Commands - Sanyo Denki America, Inc.

M0007234 

SANMOTION 

CLOSED LOOP STEPPING SYSTEM 

PB 

Type PAC Power Input 

PB3A003P200 

 

Instruction Manual 

E 

ENGLISH

Preface 

Shipping the product 

This product in this instruction manual corresponds with the shipping regulations given in the 

Export Trade Control Ordinance (Table 1, item 16). When these products are exported by 

customers, it is recommended to fulfill the requirements of export procedure with the relevant 

authorities, as well as “Information Requirements” and “Objective Requirements” according to the 

Catch-all regurations. 

Feature outline 

This manual outlines the functions, wiring, installation, operations, maintenance, specifications, 

etc. of the closed loop stepping system “PB” Series TypeP. 

 

PBwas born as a new, intelligent, and easy to handle closed loop stepping system which the 

technology of design and production in précised compact motor with high performance is in harmony 

with up-to-date control technology. 

This is a Software Servo System which controls according to the command of upper controller. 

Specially in minor stroke and high hitrate operation, this has higher response of 

acceleration/deceleration than the servo system in the same size. 

Since this has its unique stopping holding torque, slight vibration is not caused as usual servos 

has. 

Precautions related to this Instruction Manual 

In order to fully understand the functions of closed loop stepping system “PB” Series TypeP, 

please read this instruction manual thoroughly before use. 

After reading this manual thoroughly, please keep it handy for reference. 

Please contact the dealre or sales representative if there are defects such as nonconsecutive 

pages, missing pages or if the manual is lost or damaged. 

Carefully and completely follow the safety instructions outlined in this manual. Please note 

that safety is not guaranteed for usage methods other than those specified in this manual or 

usage methods intended for the original product. 

The contents of this manual may be modified without prior notice, as revisions or additions are 

made in the usage method of this product. Modifications are performed per the revisions of 

this manual. 

Permission is granted to reproduce or omit part of the attached figures (as abstracts) for use. 

Although the manufacturer has taken all possible measures to ensure the veracity of the 

contents of this manual, if you should notice any error or ommission, please notify the dealer 

or sales office of the finding. 

Related instructions manual 

Refer to for the specification of the PC I/F software.

1. 1 Introduction 11 

1. 2 Location of warning labels on the product 11 

1. 3 Explanation about Indications 12 

1. 4 Caution when Using 13 

 

 

 

2. 1 Verifying Package Contents 21 

2. 2 Model number Nomenclature 21 

2. 3 Motor Model Combination Table 23 

 

 

 

3. 1 External wiring diagram 31 

3. 2 Part Names and Functions 32 

3. 3 Installation 33 

3. 4 Wiring 35 

3.4.1 Wiring Precautions 3-5 

3.4.2 External Installation Wiring Diagram 3-5 

3.4.3 Connector Model Numbers and Appropriate Electric Wires 3-6 

3.4.4 Connector Pin Assignment 3-7 

3.4.5 Grounding 3-8 

3.4.6 Short-circuit Breaker 3-8 

3.4.7 Motor and Encoder Wiring 3-8 

3.4.8 Power Wiring 3-8 

Control Input / Output Signal Wiring 3-9 

 

 

 

4. 1 Input / Output Control Signal Functions 41 

4. 2 Switch Settings 46 

4. 3 Display 410 

4. 4 ALM Detection Function 410 

4. 5 Amplifier Status Change Diagram 414 

 

 

 

5. 1 Command 51 

5.1.1 Command List 5-1 

5.1.2 Commands 5-3 

 

 

 

6. 1 Amplifier Basic Specifications 61 

6. 2 Motor Standard Specifications 62 

6. 3 Motor Option Specifications 63 

6. 4 Velocity – Torque, power consumption characteristics 65 

6. 5 Outline Drawings 67 

 

 

 

7. 1 Optional Cables 71 

7. 2 Optional Connectors 74 

7. 3 Optional Communication Equipment 75 

 

 

 

8. 1 International Standards Conformity 81 

8. 2 Low voltage command 81 

8. 3 EMC Directive 82

1. Safety Precautions 

 

1.1 Introduction 

The PB system is designed for use in general manufacturing equipment. 

Please observe the following instructions: 

Read this User Manual carefully before any installation or assembly, to ensure proper use. 

Do not perform any retrofitting or modification of the product. 

Consult with a sales representative or a qualified technician regarding installation and maintenance. 

Special considerations, such as redundant services or an emergency generator are required when operating, 

maintaining and/or controlling devices in the following applications. Contact our office if: 

The device is used in medical instruments used for life support. 

The device is used in trains or elevators, the failure of which could cause bodily injury. 

The device is used in computer systems of social or public importance. 

The device is used in any equipment related to human safety or public infrastructure. 

Please contact our office if the device is to be used in an environment where vibration is present, such as 

in-vehicle or transport applications. 

Before installing, operating, performing maintenance or inspecting this device, read this entire manual 

carefully to ensure proper use. Use this device only after learning about the device, its safety information 

and the precautions related to its use. 

After reading this User Manual, keep it in a place where it is always visible to the user. 

1.2 Location of warning labels on the product 

Warning labels are located on the front panel of the servo amplifier. 

 

 

M TION 

PB 

 

 

 

 

 

 

 

 

 

 

SW1 

 

 

 

 

 

 

 

 

 

 

CN3 

C 

N 

7 

N 

2 

C 

CN4 

C 

N 

1 

C 

N 

5 

11


 

This chapter provides cautions for ensuring safe use of the PB amplifier. Read before use. 

 

 

In the following description, each indication is completed as shown in the figure below. 

 

 

DANGER 

 

XXXXX XX X 

 

Safety precaution item ranking 

 

 

1.3.2 Safety Precaution Item Ranking 

 

 

 

 

 

 

 

 

 

 

 

Items described in CAUTION may lead to a very serious result depending on the 

 

 

 

 

 

 

 

 

 

 

 

 

The following eight visual cues are used in this manual: 

Kind of symbol 

Visual cue of danger 

Visual cue for caution 

Example of symbol 

DangerInjury Electric shock 

Caution Fire Burn 

Visual cue for 

restriction 

Visual cue for 

requirement 

Restriction 

Requirement 

Disassembly not allowed 

12


 

 

 

 

 

 

(General) 

1. Do not use the system in an explosive atmosphere. 

Doing otherwise may result in injury or fire. 

2. Do not touch the working amplifier under any circumstances. 

Touching inside the amplifier may result in electric shock. 

3. Do not conduct work while power is being supplied. Be sure to wait at least 

one minute after turning off the power supply before doing an electrical 

wiring or inspection work. 

Touching inside the amplifier may result in electric shock. 

4. Only properly rained staff should take charge of transportation, installation, 

piping, wiring, operation, manipulation, maintenance, and inspection work. 

Doing otherwise may result in electric shock, injury, or fire. 

() 

5. To avoid getting an electric shock, be sure to ground the earth terminal of 

the driver or motor. 

6. Avoid damaging cables, applying excessive stress to them, putting a heavy 

objects on them, or nipping them. 

Doing otherwise may result in electric shock. 

7. Make a connections with the power cable according to the connection 

diagram or the Operation’s Manual. 

Failure to do so may result in electric shock or fire. 

(Operation) 

8. Before starting the motor, take necessary safety measures such as covering the rotary 

parts. Never touch a rotating part of the motor. 

