S
R
T
U
W
V
EN1/EN2
(4)
SH
SH
TB
TB
(5)
6
5
8
3
4
EDM+
HWGOFF1-
HWGOFF2-
SH
(13)
24 VDC
(13)
(16)
24 VDC
CN4
EDM-
(10)
7
(7)
2
1
CN3
1
2
24 V
0 V
(3)
TB
(11)
MC
MC
RB1
RB2
+
TB
(12)
TB
B+
B-
(9)
24 VDC
1
(2)
For dynamic braking
DB resistor
thermostat
RY
+12 V
-12 V
MC2
TH1-1
TH1-2
DB1
DB2
TB
(2)
MC2
OUT-PWR 24 VDC
(13)
1,2
OUT-COM 24G
OUT(1)
OUT(4)
OUT(3)
OUT(2)
OUT(5)
OUT(6)
OUT(7)
OUT(8)
24
25
50
OUT-PWR
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
26
19
20
21
22
23
24 VDC
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
CN1
CN1
SH
(13)
Slowdown before
home (SDN)
⊕
1-step feed (+1step)
⊖
1-step feed (-1step)
Interrupt start (I_RUN)
MFIN (MFIN)
Point
specification
External data setting
(E_STR)
Output selection 3 (SEL3)
⊖
Overtravel (-0T)
⊕
Overtravel (+0T)
⊕
Manual (+JOG)
⊖
Manual (-JOG)
Homing (ZRT)
External error (EXT_E)
Alarm reset (ARST)
Servo on (S-ON)
Cancel (CACL)
Output selection 1 (SEL1)
Output selection 2 (SEL2)
Starting (RUN)
IN(16)
IN(1)
IN(2)
IN(8)
IN(4)
IN(64)
IN(32)
IN(128)
Override (OVRID)/
Manual high speed (RAP)
NC ready (NCRDY)
In-position output
(INPS)
Positioning complete
(PFIN)
In operation (MOVE)
External operation
mode (EXT)
Homing complete
(ZFIN)
General-
purpose
output
Holding brake excitation
timing output
(HBON)
Error output (Err)
Power-on permission
signal (A-RDY)
Lithium
battery 3.6 VDC
Encoder battery input
Shell
：
10350-52A0-008
Plug
：
10150-3000PE
Connect to TH1-1
and TH1-2.
Dynamic brake resistor
(14)
(15)
Servo amplifier
Servo motor
Holding brake
(Install only devices with brakes)
Encoder
Shielding
Reserved
(Do not connect)
Red
(Green/Yellow)
White
Black
Green
Orange
(Yellow)
Orange
(Yellow)
External regenerative resistor
User unit
System error
Emergency
stop
OFF
ON
Start ready
Start ready
AC power 3ø
400 to 480 V
50/60 Hz
24 VDC
power
supply
For
Safe Torque Off models
only
S
R
T
U
W
V
EN1/EN2
SH
SH
TB
TB
6
5
8
3
4
EDM+
HWGOFF1-
HWGOFF2-
SH
CN4
EDM-
(10)
7
(7)
2
1
CN3
1
2
24 V
0 V
TB
MC
MC
RB1
RB2
+
TB
(12)
TB
B+
B-
1
(2)
RY
+12 V
-12 V
MC2
TH1-1
TH1-2
DB1
DB2
TB
MC2
1,2
OUT(1)
OUT(4)
OUT(3)
OUT(2)
OUT(5)
OUT(6)
OUT(7)
OUT(8)
50
OUT-PWR
24,25
OUT+COM
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
26
19
20
21
22
23
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
CN1
CN1
SH
(4)
(5)
(13)
24 VDC
(13)
24 VDC
(3)
(11)
(12)
(9)
24 VDC
For dynamic braking
DB resistor
thermostat
(2)
OUT-PWR 24 VDC
(13)
(16)
OUT(1)
OUT(4)
OUT(3)
OUT(2)
OUT(5)
OUT(6)
OUT(7)
OUT(8)
24 VDC
(13)
Slowdown before
home (SDN)
⊕
1-step feed (+1step)
⊖
1-step feed (-1step)
Interrupt start (I_RUN)
MFIN (MFIN)
Point
specification
External data setting
(E_STR)
Output selection 3 (SEL3)
⊖
Overtravel (-0T)
⊕
Overtravel (+0T)
⊕
Manual (+JOG)
⊖
Manual (-JOG)
Homing (ZRT)
External error (EXT_E)
Alarm reset (ARST)
Servo on (S-ON)
Cancel (CACL)
Output selection 1 (SEL1)
Output selection 2 (SEL2)
Starting (RUN)
IN(16)
IN(1)
IN(2)
IN(8)
IN(4)
IN(64)
IN(32)
IN(128)
Override (OVRID)/
Manual high speed (RAP)
NC ready (NCRDY)
In-position output
(INPS)
Positioning complete
(PFIN)
In operation (MOVE)
External operation
mode (EXT)
Homing complete
(ZFIN)
General-
purpose
output
Holding brake excitation
timing output
(HBON)
Error output (Err)
Power-on permission
signal (A-RDY)
Lithium
battery 3.6 VDC
Encoder battery input
Shell
：
10350-52A0-008
Plug
：
10150-3000PE
Connect to TH1-1
and TH1-2.
