

[26] No.25 : Negative torque limit 2

This limits the torque output of the negative (-) polarity in the areas within the
positioning decision completion range. After the position decision completes, if the low
value is set on the use to provide the invariable load constantly under SVON signal of
driver is ON, it can be avoided from the overstrain of the equipment or motor.
Setting range : 0 ~ 300 [%],

Outgoing value : 50

[27] No.26 : Speed limit

This limits the maximum operation speed.
Even when overshooting and such cases occur during the accelerating, the speed is limited
within the set value. Please set the value more than at least 50rpm as compared with
parameter 28 (operating speed).
Setting range : 0 ~ 3000 [rpm]

Outgoing value : 1850

[28] No.27 : Origin (Home) set jog speed

This sets the speed of internal jog operation in order to move equipments of turret,
magazine and so on to the right position of when the origin (zero-point) set.
This is discussed separately from the step jog speed.
Setting range : 1 ~ 1000 [rpm],

Outgoing value : 100

[29] No.28 : Operation speed

This is the motor speed when automatic operation or when step jog operation.
Setting range : 10 ~ 3000 [rpm],

Outgoing value : 1800

[30] No.29 : Acceleration time

This sets the time that takes from zero movement (motor stops) to the fixed speed at
parameter 28. If the value is set too low, the speed overshooting may occur when
accelerating.
Setting range : 0 ~ 500 [msec],

Outgoing value : 50

[31] No.30 : Deceleration time

This sets the time that takes from the fixed speed at parameter 28 to zero movement
(motor stops). If the value is set too low, the position decision time may be delayed
due to the hunting when the motor stops.
Setting range : 0 ~ 500 [msec],

Outgoing value : 80

[32] No.31 : UNCLAMP delay time

Operate UNCLAMP for the transfer when inputs the start signal after SVON is ON and after
NCLAMP SENSOR signal is ON, this is the delay time before the actual transfer.
Setting range : 0 ~ 1000 [msec],

Outgoing value : 0

[33] No.32 : CLAMP delay time

Operate CLAMP after the transfer and after turning off UNCLAMP SENSOR, this is the delay
time before the completion signal is output.
Setting range : 0 ~ 1000 [4msec],

Outgoing value : 0

[34] No.33 : Initial status display selection

Please select the initial status display after the main power switch ON.
Set

Initial display content

Set

Initial display content

value
00

Accumulated value of command pulse (lower word)

value
06

01

Accumulated value of command pulse (upper word)

07

Absolute encoder rotation

02

Current position (lower word)

08

Absolute encoder-one rotation

03

Current position (upper word)

09

Effective load ratio

04

Accumulated value of remaining pulse

10

Maximum load ratio

05

Current POST number

Motor rotation speed

Outgoing value : 06 (Motor rotation speed)

[35] No.34 ~ No.45 : Automatic setting and parameter managed for the maker management
(manufacturer)
When setting the machine origin(zero-point), the parameter will be set automatically or

it is for manufacturer's management use. Please do not set it according to then user's
purpose. It may not be operated normally if setting for user's purpose only.

4.6 Alarm record mode

It stores the recent alarm records till 9 rotations.
Press UP or DOWN key for checking the previous alarm records.
All records of alarm will be cleared by pressing SET key at this mode.

: alarm record mode

: 1 time alarm display

(ex. in case of overload of 1 time alarm)

: 2 times alarm display

: 9 times alarm display

5. Maintenance and inspection

5.1 Maintenance & Inspection
This chapter explains the servo motor, the maintenance and inspect method of driver,
the trouble shooting and countermeasure.

5.1.1 Notice
When checking motor voltage : The wave of pulse shape is displayed as the voltage
applied from the servo driver to the motor controls PWM. Please use the exact voltmeter
for correct measurement because measured value may occur big differences according to
the types of meter.
When checking motor current : Please use to connect the ammeter to the motor directly
because the pulse wave is smoothed as sine wave by the motor reactance.

