SERVO DRIVE SV-E3 SERIES. INSTRUCTION MANUAL (v1.5)

Note 1）Control power supply(24V, G24V) and I/O power (COM+, COM-) share the same power supply(For the models of

750W or less).

Note 2）If there is drive inductive load(relay), please use protective circuits(diode).

Note 3) Transistor output is an open collector output circuit of the Darlington-connected. It should be connected with relay or

optocoupler. Please don’t connect transistor directly because the voltage VCE(SAT) between collector and emitter is about

1V which cannot meet the required voltage VIL of TTL IC when transistor is ON.

Note 4) Terminal resistance must be connected as shown in the wiring diagram.

Note 5) Connect the signal ground on the host control device of output signal of the encoder. The connection of signal ground

and power supply GND may cause malfunction.

Note 6) If the pulse width of Z-phase is too narrow to identify the host control device, please reduce the encoder pulse output

division and multiplication No.276.0, 278.0 or reduce the speed to increase the pulse width.[Pulse width]=1/speed/(division

and multiplication×2¹⁷).

8.2.4 Setting of basic parameter (Pulse position command input)

100

The factory setting is 「Pulse position command input」. It is necessary to set the following parameters if the drive is driven by

pulse position command input.

Table 8.2.4 Parameter of control mode (Pulse position command input)

Parameter No.

Parameter

Operation · Value

2.0

Control mode selection

Set to “0”.

3.0

Command mode selection

Set to “1”.

32.0

Pulse command input mode

Select one in the following (Note 1)

“0”: Pulse / direction

“1”: Orthogonal phase difference

“2”: CCW/CW

34.0

Command division and multiplication (Numerator)

Set to “32768”(Note 2)

36.0

Command division and multiplication (Denominator)

Set to “(The number of output pulse of host control

mode)/4” (Note 2)

Note 1: Pulse command input list is shown in the following table.

Table 8.2.5 Pulse command input list

Parameter

Input signal

Signal name

The minimum necessary time range (t1, t2, t3, t4, t5, t6)

No.32.0 pulse

Positive direction

Negative direction

command input

mode

Pulse · direction

Pulse

(Initial value)

Command pulse

CMD_PLS

Direction

CMD_DIR

AB-phase

A-phase

orthogonal phase

CMD_PLS

pulse

B-phase

CMD-DIR

Positive direction

CCW CMD-PLS

pulse

CW CMD-DIR

Negative

direction pulse

Note 2: Set when 1-rotation pulse (131,072) of host control device and drive is different. For details, refer to

「Chapter

Parameter list」.

Set the following parameters according to the using status.

Table 8.2.6 Parameter for pulse train position command input

Parameter No.

Parameter

Description

32.1

Pulse train command input Rotation direction

For details, refer to 8.2.7.

32.3

Selection of Pulse train input logic

Select the logic of pulse train

33.0

Pulse train command - Input filter selection

Reduce the misoperation caused by input

command pulse interference.

64.0

Positioning completion determination method

Specify the conditions of positioning completion.

68.0

Positioning completion range

101

69.0

Positioning completion speed

70.0

Positioning completion Pulse train command

input (speed)

71.0

Positioning completion Detection delay time

66.0

Position command smoothing filter 1 selection

Set the damping filter.

66.1

Position command smoothing filter 2 selection

Suppress the resonance of device when the

80.0

Position command smoothing filter 1 Moving

acceleration/ deceleration command is too high or

average order

positioning.

81.0

Position command smoothing filter 2 Moving

average order

Table 8.2.7 The setting of parameter 32.1 and the rotation direction of motor (Pulse train position command input)

Value of parameter 32.1

Command pulse of host control device

Positive direction

Negative direction

[Initial value]

The basic parameter and operation parameter can be set by the [Set panel].

8.2.5 Test run (Pulse train position command input)

■Before test run

Table 8.2.8

Make sure all the wiring are connected properly before

To prevent electric shock, fire, malfunction and injury.

switch on the power to the drive and motor.