Doing so may result in injury. 

9. Never approach or touch terminals when the power is on. 

Removing the terminal base cover may result in electric shock. 

13


 

 

 

 

 

 

 

 

 

 

 

 

(General) 

1. Before starting installation, operation, maintenance, or inspection, be sure to read the 

Operator’s Manual carefully and observe the instructions in it. 

Failure to observe the instructions may result in electric shock, injury, or fire. 

2. Do not use the system out of the specifications of the amplifier. 

Doing so may result in electric shock, injury, or damage. 

3. Do not use a damaged amplifier. 

Doing so may result in injury or fire. 

4. Do not remove the nameplate. 

5. Use an amplifier and a driver in the specified combinati 

Doing so may result in a fire or failure. 

6. Note that the amplifier/motor and peripheral units will become hot enough to cause a 

burn. 

7. This amplifier is an open-flame type. Do not touch the printed circuit boards. 

Doing so may result in damage. 

(Unpacking) 

8. Check if the product is the ordered one. 

Installing an incorrect wrong product may result in injury or damage. 

9. Avoid applying static electricity to the encoder terminals on the motor. 

Doing so may result in functional failures. 

 

14


 

 

 

 

 

(Wiring) 

10. Do not measure the insulation resistance and dielectric strength. 

Doing so may result in damage. Call us if you need such testing. 

11. Perform wiring in accordance with the Technical Standards for Electric Equipment 

and instructions in 4. Wiring. 

Failure to do so may result in a burn or fire. 

12. The amplifier is not equipped with an overcurrent protection function. Consequently, 

make wirings properly and accurately paying attention not to cause shorting of power 

circuits. 

Failure to do so may result in breakage of the amplifier and the motor. 

13. Be careful not to apply static electricity, high voltage to the sensor terminals of the 

motor or printed circuit boards of the amplifier. 

Doing so may result in functional failures. 

(Installation) 

14. Do not let foreign matter fall onto the printed circuit boards of the amplifier. 

Doing so may result in damage or a fire. 

15. Give a clearance as specified in the Instruction Manual between the amplifier and 

inside of the control panel or other devices. 

Doing so may result in damage. 

16. Never apply a strong shock to the system. Doing so may result in damage. 

17. At installation, take extreme care so as to prevent the unit from dropping or turning 

over. 

18. Never install the unit in a place where water may splash, in an inflammable gas 

atmosphere, or near combustible materials. 

Doing so may result in a fire or failure. 

19. Always install to a noncombustible structure like a metal structure. Otherwise, fire 

accident may occur. 

15


 

 

 

 

 

 

 

 

(Operation) 

20. The motor is not equipped with protection means. Install an earth leakage breaker, an 

excessive temperature rise prevention means and an emergency stop unit as necessary 

protection measures. 

Failure to do so may result in an injury or a fire accident. 

21. Never touch the heat sink of the amplifier, regenerative resistor, motor, or other part 

while the power is on or for awhile after the power has been turned off. 

These parts may become very hot, causing a burn on contact. 

22. In the event of any abnormality, stop operating the system at once. 

Failure to do so may result in electric shock, injury, or fire. 

23. Never make an extreme adjustment change that will cause the system operation to 

become unstable. Doing so may result in injury. 

24. At trial operation, fix the motor and check the operation separate from the mechanical 

system, then install the system on the machine. Failure to do so may result in an 

injury. 

25. The holding brake is not a stop unit to secure the safety of the machine. Install a stop 

unit to secure the safety on the machine side. 

Failure to do so may result in an injury. 

26. When an alarm occurs, remove the cause of the alarm and secure safety. After that, 

reset the alarm, then result the system operation. Failure to follow this procedure may 

result in an injury. 

27. After a recovery from an instantaneous power interruption, the operation may be 

restarted suddenly. Do not approach the machine. (Design the machine so that safety 

for personnel may be secured even if the system operation is restarted.) 

Approaching the machine when it restarts may result in an injury. 

28. Make sure the supply voltage is within the specified range. If the supply voltage is out 

of specification, functional failures may occur 

16


 

 

 

 

 

 

 

 

 

 

 

 

(Maintenance) 

29. The amplifier frame becomes very hot. Take care to avoid burns when doing 

maintenance and inspection. 

30. The electrolytic capacitors of the amplifier will deteriorate with age. As preventive 

measures, we recommend you to replace them in about 5 years (when ambient 

temperature is 40°C). Also, replacement of the fuses in about 10 years is 

recommended. When replacing them, contact us. 

31. Do not let dust accumulate on the printed circuit boards in the amplifier. 


32. When repair is required, please contact us. 

Disassembly of the system by the user may render it inoperable. 

(Transportation) 

33. Take extreme care not to drop or turn over turn system, because it is very dangerous. 

34. Do not hold the unit by the cables or the motor shaft. 

Doing so may result in injury or equipment failure. 

35. Do not touch the connector pins of the amplifier when conveying the equipment. 


(Scrapping) 

36. When discarding the amplifier and the motor, dispose of it as a general industrial 

waste. 

17


 

 

 

 

 

 

 

 

 

(Storage) 

37. Do not store the system in a place exposed to rain or moisture or in a place where 

noxious gas or liquid exists. Doing so may result in functional failures. 

(Operation) 

38. The brake built in the motor is used for holding. Do not use it for ordinary braking 

Using this brake for braking will damage it. 

(Maintenance) 

39. Do not disassembly or repair the system. 

Doing so may result in fire or electric shock. 

 

(Storage) 

40. Store the system in a place which is not exposed to direct sunlight and in the 

determined temperature/humidity range (−20°C to +65°C, 90% RH or less without 

condensation). 

41. When the system is to be stored for a long time (more than 3 years as a reference 

period), consult us. 

Long-time storage will lower the capacity of the electrolytic capacitor. 

(Operation) 

42. Install an emergency stop circuit out side so that the system operation may be stopped 

immediately to shut off the power supply. 

43. Be sure to use in places free from direct sunlight under the specified temperature and 

humidity conditions (amplifier: 0°C to 55°C and 20% to 90% RH without 

condensation; and motors; 0°C to +40°C and 20% to 90% RH without condensation). 

(Transportation) 

44. Loadage exceeding the specified loading capacity will cause a load collapse. Observe 

the indication. 

18

2. Model Number Nomenclature 

2. 1 Verifying Package Contents 

Verify the following items when the product arrives. If any discrepancies are noticed, contact our office. 

Verify that the model number is the same as ordered (model number is located on the main name plate). 

Verify that there are no defects, such as damage to the exterior of the device. 

2.2 Model number Nomenclature 

2.2.1 Set Number Specification 

The PB system has a set number based on the combination of amplifier and motor. 