 The other devices : please use not to contact the ground when using oscilloscope,
digital volt meter. Please use the input current less than 1 mA as well.

5.1.2 Checkpoint
When you check, it is remained the charged voltage in inner smoothing
condense, so do the inspection after power off and wait about 5 minute
because it may be dangerous.

Inspection of servo motor

Inspection item

Inspection period

Inspection and handling

Vibration, noise

Every month

Sense of touch, hearing

Remark
Not bigger than normal
condition

According to

External

demage or

appearance

Cleanup with cloth or air

contamination

Insulating

Disconnect with driver,

resistance

Minimum 1/year

measurement

measure it by 500V mega.

If under 10M, call to our

if over 10M, this is a

service depart.

normal.(note1)
Detach from the machine, and

In case the motor with oil

replace it.

seal

Change oil seal

Minimu 1/5000hr

General

Minium 1/20000hr or

Call to service dept in

Do not dismantle and clean

inspection

1/5year

company

servo motor.

(note1) check between one of the servo motor power line U,V,W and FG

Inspection of servo driver

Please refer to the below inspection of servo driver. Daily inspection is not necessary,
but check it over 1/year.
Check part
Clean main board and
circuit board
Loose screw

Check time

Inspection method

Handling when trouble

Minimum 1/year

Remove dust, oil and etc

Clean it with air or cloth

Minimum 1/year

Tighten connection terminal,

connector screw

Tighten

Trouble of part
defects on main
board and circuit
board

Minimum 1/year

Check changed color, damage and

disconnection by overheat

call to company

5.1.3 Period of part replace

The parts age because of mechanical friction or as time passes, therefore it is necessary
to check the regular inspection and replacement not only preventing the falling-off in
quality and trouble but also keeping the prevention conservation.
Smoothing condenser : the characteristics age due to the affects of ripple current.
Sometimes the life time of condenser is affected by the surrounding temperature and use
condition, but in case of continual operation under the condition of normal environment,
10 years are standard. The inspection period is minimum 1 per year (less than 1 per year
when left short life time) because the condenser aging is fast in a limited period
sometimes.
Check point as external appearance
1. Case condition : the side and bottom of case are expanded
2. Top plate condition : prominent expansion, extreme crack, break
3. Condition of explosion sides : sides expansion, already operation.
4. Life time is the time that periodically the standard capacity of condenser is under 85%
about the appearance, external crack, break, changed color, leak.
Relay kind : Contact faultiness may occur due to the contact abrasion by the switching
current, so the standard life time is 100,000 times( accumulated switching number) because
the relay is affected by the power capacity .
Motor bearing : replaces it on the basis of the standard replace time is 2~30,000 hrs
under rated speed, and load. The motor bearing is affected by the operating conditions,
so replace the motor bearing when abnormal noise or vibration is occurred.
Battery : replaces it 1 per 5 years under rated speed and load.

[standard replacement period of parts]

Part name
Smoothing condenser
Relay kind

Standard replacement period Replacement method

10 year
Switching(ON/OFF) No is
100,000

Replacement (decide after check)

Decide after check

Fuse

10 year

Replacement

Electrolytic condenser

10 year

Decide after check

Cooling fan

5 year

Replacement (over 3 KW )

Motor bearing

Motor oil seal

5,000 hrs

Replacement

Battery

5 year

Replacement

Decide after change

5.2 Trouble diagnosis and countermeasure

Alarm signal example) ALP-UU is displayed on the window of loader display when trouble
occurs during the operation. In this case, please take the following steps.
If the trouble is not remedied by these steps, please call to service dept.

5.2.1 Servo motor

[Trouble reason , check method, handling]
Phenomenon

Reason
Parameter setting
error

Not
operated

Check parameter like motor, capacity, Parameter reset

(refer to chapter 4)

Over load

Check rotation condition

Re-adjust machine

Motor defective

Check motor red terminal by tester

Screw loosened

Check connect part by drive

Re-tighten loosed screw

Check motor & encoder wiring

Re-wire, and change cable.