Test run after setting the basic parameters.

If set the wrong basic parameters, the motor will not

run, run unsteadily or lose control, which may cause

some injury or accidents.

Confirm the operation of the motor alone first before test

The unexpected movements, such as unstable action

run. (Remove the other connection to the mechanics.)

or lose control, may cause tome injury or accidents.

Drive the motor after release the brake on the motor if

If not, it may cause the malfunction to the brake and

the motor is attached with the brake.

motor.

■Test run

Table 8.2.9 Steps for test run (Pulse train position command input)

Steps

Operation

Make sure all the wiring are connected properly.

Switch on the power to the drive.^Note1)

Switch on the main circuit power to the drive(200V AC).

Make the SVON input of drive ON to start the motor excitation. (Connect the I 1 terminal to the COM-)

Input position command pulse at a relatively low speed from host control device to make the motor run at

102

a low speed(100r/min). Make sure the rotation direction of the motor is same to the setting direction.

Improve the position command pulse frequency gradually after confirming the safe implementation of

actual operation. Then confirm the operation until it comes to the specified speed.

Note1: The control power supply for the models of 750W or less are supplied by external 24V DC. 1kW or more are supplied

from internal. So the control power supply of models of 1kW or more can be ON or OFF by switching on or cutting off the main

circuit AC power.

8.3 Speed control mode (Analog speed command input)

8.3.1 Wiring for user I/O connector(CN1) (Analog speed command input)

Name

Symbol

Pin No.

Signal name

Contents

User I/O

CN1

24V

Drive control power supply 24V input

●24V power

G24V

Drive control power supply GND

supply input

COM+

I/O power supply 24V input

●Parallel I/O

SVON

Servo ON input

●Pulse command

RESET

Alarm reset input

input

HOLD

Command input restriction(Zero speed clamp)

●ABZ output

Reserved

CCWL

CCW drive input restriction

CWL

CW drive input restriction

TLSEL1

Torque limit input

COM-

I/O power supply GND

MBRK

Brake release output

SERVO

Servo status output

Reserved

T-LIMIT

Torque limit output

OCZ

Encoder Z-phase output (open collector)

SRDY+

Servo ready output +

SRDY-

Servo ready output -

ALM+

Servo alarm output+

ALM-

Servo alarm output-

NC1

Reserved (Disconnected)

Reserved

103

Reserved

A SPEED

Analog speed command input

A_GND

Analog speed command input ground

Reserved

OUT_A

Encoder A phase output

/OUT_A

Encoder /A phase output

OUT_B

Encoder B phase output

/OUT_B

Encoder /B phase output

OUT_Z

Encoder Z phase output

/OUT_Z

Encoder /Z phase output

Signal ground

485

EIA-485 communication data

/485

EIA-485 communication /data

Signal ground

NC2

Reserved(Disconnected)

Reserved

104

Note 1）Control power supply(24V, G24V) and I/O power (COM+, COM-) share the same power supply(For the models of

750W or less).

Note 2）If there is drive inductive load(relay), please use protective circuits(diode).

Note 3) Transistor output is an open collector output circuit of the Darlington-connected. It should be connected with relay or

optocoupler. Please don’t connect transistor directly because the voltage VCE(SAT) between collector and emitter is about

1V which cannot meet the required voltage VIL of TTL IC when transistor is ON.

Note 4) Terminal resistance must be connected as shown in the wiring diagram.

Note 5) Terminal resistance must be connected as shown in the wiring diagram.

Note 6) Connect the signal ground on the host control device of output signal of the encoder. The connection of signal ground

and power supply GND may cause malfunction.

Note 7) If the pulse width of Z-phase is too narrow to identify the host control device, please reduce the encoder pulse output

division and multiplication No.276.0, 278.0 or reduce the speed to increase the pulse width.[Pulse width]=1/speed/(division

and multiplication×2¹⁷)

8.3.2 Setting of basic parameters (Analog speed command input)

105

Set the basic parameters.