PB A P - 

Motor Option III 

B: With holding brake 

No symbol: Without holding brake 

Motor Option II 

■: Gear Ratio (for geared models) 

No symbol: Gear not included 

Motor Option I 

●: Gear (for geared models) 

No symbol: No gear 

Motor Length 

Motor Mounting Surface Edge Dimension (mm) 

Amplifier I/F Specification: Pulse Train input 

Power Specification: AC input (wide-range) 

System Series Name: PB System 

2.2.2 Set Product Packing List 

Product Quantity Model Number Drawing Reference 

(page number) 

Amplifier 1 PB3A003P200 6-7 

Motor 1 PBM∆∆□F**20 6-8 

Power cable 1 PBC7P0020A (2m) 7-2 

I/O cable 1 PBC1S0010C (1m) 7-2 

21


2.2.3 Amplifier Number Specification 

3 3 P 2 00 

Specification identification 00standard equipment 

Sensor type INC500 

I/F Specification P Pulse Train 

Output current Phase 

Power supply voltage Power supplyWide range 

Series Name: PB System 

2.2.4 Motor Number Specification 

- 

International standards Authorization product 

No symbol: standard equipment 

Specification identification 20standard equipment 

Sensor type INC3ch500PR 

Option No option 

With holding brake 

With gear 

With harmonic gear 

Voltage specification AC Input 

Motor Length 

Motor Mounting Surface Edge Dimension (mm) 

Series Name: PB motor 

22


 

2.3 Motor Model Combination Table 

Set Number PBAP423 PBAP603 PBAP604 

Motor size 42 60 60 

Amplifier Number 

PB3A003P200 

Motor Number PBM423FE2 PBM603FE2 PBM604FE2 

Set Number PBAP861 PBAP862 

Motor size 86 86 

Amplifier Number 

PB3A003P200 

Motor Number PBM861FXE2 PBM862FXE2 

Gear Type 

Gear 

SET Number 

Motor Model 

Compatibility 

Ratio 

() 

(Symbol □) 

○: Optional setting 

Holding Brake 

Holding Brake 

×: No optional setting 

No Yes No Yes PBM423 PBM603 PBM604 PBM861 PBM862 

No gear B X B ○ ○ ○ × × 

Low-backlash gear 

Harmonic gear 

1/3.6 C3.6 C3.6B GA CG ○ ○ × × × 

1/7.2 C7.2 C7.2B GB CG ○ ○ × × × 

1/10 C10 C10B GE CG ○ ○ × × × 

1/20 C20 C20B GG CG ○ ○ × × × 

1/30 C30 C30B GJ CG ○ ○ × × × 

1/50 H50 H50B HL CH ○ ○ × × × 

1/100 H100 H100B HM CH ○ ○ × × × 

Refer to Section 6.3 for gear and holding brake specifications. 

23

3. Installation, Wiring and Operation 

3.1 External wiring diagram 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

*1) The regenerative control function is built into the amplifier; normally there is no need for wiring. 

*2) CN7 is a measurement connector reserved for the manufacturer; it is not intended for customer use. 

(CN7 is a high-voltage terminal. Do not touch the amplifier when it is powered up.) 

*3) The functions of IN1and IN2 are allocated by command 16h. 

3-1


3.2 Part Names and Functions 

ALM indicator LED (P4-10) 

M TION 

PB 

Power indicator LED (P4-10) 

SW1: Motor Type Resolution 

SelectP4-9 

CN3: Motor connector (P3-8) 

SW1 

CN3 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

C 

N 

7 

Gain SELECT (P4-6) 

Curve Filter(P4-8) 

N 

2 

C 

CN2: Sensor connector (P3-8) 

CN4: Power connector (P3-8) 

CN4 

N 

1 

C 

CN1: Control I/O signal connector 

(P3-9, P4-1) 

Protective ground terminal 

(P3-8) 

N 

5 

C 

CN5: Communication connector 

(P5-1P7-5) 

Amplifier front panel 

* CN7 is not intended for customer use. 

3-2


3.3 Installation 

3.3.1 Amplifier Installation Precautions 

The amplifier must be installed in an enclosure. Carefully consider the size of the case, the cooling 

method, and the location so that the ambient temperature around the amplifier does not exceed 55°C.For 

longevity and high reliability, it is recommended to keep the temperature around the amplifier below 40°C. 

The amplifier has an internal overheating detection function. Consider the cooling method to be used if an 

amplifier overheating error is detected. 

If there is a vibration source nearby, use a shock absorber between the amplifier and the installation base 

to prevent the vibration from directly affecting the amplifier. 

Long-term use in the presence of corrosive gas may cause contact failure on the connectors and on 

connecting parts. Never use the device where it may be subjected to corrosive gas. 

Do not use the device where explosive or combustible gas is present, as this could cause fire or an 

explosion. 

Do not use the device where dust or oil mist is present. If dust or oil mist attaches to and accumulates on 

the device, it can cause insulation deterioration or leakage between the conductive parts, and damage the 

amplifier. 

A large noise source may cause inductive noise to enter the input signals or the power circuit, and can 

cause a malfunction. If there is a possibility of noise, insert a noise filter, inspect the line wiring and take 

appropriate noise prevention measures. 

3.3.2 Amplifier Installation Method 

1) Installation dimensions 

The amplifier must be installed using two M4 screws on its rear panel. Refer to the amplifier outline 

drawing (Section 7.5.1) for the installation dimensions. 

2) Installation direction 

The amplifier uses natural convection cooling. The installation direction must be vertical. Do not install 

the unit upside down. 

3) Installing multiple amplifiers in a row 

Leave at least 50mm of space above and below the amplifiers to ensure unobstructed airflow from the 

radiator. If heat gets trapped above the amplifier, use a fan to create airflow. Leave at least 10mm of 

space between the amplifiers. 

 

3-3


3.3.3 Motor Installation Precautions 

If the motor is enclosed in an enclosure, consider its size, the use of a heat sink, and ensure the 

temperature inside the case is between 0 and 40°C. 

Consider a radiation method to ensure that the surface temperature of the motor (end cap surface 

temperature) does not exceed 85°C. (If the motor overheating prevention function is working, an ALM will 

be detected.) 

When installing a pulley or a gear to the motor, avoid methods such as press fitting that apply force in the 

torque direction. Ensure accurate shaft centering when integrating the rotating shaft of the motor with the 

target machinery. Incorrect centering can damage the shaft and the bearings. 

Avoid installation in places where the unit may be subjected to water, cutting fluid, rain or conductive 

particles such as dust and iron filings. 

Never install the unit where it could be subjected to corrosive (acid, alkali, etc.), flammable, explosive liquids or 

fumes. 

Avoid installing the motor on moving parts. Since the wires and cables used for this device are electric 

connection wires, disconnection could occur. Contact the manufacturer for assistance for use on moving parts. 

If a belt-drive is used, verify that the gear reduction value of the belt tension does not exceed the thrust 

load tolerance. Refer to 7.2 and 7.3.) 

3.3.4 Motor Installation Method 

Use the tap hole or mounting hole on the installation surface and the mounting rabbet for installation. Refer 

to the outline drawing (Section 7.5.2) for the tap hole pitch measurements and the mounting rabbet 

diameter. 

Installation Angle Motor Model Screws to Use Recommended Tightening Torque 

42 angles PBM423 M3 x4 

- 

60 angles PBM60* M4 x4 

0.6 Nm 

86 angles PBM86* M4 x4 

1.4 Nm 

3-4


3.4 Wiring 

3.4.1 Wiring Precautions 

1) Noise protection 

Follow the instructions below to prevent malfunctions due to noise. 

The noise filter, amplifier and the host controller should be placed at the minimum distance. 

Apply a surge absorber circuit to coils such as relays, electromagnetic contacts, induction 

motors and brake solenoids, etc. 

Do not enclose the power lines, the motor lines, and the signal lines in the same wire 

conduit; they are not intended to be bundled together. 

If there are large noise sources such as electric welding machines or electric discharge 

machines nearby, apply a noise filter for the power line and the input circuit. 

