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CONTENTS
1. FUNCTIONS AND CONFIGURATION
1 - 1 to 1 - 16
1.1 Introduction ............................................................................................................................................... 1 - 2
1.2 Function block diagram ............................................................................................................................ 1 - 4
1.3 Driver standard specifications .................................................................................................................. 1 - 7
1.4 Function list ............................................................................................................................................... 1 - 9
1.4.1 Applicable control mode for each actuator ....................................................................................... 1 -11
1.5 Model code definition ............................................................................................................................... 1 -12
1.6 Combination with servo motor................................................................................................................. 1 -14
1.7 Parts identification ................................................................................................................................... 1 -15
1.8 Configuration including auxiliary equipment ........................................................................................... 1 -16
2. INSTALLATION
2 - 1 to 2 - 6
2.1 Installation direction and clearances ........................................................................................................ 2 - 3
2.2 Keep out foreign materials ....................................................................................................................... 2 - 4
2.3 Cable stress .............................................................................................................................................. 2 - 5
2.4 Inspection items ........................................................................................................................................ 2 - 5
2.5 Parts having service lives ......................................................................................................................... 2 - 6
3. SIGNALS AND WIRING
3 - 1 to 3 -50
3.1 Input power supply circuit ......................................................................................................................... 3 - 3
3.2 I/O signal connection example ................................................................................................................ 3
– 5
3.2.1 Position control mode ........................................................................................................................ 3 - 5
3.2.2 Internal speed control mode .............................................................................................................. 3 - 7
3.2.3 Internal torque control mode ............................................................................................................. 3 - 8
3.3 Explanation of power supply system ........................................................................................................ 3 - 9
3.3.1 Signal explanations ............................................................................................................................ 3 - 9
3.3.2 Power-on sequence ........................................................................................................................... 3 - 9
3.3.3 CNP1 and CNP2 wiring method ....................................................................................................... 3 -11
3.4 Connectors and signal arrangements ..................................................................................................... 3 -14
3.5 Signal explanations ................................................................................................................................. 3 -17
3.6 Detailed description of the signals .......................................................................................................... 3 -24
3.6.1 Position control mode ································································································· 3 -24
3.6.2 Internal speed control mode ························································································ 3 -27
3.6.3 Internal torque control mode ························································································ 3 -30
3.6.4 Position/speed control change mode ············································································· 3 -33
3.6.5 Internal speed/internal torque control change mode ·························································· 3 -34
3.6.6 Internal torque/position control change mode ·································································· 3 -35
3.7 Alarm occurrence timing chart ··························································································· 3 -36
3.8 Interfaces ······················································································································ 3 -37
3.8.1 Internal connection diagram ························································································ 3 -37
3.8.2 Detailed description of interfaces ·················································································· 3 -38
3.8.3 Source I/O interfaces ································································································· 3 -41
3.9 Treatment of cable shield external conductor ········································································ 3 -42