The following parameters must be set if the drive needs to be driven by analog speed command input.

Table 8.3.2 Parameter of control mode change(Analog speed command input)

Parameter No.

Parameter

Description

2.0

Select control mode.

Set to “1”.

3.0

Select command mode.

Set to “2”.

The parameters from [48. 0] to [78. 0] in the following table can be selected according to the actual usage.

Table 8.3.3 Parameter of analog speed command input

Parameter No.

Parameter

Description

48.0

Analog speed command input -Filter constant（Numerator）

Filter out the input command voltage

49.0

Analog speed command input -Filter constant（Denominator）

interference. Use it with parameter 62.1.

50.0

Analog speed command input -Gain (Numerator)

Set the speed at the maximum command

51.0

Analog speed command input -Gain (Denominator)

input voltage (±10V). (Note 1)

52.0

Analog speed command CCW speed limit override value

Set speed limit value at CCW

(Numerator)

rotation.(Note 2)

53.0

Analog speed command CCW speed limit override value

(Denominator)

54.0

Analog speed command CW speed limit override value

Set speed limit value at CW

(Numerator)

rotation.(Note 2)

55.0

Analog speed command CW speed limit override value

(Denominator)

60.0

Analog speed command

- Fixed offset value

The motor speed is 0[ r/mi n] by

adjusting the command input to 0V. Use

it with parameter 62.2.

62.0

Analog speed command

- Rotational direction

For details, refer to table 5.3.4.

62.1

Analog speed command

- Selection of input filter

Please use it with parameter 48.0 , 49.0.

62.2

Analog speed command

- Selection of offset tuning method

Please use it with parameter 60.0.

77.0

Speed command smoothing filter selection

Please use it with parameter 78.0.

78.0

Moving average time for Speed command smoothing filter

Use it when the speed of motor is not

stable. And use it with parameter 77.0.

Note 1: Set the maximum speed for the motor in parameter 51.0(Denominator). Set the expected maximum speed in

parameter 50.0(Numerator).

Example) Make the following settings if the motor with the maximum speed of 5000 [r /mi n] needs to set to 3000 [r /mi n] at the

maximum command input voltage (±10V).

Table 8.3.4 Analog speed command input Gain settings

Parameter No.

Parameter

Setting value

50.0

Analog speed command input -Gain (Numerator)

“3000”

51.0

Analog speed command input -Gain (Denominator)

“5000”

Note 2: Set the maximum speed for the motor in parameter 53.0, 55.0(Denominator). Set the expected speed limit value in

parameter 52.0, 54.0(Numerator).

Example) Make the following settings if the motor with the maximum speed of 5000 [r /mi n] needs to set to the maximum

speed limit value of 3000 [r /mi n].

106

Table 8.3.5 Analog speed command Speed limit value settings

Rotation direction

Parameter No.

Parameter

Setting value

CCW

52.0

Analog speed command

“3000”

CCW speed limit value(Numerator)

53.0

Analog speed command

“5000”

CCW speed limit value(Denominator)

54.0

Analog speed command

“3000”

CW speed limit value(Numerator)

55.0

Analog speed command

“5000”

CW speed limit value(Denominator)

Table 8.3.6 Parameter 62.0 settings and rotation direction of the motor (Analog speed command input)

Value of parameter 62.0

Input analog command

Positive voltage

Negative voltage

[Initial value]

8.3.3 Test run (Analog speed command input)

■Before test run

Table 8.3.7

Make sure all the wiring are connected properly before

To prevent electric shock, fire, malfunction and injury.

switch on the power to the drive and motor.

Test run after setting the basic parameters.

If set the wrong basic parameters, the motor will not

run, run unsteadily or lose control, which may cause

some injury or accidents.

Confirm the operation of the motor alone first before test

The unexpected movements, such as unstable action

run. (Remove the other connection to the mechanics.)

or lose control, may cause tome injury or accidents.