Do not bundle the primary and secondary wiring of the noise filter together. 

2) Wiring 

Perform wiring only when power is cut off. Carefully verify that wiring is correct, as faulty wiring 

can cause damage to the device. 

3) Cables for wiring 

Use the correct size of cables as specified for wiring. (Refer to Section 3.4.3) 

4) Emergency stop circuit 

Be sure to install an external emergency stop circuit that can stop the device and cut off the power 

instantaneously. 

3.4.2 External Installation Wiring Diagram 

M TION 

PB 

 

 

 

 

 

 

 

 

 

 

SW1 

 

 

 

 

 

 

 

 

 

 

3B 

CN3 

C 

N 

7 

2B 

3A 

C 

N 

2 

3C 

2C 

2A 

3D 

2D 

4B 

CN4 

N 

1 

C 

1B 

4A 

1A 

C 

N 

5 

5B 

PC 

5A 

3-5


3.4.3 Connector Model Numbers and Appropriate Electric Wires 

Refer to Section 3.4.2 (External installation wiring diagram) for more information on the symbols. 

Appropriate Electric Maximum 

Application Symbol Name Model 

Manufacturer 

Wire Extension Length 

1A Plug 8830E-020-170LD AWG28 (7/0.127) 3m 

I/O 

KEL 

1B Receptacle 8822E-020-171D 

2A Tab header 1376020-1 

AWG24, 26 20m 

Receptacle 

Twisted pair wire 

1-1318118-6 

2B housing 

with external 

Encoder 2D Receptacle 1318108-1(bulk) shield 

AMP 

contact 1318106-1(chain) 

Tab housing 1-1318115-6 

2C 

1318112-1(bulk) 

Tab contact 

1318110-1(chain) 

3A Tab header 1376136-1 

AWG18 to 22 20m 

Receptacle 

Discrete wire 

1-1318119-3 

3B housing 

Motor 

3D Receptacle 1318107-1(bulk) 

Power 

AMP 

contact 1318105-1(chain) 

Tab housing 1-1318115-3 

3C 

1318111-1(bulk) 

Tab contact 

1318109-1(chain) 

4A Tab header 1-178295-5 AWG16 to 20 3m 

Electric 

Power 4B 

5A 

Communication 

5B 

Receptacle 

Discrete wire 

1-178288-5 

housing 

AMP 

Receptacle 1-175218-5(bulk) 

contact 1-175196-5(chain) 

Post with S10B-PADSS-1GW AWG28 to 24 2m 

base 

Twisted pair wire 

Housing PADP-10V-1-S with external 

JST 

Contact SPH-002T-P0.5L shield 

* These are necessary for extending the relay cables between the motor power and the sensor in excess of 

50cm. 

* Optional cables and connector sets are available. Refer to Options (Section 7) for more information. 

3-6


3.4.4 Connector Pin Assignment (pin side) 

CN No Pin Number / Signal name Pin Layout 

(amplifier front panel view) 

CN1 

I/O signal 

1 

2 

3 

4 

5 

6 

7 

8 

9 

10 

+COM(+5V to 24V) 

-COM 

 

 

 

 

 

 

 

 

11 

12 

13 

14 

15 

16 

17 

18 

19 

20 

ALM CLR 

H.Limit 

SON MON 

HOME END 

ALM output 

In-Position Out 

Sensor 

Sensor 

Sensor 

N.C 

CN2 1 A 

7 VCC(+5V) 

Sensor 2 A 

8 GND 

3 B 

9 

4 B 

10 Overheat 

5 C 

11 FG 

6 C 

12 N.C 

 

 

 

 

 

CN3 

1 

A 

Motor 

Power 

2 

3 

A 

B 

 

 

4 

5 

6 

B 

BRK+ (for motors with holding brake) 

BRK- (for motors with holding brake) 

 

 

CN4 

Electric 

1 

2 

AC1 

AC2 

 

Power 

3 

N.C (VBUS+: terminal for external regeneration) 

 

4 

N.C (VBUS-: terminal for external regeneration) 

5 

FG 

 

CN 5, 6 

Communication 

1 

2 

A 

B 

6 

7 

- 

- 

 

 

3 

 

8 

- 

4 

5 

 

GND 

9 

10 

- 

FG 

Of pin No shows maker mosquito naming. 

3-7


3.4.5 Grounding 

Amplifier grounding: Ground the amplifier using the grounding wire from the ground connector 

(M4) of the amplifier case. Use single point grounding with a minimum of AWG 16 wire 

(1.25mm 2 ). 

Motor frame grounding: If the motor is grounded through the frame, then Cf x dv/dt current 

flows from the PMW power part of the servo amplifier through the motor floating capacitance 

(Cf). To prevent the effects of this current, use single point grounding for the motor frame and 

the servo amplifier ground. Use at least AWG18 wire (0.75mm 2 ) for grounding the motor. 

Grounding the wiring: If the motor is wired to a metal conduit or metal box, the metal must be 

grounded. Use single-point grounding. 

 

3.4.6 Short-circuit Breaker 

Due to the noise filter of the power input unit and the high-frequency switching noise of the PWM 

control, a high frequency leakage current may occur at the servo amplifier. If a short-circuit breaker is 

used to prevent malfunctions, use a high frequency leakage breaker. 

3.4.7 Motor and Encoder Wiring (CN 2,3) 

Connect the connectors of the encoder / motor cables (including the holding brake connections) to 

CN2, CN3 of the amplifier. The standard length of the motor / encoder cable is 0.5m. Use a relay cable to 

extend the wiring length, if necessary. 

* The encoder connector cable contains a motor overheating detection line. If an extension cable is 

used, this line must also be connected. 

* The holding brake is polarized. If an extension cable is used, verify the pin assignment (Section 

3.4.4) for correct polarization. The holding brake control function is built into the amplifier. 

3.4.8 Power Wiring 

Connect the AC power to Pin 1, 2 of CN4. 

The following table shows the power specifications: 

 

Motor Model PBM423 PBM603 PBM604 PBM861 PBM862 

Power voltage specification AC100V to 230V –15% to +10% 50/60Hz 

Current capacity (A rms) See Section 6.4 

* Pins 3 and 4 of CN4 are for connecting the regeneration unit, required if a regeneration error ALM 

occurs due to reasons such as moving a negative load. Normally, regenerative control is 

performed internally by the amplifier, so there is no need to connect an external unit. 

3-8


3.4.9 Control Input / Output Signal Wiring (CN1) 

Connect the user-selected control device. Refer to Section 4.1 for more information on this function. 

1) CN1 Input / Output Signal List 

Pin Signal Signal name (default value) Function summary Circuit 

No. 

1 Electric +COM External power (DC5V-24V) for the - 

power 

input signal 

2 

-COM 

Output port common ground 

3 Input CCW Pulse 

CCW Pulse InputPulse Input 1 

4 CCW Pulse 

5 CW PulseDIR+ CW Pulse InputDirection Input 

6 CW PulseDIR 

7 DEV CLRGain Deviation CLRGain Select 

2 

8 HOMEGain Homing StartGain Select 

9 H.LimitSDN Hard LimitSDN Signal 

10 STOP Emergency stop input (SOFF input) 

11 ALM CLR ALM cancel signal 

12 

H.LimitSDN 

Hard LimitSDN Signal 

13 Output SON MON Servo On Monitor 

3 

14 HOME END Homing END Signal 

15 ALM ALM output 

16 In-Position In-Position signal 

17 Sensor Sensor 

4 



20 

No Function 

* The logic of the input/output signals can be selected remotely. Refer to Chapter 5 (command 

16h) for more information about modifying the logic. 