Check output wave

Change encoder.

disconnected cable
Encoder defective
defective connection
unstable

Check connection of motor

lead terminal

Low input voltage

Check driver input voltage

Over load

Check machine condition.

rotation

Ambient temp is high

Motor

point (should be lower than40)

Check adhesion of residue on

contamination

motor surface.

Over load
Magnet magnetism
decrease
Coupling defective

noise

Check motor ambient temp of setting

Motor surface
overheat

Abnormal

Handling

encoder pulse value, control mode

External wrong wirng,

motor

Check method

Bearing defective

normal voltage

Repair defective part.

Change power supply.
Remove residue from rotator,
and lubricating oil supply.

Change heat sink structure.

Clean motor surface.

Check load rate of driver.

Decrease load, increase

Check ac/deceleration cycle.

ac/deceration time.

Check electromotive voltage and

wave type of voltage.
Check screw tightness of the coupling
& concentricity of joints.
Check vibration and abnormal noise

Parameter setting
error (motor/encoder Check parameter related to gain.
pulse value, gain)

Replace motor in case of

Replace motor.

Re-adjust coupling.
Call to company.
Refer to parameter setting
method of chapter4.

5.2.2 Servo drive

When the alarm occurs, error signal out contact(ALARM) is turned off, and motor is stopped
automatically.
[Alarm cord and inspection]
Main

OP panel

LED

LED display

Alarm type

Corrective method

Lack voltage : occurs when voltage of inner - check the input power is low.
DC link is under standard value.

- check the short of motor power cable .

- check the input power is high.

Over voltage : occurs when voltage of inner - check the operation frequency is over
DC link is over standard value.

the standard value.

- check regenerative resistor is damaged
- check the temp of heat sink is over 100

Main circuit error : occurs in case of error

of inner IPM device.

degrees.
- check the operation frequency is over
the standard value.

Encoder I/F module error : occurs when

assembly of inner encoder I/F module is not
correct.
Encoder signal error :

- check the assembly of encoder I/F module

is correct.

A,B,Z signal error - check the encoder cable is pulled out or

among signal of encoder

signal line is disconnected.

Over speed : occurs when the motor speed

- check the encoder cable is pulled out or

exceeds the maximum rotation count.

wrong assembly.
- check the motor power cable is

Over load : occurs when the over load

disconnected.

status continues over the standard time.

- check if the parameter is set correctly.

CPU error : occurs when the CPU malfunctions

or inner board is defective

- check the parameter set is correct.

Parameter error : occurs when the save value

of

parameter

is

not

within

the

setting - check the parameter set is correct.

range.
Excessive position deviation : occurs a case
that the remaining pulse exceeds the fixed - check the value of parameter 18 is set
value

of

parameter

19

when

positioning

too low.

control.
Unclamp

solenoid

error:

occurs

when

operation of clamp solenoid.

no

- check Unclamp and clamp.

Encoder battery error : occurs when the

backup battery of inner encoder
is discharged or pulled out.

- change the battery.

5.2.3 detailed explaination of alarm code

(1) ALP - UU : low voltage alarm
NO.

Inspection item

Inspection result

Handling

Under AC 150V
1

Re-check the power

Check the power voltage

Do investigation and handling of

Normal AC 220V

investigation article 2

Occurs alarm
2

Re-check power capacity.

Occurs alarm intermittently when accelerating

Occurs alarm
when accelerating
unconditionally

Change the driver unit or PAB

(2) ALP - OU : over voltage

; DC bus voltage exceeds over 400V.
NO.

Inspection item
Secure regular power
capacity

Inspection result
Power capacity lack

Power capacity increase.

Do investigation and handling of

No problem.

investigation article 2.

Check the voltage is over Under 170V .