Drive the motor after release the brake on the motor if

If not, it may cause the malfunction to the brake and

the motor is attached with the brake.

motor.

■Test run

Table 8.3.8 Steps for test run (Analog speed command input)

Steps

Operation

Make sure all the wiring are connected properly.

Switch on the power to the drive.^Note1)

Switch on the main circuit power to the drive(200V AC).

Connect SVON terminal of CN1 connector to COM- to make the servo ON.

Input the analog speed command voltage at a low voltage to make the motor run at a low speed.

Improve the position command pulse frequency gradually after confirming the safe implementation of

107

actual operation. Then confirm the operation until it comes to the specified speed.

Note1: The control power supply for the models of 750W or less are supplied by external 24V DC. 1kW or more are supplied

from internal. So the control power supply of models of 1kW or more can be ON or OFF by switching on or cutting off the main

circuit AC power.

8.4 Speed control mode (Internal speed command)

8.4.1 Wiring for user I/O connector(CN1) (Internal speed command)

Name

Symbol

Pin No.

Signal name

Contents

User I/O

CN1

24V

Drive control power supply 24V input

●24V power

G24V

Drive control power supply GND

supply input

COM+

I/O power supply 24V input

●Parallel I/O

SVON

Servo ON input

●Pulse command

RESET

Alarm reset input

input

VCRUN1

Input internal speed command-start 1(CCW ON)

●Analog input

VCRUN2

Input internal speed command-start 1(CW ON)

●ABZ output

VCSEL1

Input internal speed command-Speed command

selection 1

VCSEL2

Input internal speed command-Speed command

selection 2

VCSEL3

Input internal speed command-Speed command

selection 3

TLSEL1

Torque limit input

COM-

I/O power supply GND

MBRK

Brake release output

SERVO

Servo status output

Reserved

T-LIMIT

Torque limit output

OCZ

Encoder Z-phase output (open collector)

SRDY+

Servo ready output +

SRDY-

Servo ready output -

ALM+

Servo alarm output+

ALM-

Servo alarm output-

NC1

Reserved (Disconnected)

Reserved

108

Reserved

OUT_A

Encoder A phase output

/OUT_A

Encoder /A phase output

OUT_B

Encoder B phase output

/OUT_B

Encoder /B phase output

OUT_Z

Encoder Z phase output

/OUT_Z

Encoder /Z phase output

Signal ground

485

EIA-485 communication data

/485

EIA-485 communication /data

Signal ground

NC2

Reserved(Disconnected)

Reserved

109

Note 1）Control power supply(24V, G24V) and I/O power (COM+, COM-) share the same power supply(For the models of

750W or less).

Note 2）If there is drive inductive load(relay), please use protective circuits(diode).

Note 3) Transistor output is an open collector output circuit of the Darlington-connected. It should be connected with relay or

optocoupler. Please don’t connect transistor directly because the voltage VCE(SAT) between collector and emitter is about

1V which cannot meet the required voltage VIL of TTL IC when transistor is ON.

Note 4) Terminal resistance must be connected as shown in the wiring diagram.

Note 5) Connect the signal ground on the host control device of output signal of the encoder. The connection of signal ground

and power supply GND may cause malfunction.

Note 6) If the pulse width of Z-phase is too narrow to identify the host control device, please reduce the encoder pulse output

division and multiplication No.276.0, 278.0 or reduce the speed to increase the pulse width.[Pulse width]=1/speed/(division

and multiplication×2¹⁷)

8.4.2 Setting of basic parameters (Internal speed command)

110

Set the basic parameters.

The following parameters must be set if the drive needs to be driven by internal speed command.

Table 8.4.2 Parameters of control mode change (Internal speed command)

Parameter No.

Parameter

Description

2.0

Select control mode

Set to “1”.

3.0

Select command mode

Set to “3”.

388.0

Type of internal speed command

Set to “1”.