3-9


Circuit 

Type 

Circuit Structure 

DC Input Specifications 

 

 

 

270 

3 to 5.5V 

In case the voltage is at 5.5 V or more: 

Insert a resistor "R" which satisfies " 

 

 

Input Voltage mA 

 

 

 

3.3k 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Circuit 

CN1 

1 

912 

 

 

3-10

4. Input / Output Signal Functions 

4.1 Input / Output Control Signal Functions (CN1) 

4.1.1 Pulse Input 

Terminal No. Name Functions 

3, 4 

(Input) 

5, 6 

(Input) 

CCW pulse 

pulse input 

CW pulse 

rotational 

direction 

The pulse input method can be selected by dip-switch SW1. 

SW1=ON: Input method #2 – input for CCW direction 

SW1=OFF: Input method #1 – pulse input 

The pulse input method can be selected by dip-switch SW1. 

SW1=ON: Input method #2 – input for CW direction 

SW1=OFF: Input method #1 – rotational direction selection 

input 

When input method #1 is selected, the rotational direction 

will be the following: 

Photocoupler ON: CW direction 

Photocoupler OFF: CCW direction 

* The rotational direction is determined looking from the motor output shaft. 

Pulse input conditions 

 

CCW pulse 

Count at the coupler ON edge 

CW pulse 

Motor operation 

CCW 

CW 

Do not input CW and CCW pulses at the same time. 

Set the photocoupler to OFF when stopping the pulse input. 

 

Pulse input 

Count at the coupler ON edge 

Rotational direction 


CCW 

CW 

Pulse input must be OFF when switching the rotational direction. 

Set the photocoupler to OFF when stopping the pulse input. 

 

Maximum input frequency: 750000PPS 

T3 

T1 

T2 

T4 

4-1


4.1.2 Deviation Clear 

Terminal No. Name Functions Logic 

7 

Deviation 

In the case of CMD16h-DAT30 

A Conn. 

(Input) 

clear 

Performs a deviation clear (internal pulse buffer clear) 

(Div CLR) 

with the coupler ON. The current position at the time of 

receiving the input becomes the target position. 

* During the deviation clear input, the command pulse is 

disabled. 

* If input is received during drive operations, it will move 

back by the deceleration distance. 

2ms MIN 

Deviation clear input 


4.1.3 Zero Return Start 


8 

Zero-return 


A conn. 

(Input) 

start 

With the coupler ON, the zero-detection operation is 

(Home) 

performed according to the zero-return profile preset via 

transmission. 

* During the zero-return operation, the command pulse 

is disabled. 

* The details of the zero-return operation can be set via 

transmission using the 45h command. Refer to 

Section 5 for more information. 

* If zero-return Type=1, then the Limit signal 

corresponding to the command direction is interpreted 

as SDN signal (zero-signal). 

Example: Zero-return Type=1 (SDN signal + C phase) 

2ms MIN 

Zero-return start 


SDN signal 

C-phase output signal 

Zero-return complete monitor 

4-2


4.1.4 Gain Select 


78 

Gain Select 


 

(Input) 

Performs a gain select. 

This function is used by a movement condition to 

change Gain. Setting is necessary as follows to validate 

this function. 

Set the Command E3hGain Table 

Set the Command 2FhDAT4 2 

Set the Command 16FhDAT3 1 

Please do not do a Gain change driving. 

4.1.5 Positive Direction Limit / SDN Signal 


9 

Positive 

During normal operation: 

Selectable: 

(Input) 

direction Limit 

This will be the hard limit signal input for each direction. 

Command 

 

After the limit input, a deceleration stop is executed, and 

16h 

SDN signal 

the stop position becomes the target position. During 

(Initial value 

(+H. Limit) 

Limit, commands for the Limit direction are disabled. 

= A Conn. 

12 

Negative 

Commands for the opposite Limit direction are accepted. 

= ON Active) 

(Input) 

direction Limit/ 

* During execution of zero-return Type=0, 2, 3, the Limit 

SDN signal 

input is disabled. 

(-H. Limit) 

At the time of zero-return operation (zero-return Type=1) 

it is interpreted as an SDN signal (zero-sensor signal). 

Hard Limit input 


4-3


4.1.6 Emergency Stop Input 


10 

Emergency 

If an input occurs during driving operations, the motor 

Selectable: 

(Input) 

stop 

decelerates at its maximum rate, and will enter the 

Command 16h 

(STOP) 

servo OFF state. 

(Initial value = A 

After clear, if the motor is stopped and at least 200ms 

Conn. 

have elapsed, the servo will enter the ON state. 

= ON Active) 

2ms MIN 

Emergency stop input 


SON monitor 

200ms MIN 

4.1.7 ALM Clear 


11 

ALM clear 

After detecting a coupler ON edge, if the motor is 

Selectable: 

(Input) 

(ALM CLR) 

stopped and at least 200ms have elapsed, the ALM will 

Command 16h 

be cleared and the servo will enter the ON state. 

(Initial value = 

* Refer to Section 4.4 for more information about 

A Conn. 

alarms. 

= ON Active) 

* Note that non-cancelable alarms can only be cleared 

by switching OFF the power. 

ALM output 

ALM cancel signal 

2ms MIN 

4-4


4.1.8 Servo ON monitor 


13 

Servo ON 

This is the monitor output signal for servo ON status. 

Selectable: 

(Output) 

monitor 

Detects pulse commands at SON status. 

Command:16h 

(SON MON) 

Refer to the Status change diagram in Section 4.5 for 

Initial 

value: 

more information about the amplifier states. 

SON=ON 

The output signal logic can be selected by command 16h. 

Turning ON the power 

Input power voltage 

Initialization 

SON monitor 

2s MAX 

4.1.9 Zero-return Completion Monitor 


14 

Zero-return 

Monitors the completion of the amplifier’s 

Selectable: Command 

(Output) 

completion 

internal zero-return function. Resets to 

16h Initial value: 

monitor 

incomplete status at zero-return restart. 

Complete=ON 

(ORG MON) 

4.1.10 Alarm Output 


15 

Alarm 

This signal is output when an alarm occurs. 

Selectable: 

(Output) 

(ALM) 

Refer to Section 4.4 for more information about 

Command 16h 

alarms. 

Initial value: A Conn. 

(ON when ALM) 

4.1.11 In-Position 


16 

In-Position 

This signal is output when the position deviation is 

Selectable: 

(Output) 

(In-POS) 

within the range set by command 30h.It is used as 

Command 16h 

an in-position complete monitor. If the servo is OFF, 

Initial value: 

it switches to Out-Position status. 

In-Pos=ON 

Emergency stop input 


In-Position signal 

In-Pos width 

4-5


4.1.12 Encoder Signal Output 


17,18, Encoder 

signal 

output 

Outputs the signal of the encoder installed on the motor. 

Pin 17: A-phase signal Output - Resolution: 500P/R 

Pin 18: B-phase signal Output - Resolution: 500P/R 

4.1.13 Encoder Signal Output 


19 Encoder 

signal 

output 

 

 

 

* C/phase origin signal is not output at speeds equal to or greater than 

200min -1 . 