Dynamic brake resistor
(14)
(15)
Servo amplifier
Servo motor
Holding brake
(Install only devices with brakes)
Encoder
Shielding
Reserved
(Do not connect)
Red
(Green/Yellow)
White
Black
Green
Orange
(Yellow)
Orange
(Yellow)
External regenerative resistor
User unit
System error
Emergency
stop
OFF
ON
Start ready
Start ready
AC power 3ø
400 to 480 V
50/60 Hz
24 VDC
power
supply
For
Safe Torque Off models
only
External Wiring Diagram
Parallel type 150, 300 A, source type (PNP) output
(1) [
] The part indicated by the figure on the left
should be wired with shielded twisted pair (STP)
cables.
(2) With a 150 A amplifier
The amplifier does not have DB1, DB2, TH1-1, or
TH1-2 terminal block. The amplifier has a built-in
dynamic braking (DB) circuit, so there is no need
for connecting an external DB resistor.
With a 300 A amplifier
The amplifier does not have a built-in dynamic
braking circuit. DB1 and DB2 are DB timing
outputs, and TH1-1 and TH1-2 are DB resistor
thermostat inputs.
When not using a thermostat, ensure that TH1-1
and TH1-2 are short-circuited. Necessary items,
an electromagnetic contactor, resistor, power
supply, and cable, are to be prepared by the
customer. For the electromagnetic contactor,
prepare one that works with DC power. Relay
contact rating: 30 VDC, 2 A (cosø = 0.4, L/R = 7 ms)
(3) Control panels must be grounded to prevent high
voltages from damaging the operation panel or
machines in case of an electrical leakage.
(Grounding of class C or higher is recommended
in Japan)
(4) Motor side connections vary depending on
motor specifications. The red, white, black,
green, and orange indicated in the figure are for
use when the motor has lead-wire type power
and brake lines. In the case of a cannon plug
type, perform wiring according to motor
specifications.
(5) Refer to the encoder connection diagram for the
wiring of encoder connectors.
(6) R, S, T, P, RB1, RB2, RB4, U, V, and W are
high-voltage circuits. All other signal lines are
low-voltage circuits. When wiring, provide
sufficient clearance between high-voltage and
low-voltage circuits.
(7) Do not connect anything to CN4-1 or CN4-2 pin.
(8) Use of a UL or IEC/EN compliant leakage circuit
breaker is recommended.
(9) Can only be used when the brake is a 24 V brake.
Power is supplied by a 24 VDC power supply.
(10) CN4 is a connector for the Safe Torque Off
function. Turning Servo ON (motor in operation)
requires to connect a safety device to CN4 and
get STO enabled. When not using STO, be sure to
insert the short-circuiting STO connector (Mfr.
part no.: 1971153-2) to CN4.
(11) If the holding brake has a 24 V rated voltage, the
brake can be directly powered by the amplifier’s
built-in holding brake power output, CNE.
(12) Consult us when conducting a withstand voltage
test.
(13) An external power supply is to be prepared by
the customer.
(14) Use of a UL or IEC/EN compliant leakage circuit
breaker is recommended.
(15) For a 24 VDC power supply, use a SELV (safety
extra low voltage) power supply with reinforced
insulation on I/O terminals.
(16) No wiring is required when using the battery-
less absolute encoder.
Connector
No.
Name
Housing, plug, shell
EN1/EN2
Encoder connector
54599-1016
CN1
General-purpose
I/O connector
Plug: 10150-3000PE
Shell: 10350-52A0-008
CN4
STO connector
For short-circuiting: 1971153-2
For wiring: 2013595-3
71
Features
S
erv
o Amplifier
and S
erv
o Motor
Combination T
able
Standard Model
Number List
S
erv
o Amplifier
s
R 3E Model
S
erv
o Motor
s
Options
S
election Guide
Analog/P
ulse
EtherCA
T
Built-in P
ositioning F
unction
S
afety