Table 8.4.3 Speed parameter of internal speed command

Parameter No.

Parameter

Description

390.0

Acceleration time (Note 1)

Initial value: 1000 [ms]

391.0

Deceleration time (Note 2)

Initial value: 1000 [ms]

392.0

Target speed 1

Initial value: 500 [r/mi n]

393.0

Target speed 2

Initial value: 1000 [r/mi n]

394.0

Target speed 3

Initial value: 1500 [r/mi n]

395.0

Target speed 4

Initial value: 2000 [r/mi n]

396.0

Target speed 5

Initial value: 2500 [r/mi n]

397.0

Target speed 6

Initial value: 3000 [r/mi n]

398.0

Target speed 7

Initial value: 4000 [r/mi n]

399.0

Target speed 8

Initial value: 5000 [r/mi n]

Note 1) Time for speed command from 0 [r /mi n] to 1000 [r /mi n].

Note 2) Time for speed command from 1000 [r /mi n] to 0 [r /mi n].

The speed setting parameter from [392.0] to [399.0] can be set in the specified

range, but some models cannot reach the speed shown on the setting pane. For

Points

the target speed setting, please refer to the specification of the motor.

8.4.3 Test run (Internal speed command)

■Before test run

Table 8.4.4

Make sure all the wiring are connected properly before

To prevent electric shock, fire, malfunction and injury.

switch on the power to the drive and motor.

Test run after setting the basic parameters.

If set the wrong basic parameters, the motor will not

run, run unsteadily or lose control, which may cause

some injury or accidents.

Confirm the operation of the motor alone first before test

The unexpected movements, such as unstable action

run. (Remove the other connection to the mechanics.)

or lose control, may cause tome injury or accidents.

Drive the motor after release the brake on the motor if

If not, it may cause the malfunction to the brake and

the motor is attached with the brake.

motor.

■Test run

Table 8.4.5 Steps for test run (Internal speed command)

Steps

Operation

Make sure all the wiring are connected properly.

Switch on the power to the drive.^Note1)

111

Switch on the main circuit power to the drive(200V AC).

Make the SVON input of drive ON to start the motor excitation. (Connect the I 1 terminal to the COM-)

Select the target speed according to the ON/OFF combination of I 5（VCSEL1）,I 6（VCSEL2）and I 7

（VCSEL3）. When I 3（VCRUN1）or I 4（VCRUN2）, it will rotate according to the setting direction.

ON： COM- short-circuit

OFF： COM- open-circuit

Note1: The control power supply for the models of 750W or less are supplied by external 24V DC. 1kW or more are supplied

from internal. So the control power supply of models of 1kW or more can be ON or OFF by switching on or cutting off the main

circuit AC power.

Table 8.4.6 Motor rotation direction of internal speed command

Motor rotation direction

Operation

（I 3）VCRUN1

（I

4）VCRUN2

CCW

OFF

Motor stop

OFF

Motor stop

Table 8.4.7 Motor rotation of internal speed command

Target speed

Operation

I 5 (VCSEL1)

I 6 (VCSEL2)

I 7 (VCSEL3)

（CN1 8 pins）

（CN1 9 pins）

（CN1 10 pins）

OFF

8.5 Torque control mode (Analog torque command input)

8.5.1 Wiring for user I/O connector (CN1)(Analog torque command input)

Table 8.5.1

Name

Symbol

Pin No.