CW 

A-phase 

B-phase 

C-phas 

 

4-6


4.2 Switch Settings 

The following table describes the function of the switches located on the front panel of the 

amplifier. 

4.2.1 Rotary Switches 

1) RSW1: Gain parameters 

Selects the proportional gain and the integral gain from 16 levels of normalized settings. 

The proportional gain is set based on the SW setting value, and increased gradually. 

The integral gain is selected from 3 levels. 

The setting values for the Gain Table are shown below: 

SW setting 

Proportional 

Integral gain 

SW setting 

Proportional 

Integral gain 

value 

gain 

value 

gain 

0 4 1 8 20 20 

1 6 10 9 22 1 

2 8 20 A 24 10 

3 10 1 B 26 20 

4 12 10 C 28 1 

5 14 20 D 30 10 

6 16 1 E 32 20 

7 18 10 F 34 1 

Adjustment method 

First, gradually increase the level (0h→3h→6h→...) as long as there is no oscillation on the 

motor or the load, and select the proportional gain. As the level increases, gain also increases, 

and the velocity waveform changes as shown below. By increasing the proportional gain as 

much as possible without oscillation, high response can be achieved. 

Low proportional gain 

High proportional gain 

Next, select the integral gain (time constant), while checking the load response and the 

In-Position status. The larger the value, the greater the overshoot will be. 

4-7


2Gain choice by communication 

A fine adjustment of Gain is possible by communication. 

Command 2Fh 

Adjust Tabu-Command47Gain set and select the Servo PAR3Fh 

It is transmitted a message with a send button by an amplifier. 

It is Save to an amplifier after setting.PCAMP 

Gain choice by I/OCommand 2Fh+E3h 

This command sets the gain-table by IN1IN2 input-Port. 

Four kinds of Gain setting is possible by I/O. 

Select the Servo PARI/O 

Set the command 227Maker Parameter tub 

Set the command 22System tub-Input Port Function1 

It is Save to an amplifier after setting.PCAMP 

The communication method details please refer to M0007266. 

4-8


2) RSW2: S-shape acceleration / deceleration filter 

This function selects the time constant of the S-shape acceleration / deceleration filter for the 

position command from 16 levels of settings. By increasing the value of the setting, smooth 

operation can be achieved. However, overuse of this function will cause the command delay 

to increase. 

Please do not change an S-shape filter picking up speed and slowing down filter in 

the Pulse input. A position gap occurs. 

4-9


4.2.2 Dip-switches 

Initial factory settings: All ON 

SW No. Function Settings 

1 Pulse input method ON: Input method #2 OFF: Input method #1 

2, 3 Resolution setting SW3 SW2 Command resolution (P/R) 

ON ON 500 

ON OFF 1000 

OFF ON 5000 

OFF OFF 10000 

* 2000, 4000 P/R are selected via transmission. Refer to Section 5 

(Command 11h) for more information. 

4 - 6 Motor selection SW6 SW5 SW4 Compatible motor 

model number 

ON ON ON PBM423 

ON ON OFF PBM603 

ON OFF ON PBM604 

ON OFF OFF PBM861 

OFF ON ON PBM862 

OFF ON OFF Setting prohibited 

OFF OFF ON Setting prohibited 

OFF OFF OFF Setting prohibited 

* Always use a setting compatible with the assembly motor. If the 

settings and the connected motor do not match, motor damage can 

occur. 

SW1 

1 2 3 4 5 6 

OFF 

ON 

 

4-10


4.3 Display 

LED Color Description 

ALM Red Depending on the type of alarm, the display is either continuously lit 

or flashing. 

Refer to Section 4.4 for more information about display status. 

POW Green This display is illuminated when the power is ON, and is unlit when 

the amplifier internal charge voltage is below 50V. 

4.4 ALM Detection Function 

The ALM LED indicates the alarm type by the number of flashes. 

The ALM status and ALM history can be read (RD) via transmission (see Section 5, Command 86h). 

4.4.1 ALM description table 

# of flashes Abbreviation Hex Code ALM description Recoverability 

OFF No alarm 00 - - 

ON 

CPUE - CPU error Non-recoverable 

EEPER 10 Nonvolatile memory error Non-recoverable 

1 

DE 01 Sensor disconnected Non-recoverable 

LA 13 Sensor out of position Non-recoverable 

2 

OV 02 Input power voltage is above the 

specification range 

MPE 03 Input power voltage is below the 

specification range 

Recoverable 

Recoverable 

3 RSTE 04 Initialization error (overload) 

Non-recoverable 

Power line disconnected 

4 

OVF 05 Position deviation abnormal Recoverable 

OL 06 Overload stop Recoverable 

OS 07 Overspeed Recoverable 

5 RGOL 08 Regeneration voltage is outside the 

Recoverable 

specified value 

6 ORG 09 Zero-return error Recoverable 

7 Wrap around 0B Absolute position counter sign 

Recoverable 

reversal 

9 

MO OH 0E Motor overheat detection Recoverable 

AMP OH 0F Amplifier overheat detection Recoverable 

10 PAM 11 PAM voltage abnormal Non-recoverable 

11 OC 12 Overcurrent detection Non-recoverable 

* To cancel non-recoverable alarms, first turn OFF the power, and then restart. 

4-11


4.4.2 ALM Conditions and Causes 

ALM description 

Condition / Cause 

(Code) 

CPU error 

(-) 

Indicates a CPU error (W.D). 

Possible causes: 

Problem with the amplifier internal control power. 

CPU malfunction due to excessive noise. 

Nonvolatile 

memory error 

(10h) 

Indicates a nonvolatile memory data error. 


Power interruption during writing to the nonvolatile memory. 

Data writing error due to excessive noise. 

* After detecting the memory error, the parameters are reset to the original 

factory settings. 

Sensor 

disconnected 

(01h) 

Indicates the disconnection of the sensor A/B-phase. 


Sensor line wiring problem. 

Error detected due to excessive noise on the sensor line. 

* Disconnection of the C-phase is detected during zero-return (at C-phase 

detection type) as a zero-return error. 

Sensor out of 

position 

(13h) 

Indicates that the sensor A/B-phase is out of position. 


Sensor position misalignment. 

Error detected due to excessive noise on the sensor line. 

Overvoltage 

(02h) 

Indicates that the input power voltage is above the specification range. 

At power-up, the amplifier automatically recognizes 100/200V power voltage. 

After the voltage detection, overvoltage is determined based on the following 

values: 

100V input: approx. 138V AC 


* Not detected during servo ON drive. 

Undervoltage 

(03h) 

Indicates that the input power voltage is below the specification range. 

At power-up, the amplifier automatically recognizes 100/200V power voltage. 

After the voltage detection, undervoltage is determined based on the following 

values: 



* The ALM history is saved if the voltage returns to normal after undervoltage 

detection as a result of an instant undervoltage. 

4-12


ALM 

description 

Initialization 

error 

(04h) 

Excessive 

position 

deviation 

(05h) 

Overload stop 

(06h) 

Excessive 

velocity 

(07h) 

Regeneration 

error 

(08h) 

Zero-return 

error 

(09h) 


After the PB system power is turned ON, the initial phase is detected, the internal 

counter is initialized, and the system switches to servo ON status. If the sensor initial 

phase cannot be detected correctly, it results in an ALM condition. 


