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CONTENTS
1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -30
1.1 Summary .................................................................................................................................................. 1 - 1
1.2 Function block diagram ............................................................................................................................ 1 - 2
1.3 Servo amplifier standard specifica tions ................................................................................................... 1 - 5
1.4 Function list .............................................................................................................................................. 1 - 7
1.5 Model code definition ............................................................................................................................... 1 - 9
1.6 Combination with servo motor ................................................................................................................ 1 -10
1.7 Structure .................................................................................................................................................. 1 -12
1.7.1 Parts identification ............................................................................................................................ 1 -12
1.7.2 Removal and reinstallation of the front cover .................................................................................. 1 -19
1.8 Configuration including auxiliary equipment .......................................................................................... 1 -22
2. INSTALLATION 2 - 1 to 2 - 6
2.1 Installation direction and clearances ....................................................................................................... 2 - 2
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 -78
3.1 Input power supply circuit ........................................................................................................................ 3 - 2
3.2 I/O signal connection example ............................................................................................................... 3 -10
3.2.1 Position control mode ....................................................................................................................... 3 -10
3.2.2 Speed control mode ......................................................................................................................... 3 -12
3.2.3 Torque control mode ........................................................................................................................ 3 -14
3.3 Explanation of power supply system ...................................................................................................... 3 -16
3.3.1 Signal explanations .......................................................................................................................... 3 -16
3.3.2 Power-on sequence ......................................................................................................................... 3 -17
3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 3 -19
3.4 Connectors and signal arrangements .................................................................................................... 3 -27
3.5 Signal explanations ................................................................................................................................. 3 -30
3.6 Detailed description of the signals .......................................................................................................... 3 -40
3.6.1 Position control mode ....................................................................................................................... 3 -40
3.6.2 Speed control mode ......................................................................................................................... 3 -44
3.6.3 Torque control mode ........................................................................................................................ 3 -46
3.6.4 Position/speed control change mode .............................................................................................. 3 -49
3.6.5 Speed/torque control change mode ................................................................................................ 3 -51
3.6.6 Torque/position control change mode ............................................................................................. 3 -53
3.7 Alarm occurrence timing chart ................................................................................................................ 3 -54
3.8 Interfaces ................................................................................................................................................. 3 -55
3.8.1 Internal connection diagram ............................................................................................................ 3 -55
3.8.2 Detailed description of interfaces ..................................................................................................... 3 -56
3.8.3 Source I/O interfaces ....................................................................................................................... 3 -60
3.9 Treatment of cable shield external conductor ........................................................................................ 3 -61