Signal name

Contents

User I/O

CN1

24V

Drive control power supply 24V input

●24V power

G24V

Drive control power supply GND

supply input

COM+/-

I/O power supply 24V input

●Parallel I/O

SVON

Servo ON input

●Pulse command

RESET

Alarm reset input

112

input

HOLD

Command input restriction(Zero speed clamp)

●Analog input

Reserved

●ABZ output

Reserved

CCWL

CCW drive input restriction

CWL

CW drive input restriction

TLSEL1

Torque limit input

COM-

I/O power supply GND

MBRK

Brake release output

SERVO

Servo status output

Reserved

T-LIMIT

Torque limit output

OCZ

Encoder Z-phase output (open collector)

SRDY+

Servo ready output +

SRDY-

Servo ready output -

ALM+

Servo alarm output+

ALM-

Servo alarm output-

NC1

Reserved (Disconnected)

Reserved

A_TRQ

Analog torque command input

A_GND

Analog speed command input ground

Reserved

OUT_A

Encoder A phase output

/OUT_A

Encoder /A phase output

OUT_B

Encoder B phase output

/OUT_B

Encoder /B phase output

OUT_Z

Encoder Z phase output

/OUT_Z

Encoder /Z phase output

Signal ground

113

optocoupler. Please don’t connect transistor directly because the voltage VCE(SAT) between collector and emitter is about

1V which cannot meet the required voltage VIL of TTL IC when transistor is ON.

Note 4) Terminal resistance must be connected as shown in the wiring diagram.

Note 5) Terminal resistance must be connected as shown in the wiring diagram.

Note 6) Connect the signal ground on the host control device of output signal of the encoder. The connection of signal ground

and power supply GND may cause malfunction.

Note 7) If the pulse width of Z-phase is too narrow to identify the host control device, please reduce the encoder pulse output

division and multiplication No.276.0, 278.0 or reduce the speed to increase the pulse width.[Pulse width]=1/speed/(division

and multiplication×2¹⁷)

8.5.2 Setting of basic parameter (Analog torque command input)

Set the basic parameters.

The following parameters must be set if the drive needs to be driven by analog torque command input.

Table 8.5.2 Parameters of control mode change (Analog torque command input)

Parameter No.

Parameter

Description

2.0

Select control mode

Set to “2”.

3.0

Select command mode

Set to “2”.

The user can select the parameter [152.0], [288.0] to [302.0] in the following table according to the actual usage.

For details, refer to 「Chapter 6 Parameter」.

Table 8.5.3 Parameters of analog torque command input

Parameter No.

Parameter

Description

152.0

Analog torque command Speed limit [rpm]

Set the speed limit value.

288.0

Analog torque command input filter (Numerator)

Filter out the input command voltage

289.0

Analog torque command input filter (Denominator)

interference. Use it with parameter 302.1.

290.0

Analog torque command input gain (Numerator)

Set the torque at the maximum command

291.0

Analog torque command input gain

(Denominator)

input voltage (±10V). (Note 1)

292.0

Analog torque command CCW torque limit Override

Set torque limit value at CCW rotation.(Note

(Numerator)

293.0

Analog torque command CCW torque limit

Override(Denominator)

294.0

Analog torque command CW torque limit Override

Set torque limit value at CW rotation.(Note

(Numerator)

295.0

Analog torque command CW torque limit

Override(Denominator)

300.0

Analog speed command

- Fixed offset value

The motor speed is 0[ 0.1%] by adjusting the

command input to 0V. Use it with parameter

302.2..

302.0

Analog speed command

- Rotational direction

For details, refer to table 5.5.6.

302.1

Analog speed command

- Selection of input filter

Please use it with parameter 288.0, 289.0.

302.2

Analog speed command

- Selection of offset tuning

Please use it with parameter 300.0.

method

Note 1: Set the maximum torque for the motor in parameter 289.0(Denominator). Set the expected maximum torque in

parameter 288.0(Numerator).

115

Example) Make the following settings if the motor with the maximum torque of 3000 [0.1%] needs to set to 1000 [0.1%] at the

maximum command input voltage (±10V).

Table 8.5.4 Analog torque command input filter settings

Parameter No.

Parameter

Setting value

288.0

Analog torque command Input filter constant (Numerator)

“1000”

289.0

Analog torque command Input filter constant (Denominator)

“3000”

Note 2: Set the maximum torque for the motor in parameter 293.0, 295.0(Denominator). Set the expected torque limit value in

parameter 292.0, 294.0(Numerator).