Sensor C-phase disconnection. 

The load reached the mechanical end. 

Load is out of tolerance range (excessive load). 

* If ALM or STOP status persists after the power is turned on, the initialization process 

will not be executed. 

* Refer to Section 6.2 for more information about load tolerance. 

Detects an ALM if the position deviation exceeds the value set by command 14h. 


Delay due to excessive acceleration / deceleration drive. 

Delay due to excessive load. 

Indicates that before reaching the target position, the load was inoperative for a certain 

time. The detection time for inoperative status can be set using command 14h. 


The load reached its mechanical end. 

Load is out of tolerance range (excessive load). 

Indicates a velocity error. 


Overshoot due to excessive acceleration / deceleration. 

Overshoot due to excessive load. 

Indicates a motor regeneration voltage error. 


Abrupt deceleration due to excessive load. 

Stationary drive of excessive negative load. 

* The PB amplifier has a standard internal regenerative control function used during 

deceleration. Contact us if this function is not sufficient for regenerative control. 

When using zero-return Type 0,1,3: C-phase detection zero-return, this alarm 

indicates that the C-phase could not be detected within one rotation of the motor shaft. 

When using zero-return Type 2,3: Push zero-return, this alarm indicates that the 

collision drive was incomplete within the travel distance range set by command E3h. 


Coupling slippage. 

Sensor C-phase signal disconnection. 

Command E3h setting value inappropriate. 

4-13


ALM 

description 

ABS counter 

sign reversal 

(0Bh) 

Motor 

overheat 

(0Eh) 

Amplifier 

overheat 

(0Fh) 

Internal 

voltage error 

(11h) 

Overcurrent 

(12h) 


Indicates the sign reversal of the absolute position counter inside the amplifier. 

Command 14h can be used to enable or disable the detection. 


Detection is enabled during a drive using single rotational direction only. 

Detects the ambient temperature near the motor’s internal encoder. 

Note that the continuous operating range of the motor is limited by heat dissipation 

and drive conditions. 


Insufficient heat dissipation, excessive ambient temperature. 

Continuous drive of a momentary operational area. 

Indicates that the amplifier has overheated. 

Note that sometimes the amplifier cannot be used for continuous operation due to 

heat dissipation and drive conditions. 


Insufficient radiation, excessive ambient temperature. 

Continuous driving of a momentary operational area. 

Indicates a problem with the motor applied voltage inside the amplifier. 


Insufficient power capacity (refer to Section 6.4 for more information about 

consumption current). 

Amplifier damage. 

Indicates an overcurrent due to a short-circuit on the power line. After detection, the 

motor enters into an unexcited state. 

* Note that ground fault detection may not be possible; in this case, the potential for 

amplifier damage exists. 


Short-circuit on the motor line. 

Short-circuit on the regenerative connection. 

Amplifier damage. 

4-14


4.5 Amplifier Status Change Diagram 

Main power ON 

Reset incomplete 

Reset operation 

Servo OFF Status 

Reset complete 

Idle (Stop status) 

Servo ON Status 

In-Position operation 

Zero-return operation 

Cancel 

Power Limit 3 

Velocity 0 

Fixed excitation 

STOP 

ALM 

Recoverable alarm 

Non-recoverable alarm 

CLR 

Power 

Limit 3 

Fixed 

excitation 

Power 

Limit 3 

Fixed 

excitation 

Alarm status 

(1) The reset operation is automatically executed when the amplifier detects that the power of 

the main circuit is within the specified voltage range. After initialization is complete, the status 

automatically changes to “Servo ON". If the reset operation completes once, the initialization 

will not be performed. Use the STOP signal to maintain the "Servo OFF” status. 

(2) If a STOP or alarm occurs, the motor decelerates with fixed excitation until it stops. After the 

motor stops, the excitation current set for Power Limit 3 is applied. 

4-15

CommandsCommunication 

5.1 Command 

I mention the command contents which I can set with a PC I/F. When changes of the input and 

output Port logic have to change initial setting value at the time of factory shipment, please use it. 

In addition, software for exclusive use of a case to have you use communication, a 

communication Kay - bulldog are necessary. The details please refer to Clause 7.3. ( PC I / F 

instruction manual please refer to attached sheet M0007266.) 

5.1.1 Command List 

 

Command Command Name Function Initial Value 

Code 

1 Initialization Initializes the CPU to the power ON state. - 

2 Parameter CLR Clears the parameters and resets them to their factory 

- 

settings. 

3 Parameter Save Saves the edited parameters to non-volatile memory. - 

4 Parameter Load Loads the data from non-volatile memory to RAM. - 

6 ALM history CLR Clears the ALM history. - 

17 (11h) Software switch Set the Pulse resolving that setting is impossible in 

DIPSW. Setting resolving: 2000, 4000P/R 

19(13h) Initial Move 

A direction of movement is defined the initial move. 

Direction 

 

 

20 (14h) ALM detection 

condition 

22 (16h) Input/output port 

function 

Enables or disables the overload stop, servo error 

detection threshold and ALM detection functions. 

Sets the logic and function of the input / output signals. 

* If necessary, modify the initial values for the 

application before installing the amplifier. 

Overload stop=8s 

Servo error=360deg 

A ContactOn Active 

Input Function 

7PinDEV CLR 

8PinHOME 

31 (1Fh) User memory Provides 8 bytes of memory for the user. 0 (8bytes) 

32 (20h) Power Limit Sets the current limit value based on the following conditions: 

used for Torque limit or Power Down. 

35 (23h) Maximum travel 

distance during 

zero-return 

DAT1: Current limit for SON stop. (Upper limit 7Fh=50%) 

DAT2: Current limit during motion (Upper limit FFh=100%) 

DAT3: Current limit for SOFF. (Upper limit 7Fh=50%) 

Sets the maximum travel distance for push operation 

and SDN zero-return. If there is no normal completion 

within the specified range, a zero-return error is 

7Fh 

FFh 

7Fh 

Maximum 

generated. 

39(27h) 

Current offset 

An adjustment command when vibration at the time of a 

0064h,0 

stop was caused

CommandsCommunication 

 

Command 

Command Name Function Initial Value 

Code 

47(2Fh) Gain2 Choose a setting method of Gain and set the second 

Ro SW1 Enable 

Gain. 

48 (30h) In-position width Sets the in-position width. The in-position output signal 

9h 

is based on the position deviation value set here. 

69 (45h) Zero-return Set the origin return movement profile by an amplifier 

self-run function. 

Positive DIR/ 

Phase SCAN 

VEL75min -1 

226(E2h) 

Control change 

It is a command for adjustment to use in a vibration 

2,2 

condition 

improvement purpose at the time of low speed drive. 

227(E3h) Gain3 Set the four kinds of Gain table when I did a gain 

ALL 4 

choice function by I/O port Enable. 

230(E6h) 

CN1-19pin Output 

C cannel (1P/R) / Phase origin (50P/R) output either is 

0C cannel 

Function 

chosen. 

2RD commands 

Command 

Code 

Command Name 

Function 

128 (80h) Parameter RD DATA RD of a command to have initial I value. 

131 (83h) Amplifier status RD Monitors the amplifier status and the input / output status. 

132 (84h) Absolute position RD Monitors the absolute position counter. 

134 (86h) ALM monitor Reads the alarm history. 

135 (87h) Communication error Reads the communication error history. 

