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CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-52
1.1 Summary ........................................................................................................................................... 1- 1
1.2 Function block diagram ..................................................................................................................... 1- 3
1.3 Servo amplifier standard specifications ........................................................................................... 1-13
1.4 Combinations of servo amplifiers and servo motors ....................................................................... 1-19
1.5 Function list ...................................................................................................................................... 1-21
1.6 Model designation ............................................................................................................................ 1-23
1.7 Structure .......................................................................................................................................... 1-24
1.7.1 Parts identification ..................................................................................................................... 1-24
1.7.2 Removal and reinstallation of the front cover............................................................................ 1-37
1.8 Configuration including peripheral equipment ................................................................................. 1-39
2. INSTALLATION 2- 1 to 2- 8
2.1 Installation direction and clearances ................................................................................................ 2- 2
2.2 Keeping out of foreign materials ....................................................................................................... 2- 3
2.3 Encoder cable stress ........................................................................................................................ 2- 4
2.4 SSCNET III cable laying ................................................................................................................... 2- 4
2.5 Inspection items ................................................................................................................................ 2- 6
2.6 Parts having service lives ................................................................................................................. 2- 7
3. SIGNALS AND WIRING 3- 1 to 3-44
3.1 Input power supply circuit ................................................................................................................. 3- 3
3.1.1 200 V class ................................................................................................................................. 3- 4
3.1.2 400 V class ................................................................................................................................ 3-10
3.1.3 100 V class ................................................................................................................................ 3-14
3.2 I/O signal connection example ......................................................................................................... 3-15
3.2.1 For sink I/O interface ................................................................................................................. 3-15
3.2.2 For source I/O interface ............................................................................................................ 3-17
3.3 Explanation of power supply system ............................................................................................... 3-18
3.3.1 Signal explanations ................................................................................................................... 3-18
3.3.2 Power-on sequence .................................................................................................................. 3-19
3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-20
3.4 Connectors and pin assignment ...................................................................................................... 3-24
3.5 Signal (device) explanations ............................................................................................................ 3-25
3.5.1 Input device ............................................................................................................................... 3-25
3.5.2 Output device ............................................................................................................................ 3-26
3.5.3 Output signal ............................................................................................................................. 3-27
3.5.4 Power supply ............................................................................................................................. 3-27
3.6 Forced stop deceleration function ................................................................................................... 3-28
3.6.1 Forced stop deceleration function ............................................................................................. 3-28
3.6.2 Base circuit shut-off delay time function ................................................................................... 3-29
3.6.3 Vertical axis freefall prevention function ................................................................................... 3-30
3.6.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-30
3.7 Alarm occurrence timing chart ......................................................................................................... 3-31
3.7.1 When you use the forced stop deceleration function ................................................................ 3-31