Example) Make the following settings if the motor with the maximum torque of 3000 [0.1%] needs to set to the maximum

speed limit value of 1000 [0.1%].

Table 8.5.5 Analog torque command input Torque limit value settings

Rotation direction

Parameter No.

Parameter

Setting value

CCW

292.0

Analog torque command

“1000”

CCW torque limit value(Numerator)

293.0

Analog torque command

“3000”

CCW torque limit value (Denominator)

294.0

Analog torque command

“1000”

CW torque limit value (Numerator)

295.0

Analog torque command

“3000”

CW torque limit value (Denominator)

Table 8.5.6 Parameter 302.0 settings and rotation direction of the motor (Analog torque command input)

Value of parameter 62.0

Input analog command

Positive voltage

Negative voltage

[Initial value]

8.5.3 Test run (Analog torque command input)

■Before test run

Table 8.5.7

Make sure all the wiring are connected properly before

To prevent electric shock, fire, malfunction and injury.

switch on the power to the drive and motor.

Test run after setting the basic parameters.

If set the wrong basic parameters, the motor will not

run, run unsteadily or lose control, which may cause

some injury or accidents.

Confirm the operation of the motor alone first before test

The unexpected movements, such as unstable action

run. (Remove the other connection to the mechanics.)

or lose control, may cause some injury or accidents.

116

Drive the motor after release the brake on the motor if

If not, it may cause the malfunction to the brake and

the motor is attached with the brake.

motor.

■Test run

Table 8.5.8 Steps for test run (Analog torque command input)

Steps

Operation

Make sure all the wiring are connected properly.

Switch on the power to the drive.^Note1)

Switch on the main circuit power to the drive(200V AC).

Set a smaller value about 500 in parameter 152.0(speed limit value) to limit the speed.

Make the SVON input of drive ON to start the motor excitation. (Connect the I 1 terminal to the COM-)

Input the analog torque command voltage at a low voltage to make the motor run at a low speed.

Improve the analog torque command voltage gradually after confirming the safe implementation of actual

operation. Set the actual value in parameter 152.0(speed limit value).

Note1: The control power supply for the models of 750W or less are supplied by external 24V DC. 1kW or more are supplied

from internal. So the control power supply of models of 1kW or more can be ON or OFF by switching on or cutting off the main

circuit AC power.

8.6 Position control mode(Internal position command)

Set the following parameter of control mode selection and command mode selection to come into the internal position

command mode. Use the locator to test run.

Table 8.6.1 Parameter of control mode change(Internal position command)

Parameter No.

Parameter

Description

2.0

Select control mode

Set to “0”.

3.0

Select command mode

Set to “3”.

8.6.1 Locator function

Execute the positioning according to the I/O command from the host control device, such as PLC.

8.6.2 Test run

Send the command from PC according to the steps, not the command from host control device(such as PLC), and have the

test run, such as back and forth movement.

8.6.3 Precautions

1) Alarm code No.10 「Position command overflow/ Home position reset failure」will happen in the following two conditions.

1. Out of the range of -1, 073, 741, 823～+1, 073, 741, 823 「Command unit」

2. 「Internal position command - Overflow detection option」(Parameter No.643.0) is set to “1=Enable”

Considering the above factors, please set 「Internal position command - Overflow detection option」(Parameter No.643.0)

according to the following table.

Table 8.6.2 Parameter setting of internal position command mode

Operation method(Function)

Internal position command - Overflow detection option

Command

(Parameter No.643.0)

Positioning function

Absolute value

0=Disable^Note1)

1=Enable

Relative value

0=Disable

Test run

117

Note 1) The home position in the drive may disappear sometimes. Please reset the home position after parameter setting.

2) Please set 「Selection of Auto interpolation for command division and multiplication」(Parameter No.32.2) to “1=Enable”.

Initial value is “1=Enable”. When “0=Disable” is set, the speed change will become large.