170V by tester
Over 170V .
when decelerating motor.
Voltage

difference

Power capacity increase.

Do investigation and handling of
investigation article 3.
between

Check the voltage of line lines is over 10V.

R-S, S-T, T-R by tester
No problem.
1) Ground instability
Check the wiring, setting
circumstance

1) Is the ground right?

2) Easy to occur the alarm

when some special machine is
operate.

Handling

Balance improvement on the power

Do investigation and handling of
investigation article 4.
Right set of ground.
Counter-plan

execution

for

machine that makes a noise

2) Is a machine that makes

a noise beside the unit?

No problem.

Change the driver unit or PAB

the

(3) ALP - OH : power module trouble

; In case the trouble occurs in power module used for driver unit .
1) operated the over current protect.
2) downed the base power voltage.
3) overheated.
NO.

Inspection item

Inspection result
Occurs Servo is OFF.

Inspect the occur area.

Check the setting value of

oparameter NO.23, NO.24.

Check the amount of load

when transferring

Check wiring between drive

unit and motor U, V, M.

Occurs after servo ON .

No set of normal value

Set of normal value.

Load capacity is over 100%.
Load capacity is under 100%.

Handling
Replace the driver unit or PAB.
Do investigation and handling of
investigation article 2.
Decrease load capacity.
Do investigation and handling of
investigation article 3.
Decrease load capacity.
Do investigation and handling of
investigation article 4.

1) loosened.

Tighten it correctly.

2) cut

Change the cable.

3) grounded.

Change the cable.

1)Check the looseness of

4

screw in terminal
2)Check the shorted wire
3)Check the grounded phase,

No problem.

and open 2 side of cable

Do investigation and handling of

investigation article 5.

when checking 2),3).

Check the motor insulation. Resistance value is under 1M Replace the motor.
5

Measure the line and

earth of motor by Mega

Resistance value is over 1M.

Sometimes voltage is under 170V

Check the power voltage.

when ac/decelerating.
Always over 171V .

Check the wiring, setting

1) Ground instability

circumstance

2) Easy to occur the alarm

1)Is the ground right?

when some special machine

2) Is a machine that

is operate.

Do investigation and handling of

investigation article 6.
Re-check the power voltage.
Do investigation and handling of
investigation article 7.
correct ground set.
Counter-plan execution for the
machine that makes a noise

makes a noise beside the

unit?

No problem.

Change the driver unit or PAB.

(4) ALP - CA : encoder signal trouble

NO.

Inspection item

Result
Loosened.

Shake it by hand and check the

1

Set it correctly.

detector connector(CN2) is

Power off, and check the detector

cable connection.

Do investigation and handling of

Normal.

connected or disconnected.

Handling

investigation article 2.

Connection faultiness

Change the detector cable.

Normal connection.

Change the motor.

(5) ALP - OS : over speed

NO.

Inspection item
Shake it by hand and check

Result
Loosened.

the cnnector(CN2) of speed

detector is connected or
disconnected.

Normal.

1) Ground instability

Handling
Set it correctly.
Change the detector cable.
Do investigation and handling
of investigation article 2.
Correct ground set.

Check the wiring, setting

circumstance

2) Easy to occur the alarm

1) Is the ground right?

when some special machine is

2) Is a machine that makes a

operate.

Counter-plan execution for the

machine that makes a noise

noise beside the unit?

3) Is the shield of speed/
positioning detector

3) Shield is not set correctly Correct Shield set.

cable correctly?
No problem.

Change the driver unit or PAB.

(6) ALP - OL : over load

; due to the current flowed to the motor is the value exceeded the overload detection
level, a case that time continues over the overload detection time
NO.

Inspection item
Check the setting value of
parameter NO.23, NO.24.

No set of normal value

Set of normal value.

Handling
Decrease load capacity.
Do investigation and handling
of investigation article 2.

1) Loosened.

Tighten it correctly.

and motor U, V, M.

2) cut

Change the cable.