8.7 Description of User I/O connector (CN1) terminal arrangements

Figure 8.7.1 Terminal arrangements

Figure 8.7.2 Connector

8.7.1 Signal description

Signal

Contents

Function

name

No.

24V

Drive control power supply

●Connect with +24V of 24VDC external power supply

24V input

●The power supply voltage is 24VDC±10％、100mA（Typ.）

●24VDC external power supply should meet the following condition:

Using SELV power supply(※).

※SELV: safety extra low voltage

(Reinforced insulation is needed for safety extra low voltage, non-dangerous voltage and

dangerous voltage.)

G24V

Drive control power supply

●Connect to GND of 24VDC external power supply

GND

COM+

I/O power supply 24V input

●Connect the common terminal of 24VDC power supply used for I/O and optical coupler

circuit used

●Power voltage: 24VDC±10％、100mA（Typ.）

I1 input

●Parallel I/O input

I2 input

●The function varies according to the different control mode/ command mode. For details,

I3 input

refer to

「Table 5.7.2 I/O input signal 」

I4 input

Control

Position control

Speed control

Torque

I5 input

mode

control

I6 input

118

I7 input

Comma

Pulse train

Internal

Analog

Internal

Analog

I8 input

command

regeneration

command

regeneration

command

mode

command

SVON

RESET

RESET/PCLR

RESET

HOLD

PCSTART1

HOLD

VCRUIN1

HOLD

PCLR

PCSEL1

(Reserved)

VCRUIN2

(Reserved)

PCSEL2

(Reserved)

VCS L1

(Reserved)

CCW

PC EL3

CCWL

VCSEL2

CCWL

CWL

PCSEL4

CWL

VCSEL3

CWL

TLSEL1

ORG

TLSEL1

COM-

I/O power supply GND

●Connected with GND of 24VDC power supply used for I/O

CMD_

[Differential input]

[Differential input] Max. command pulse frequency 4Mpps

PLS

①Pulse + direction pulse

①Input pulse + direction pulse from host control device (differential input)

②Orthogonal phase

②Input A phase of AB phase orthogonal difference pulse signal from host control device

difference pulse-A

(differential input)

③CCW+CW Pulse CCW

③Input CCW+CCW of CW pulse from host control device (differential input)

[5V open collector circuit]

[5V open collector circuit] Max. command pulse frequency 200kpps

④5V power supply of input

④5V power supply input terminal of /CMD_ PLS

/CMD PLS

/CMD_

[Differential input]

[Differential input] Max. command pulse frequency 4Mpps

PLS

①Pulse + direction/ pulse

①Input pulse + direction/ pulse from host control device (differential input)

②Orthogonal phase

②Input /A phase of AB phase orthogonal difference pulse signal from host control device

difference pulse /A phase

(differential input)

③CCW+CW Pulse /CCW

③Input CCW +/CCW of CW from upper control device (differential input)

[5v/24v open collector circuit]

[5V open collector circuit] Max. command pulse frequency 200kpps

④Pulse + direction pulse

④Input pulse + pulse of direction from host control device

⑤Orthogonal phase

⑤Input A phase of AB phase orthogonal difference pulse signal from host control device

difference pulse /A phase

⑥Input CCW +CCW of CW pulse from host control device

⑥CCW+CW pulse CCW

CC-P

[24V open collector circuit

[24V open collector circuit] Max. command pulse frequency

200kpps

input]

①24V power supply input terminal of /CMD_PLS

①24V of /CMD_PLS

CC-D

[24V open collector circuit

[24V open collector circuit] Max. command pulse frequency

200kpps

input]

①24V power supply input terminal of /CMD_DIR

①24V of /CMD_DIR

CMD_

[Differential input]

【Differential input】Max. command pulse frequency

4Mpps

DIR

①Pulse + direction direction

①Input pulse + direction direction from host control device(differential input)

119

SERVO DRIVE SV-E3 SERIES. INSTRUCTION MANUAL (v1.5) - page 6