1)Check the looseness of screw

3) grounded.

Change the cable.

Check wiring between drive unit

Result

in terminal
2)Check the shorted wire
3)Check the grounded phase, and

No problem.

open 2 side of cable when

Do investigation and handling

of investigation article 3.

checking 2),3).
Shake it by hand and check the
3

Loosened.

cnnector(CN2) of speed detector

is connected or disconnected.

Normal.
Connection faultiness or

Power off, and check the detector disconnection

cable connection by tester.
Normal.

Set it correctly.
Do investigation and handling
of investigation article 4.
Change the detector cable.
Connect it correctly
Do investigation and handling

of investigation article 5.
Load capacity exceeds motor's Make load capacity within

Check the motor load capacity.

rating.
No problem
Motor is closed.

check the rotation of motor.

No problem.

[Overload characteristic curve of servo motor]

motor's rating.
Do investigation and handling
of investigation article 6.
Re-chech the machine.
Change
PAB.

the

driver

unit

or

(7) ALP - SE : CPU trouble

NO.

Inspection item

Result

Handling

Always occurs when power on. Change the driver unit or PAB.
1

Inspect the re-occur.

Occurs sometimes.

Check the wiring, setting

2

1) Ground instability

circumstance

2) Easy to occur the alarm

1) Is the ground right?

when some special machine

2) Is a machine that makes

is operate.

a noise beside the unit?

No problem.

Do investigation and handling

of investigation article 2.
Correct ground set.
Counter-plan execution for the
machine that makes a noise
Change the driver unit or PAB

(8) ALP - PE : parameter trouble

NO.

Inspection item

Result
Always occurs when power on.

Change the driver unit or PAB.

Inspect the re-occur.

Occurs sometimes.

check the wiring, setting

2

Handling

1) Ground instability

circumstance

2) Easy to occur the alarm

1) Is the ground right?

when some special machine is

2) Is a machine that makes

operate.

a noise beside the unit?

No problem.

Do investigation and handling

of investigation article 2.
Correct ground set.
Counter-plan execution for the
machine that makes a noise
Change the driver unit or PAB

(9) ALP - rP : speed gap exaggeration

; in case the speed order and current speed gab exceeds the setting value at parameter
(NO.18)
NO.

Inspection item

Result
Abnormal connection.

Check wiring between driver

unit and motor U, V, M.

Normal connection.
Normal value is not set.

Check the setting value of

parameter(NO.18)

Abnormal value is set.

Load capacity is over 100%.

Check load capacity when

transferring.

Load capacity is under 99%.

Shake it by hand and check

4

Disconnected.

Handling
Correct line wiring.
Do investigation and handling of
investigation article 2.
Correct set
Do investigation and handling of
investigation article 3.
Decrease the load capacity.
Do investigation and handling of
investigation article 4.
Correct set

the cnnector(CN2) of speed

detector is connected or

Connected.

Do investigation and handling of

disconnected.

investigation article 5.

Power off, and check the speed Connection faultiness or

disconnection
detector cable connection by

Change the detector cable.

tester.

Change the driver unit.

Normal connection.

Make the correct connection.

(10) ALP - UC : solenoid trouble

NO.

Inspection item

Inspect the occurrence

area.

Result
Always occurs

Check the clamp sensor.

when transferring.

check the solenoid.

Occurs sometimes.

Check the setting value of

parameter(NO.31,NO.32)

Check the wiring

of solenoid and sensor.

Handling

Normal value is set

Normal value is not set.
Shorted or grounded.

Do investigation and handling of

investigation article 2.
Do investigation and handling of
investigation article 3.
Adjust the value of parameter
(NO.31, NO.32).
Change the cable.
Change the driver unit or PAB.

No problem.

change the sensor.

(11) ALP - En : battery trouble

NO.
1

Inspection item

Result

Handling

Check the battery voltage . Battery voltage is under 3.0V. Change the battery.