137 (89h) Software REV Reads the software revision. 

139(8Bh) Voltage MON BUS Voltage Voltage monitor 

144(90h) AMP Amplifier type Monitor 

146(92h) MON 1 Monitor

CommandsCommunication 

 

Memory Access 

 

 

 

 

 

 

 

 

 

 

 

 

Code3 

 

 

Parameter editing 

Code4 

Code2 

 

EEPROM 

 

ALM history 

Code6 

ALM history CLR 

 

 

 

Command Code01h 

Data Length0 byte 

Initial 

Initializes the amplifier status to power-up status. ROM parameters are loaded to RAM. 

Command Code:02h 

Data Length:0 bytes 

Parameter Clear 

Resets RAM parameters to their factory settings. 

* When resetting the ROM parameters, use the parameter Save command (03h) after the P. CLR CMD. 



Parameter Save 

Saves RAM parameters to the ROM. 

* If a reset is performed without saving the parameters, the values will be lost. 



Parameter load 

Loads the ROM parameters to RAM. 

* The same operation is performed at power-up and when using the initialization command. 



ALM History Clear 

Clears the alarm history.


 



Software Switch 

DAT No Function Setting range Initial Value Setting unit 

DAT1 Pulse Resolution 02 0 0DIP SW Enable 

12000P/RDIP SW Disable 

24000P/RDIP SW Disable 

DAT24 No function assigned 

This command set the Pulse Resolution for 2000,4000P/R. 

Command Code: 20 (14h) Data Length: 4 bytes Initial Value: 8,1770h, 81h 

ALM Detection Condition 


DAT1 Detection time for overload stop 1 to Ch 8 1s 

DAT2, 3 Servo error detection condition 1 to FFFFh 07D0h 1PLS (equivalent of 2000P/R) 

DAT4 

Enables or disables the optional 

Alarm and Limit functions. 

0 to 1 1 0=Detection allowed (enabled) 

1=Detection prohibited (disabled) 

Sets the enable, disable and detection conditions for the ALM detection and Limit functions. 

DAT4: Enables or disables the optional Alarm and Limit functions. 

WRAP: Enables or disables ALM detection for Wrap Around (coordinate sign reversal). 

Select “1” to enable continuous operation in the same direction. 

DATA NO Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 

DAT4 Wrap 

* Overload stop ALM is not detected during push operation. 



Initial Move Direction 


DAT1 Initial Move Direction 01 0 0CW 1CCW 

A direction of movement is defined the initial move.


 

Command Code:22 (16h) 

Data Length:3 (d) bytes 

Input / Output Port Function 


DAT1 Input logic 0 0=A conn. (ON Active) 1=B conn. 

DAT2 Output logic 0 0=A conn. (ON Active) 1=B conn. 

DAT3 Input function 01 0 0IN1Deviation CLR IN2HOME 

1IN1IN2Gain Select 

Sets the input/output signal logic of CN1, and selects the function of the generic input/output signals. 

Refer to Chapter 4 for more information about the input/output port functions. 

DATA 

Function Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 

NO 

DAT1 Input logic -LIM ALM 

CLR 

STOP 

HL+ 

DAT2 Output logic In-Posi ALM ORG SON 

DAT3 Input function IN1,2 

Gain Select 

When a gain change is necessary, it is used by drive pattern. When the gain choice, please set command E3h to command 

2F-DAT3 =2 after setting. In addition, please warn deviation clear, origin return start function when I did a gain choice 

function effectively because it becomes null and void. 

Command Code311Fh 


User memory 


DAT18 User memory 0FF 0 

Provides 8 bytes of memory for the user. 

It depends on parameter Save (command 03), and data is stored in nonvolatile memory. 



Power Limit 


DAT1 

In-position complete (Idle) current 

0 to 7Fh 7Fh 

Setting current (A) = 

limit during SON status 

(Setting value (d) /255) X Rated 

DAT2 Current upper limit during operation 0 to FFh FFh 

current 

DAT3 Current limit during ALM/STOP 0 to 7Fh 7Fh 

Sets the Power Limit value (motor excitation current limit) for each status. 

The maximum torque limit at stop is 50% of the maximum stored torque. 

Please use it for restraint of a motor temperature rise, a torque limit.


 

Command Code: 35 (23h) 

Data Length: 4 bytes 

Zero-return Maximum Travel Distance 


DAT1 to 4 Zero-return maximum travel distance Show below Maximum Pulse 

Sets the maximum travel distance from the point where the zero-return was started. It is enabled when executing zero-return type 1 – 3. 

If there is no normal completion within the maximum travel distance, it will generate a zero-return error. 

Resolution settings 

Basic division setting 500 1000 2000 4000 5000 10000 

Setting unit (Deg) 0. 72 0. 36 0. 18 0. 09 0. 072 0. 036 

Upper limit (hex) 1999999 3333333 6666666 CCCCCCC 19999999 1FFFFFFF 



Current Offset 

DAT No Function Setting 

range 

Initial Value 

Setting unit 

DAT1 

DAT2 

current addition speedLow byte 

current addition speedHih byte 

01194h 64h100min -1 1min -1 LSB 

DAT3 Current offset 0FF 0 3A/255/LSB 

When motor speed is low, an offset is added to an electric current order than setting speed. 

When single load to a gravity direction is big, and vibration is caused at the time of positioning, vibration is evaded by 

adding an electric current.


 

Command Code472Fh 


Gain2 


DAT1 Velocity loop Proportional Gain 0FFh 4 

DAT2 Velocity loop Integral Gain 0FFh 4 

DAT3 Position loop Gain 0Fh 4 

DAT4 Gain Select 02 0 0RO SW Disable 

1Command 2Fh Enable 

2Command E3h Enable 

Setting of detailed Gain separately from RSW1. 

Gain choice, the adjustment method details please refer to Clause 4.2. 



In-position Width 

In-Pos 


DAT1 to 4 In-Position width setting 1to CCCCCCCh Ah 0. 18 degrees (standard 2000P/R) 

Sets the in-position width. 

In-position status results from reaching the range defined by the target position ± the setting value. 

When a zero-return operation is performed, in-position is output at the time of zero-return completion. 

When move commands with push are used, in-position will be output in reference to the push target position. (Use 

the motor stop signal function to determine push completion.)


 


Data Length: 6 (d) bytes 

Zero Return Profile 

ORG 


DAT1 

Zero-return type 

0 to 4 

0 See (1) 

Rotational direction 

See (1) 

0: Positive DIR, 1: Negative DIR 

DAT2 Zero-return velocity 1 to C8h 4Bh 1min -1 /ms 

DAT3 Zero-return low velocity 1 to C8h 4Bh 1min -1 /ms 

DAT4 to 5 Grid shift Depends on the 

0,0 1PLS 

DAT6 

Zero-return push current limit (the 

setting is valid for type 3, 4) 

resolution 

0 to FFh 0 Setting value (d) /255 x Rated 

current 

Set the origin return movement profile by an amplifier self-run function. Amplifier inside absolute position counter at the 

time of origin return is cleared to 0. 

DATA NO Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 

DAT1 * * * Rotational direction * Zero-return type 

(1) : Zero-return type 

Bit2 Bit1 Bit0 Zero-return type 

0 0 0 C channel detection 

0 0 1 SDN detection 

0 1 0 SDN + C channel 

0 1 1 Push zero detection 

1 0 0 Push + C channel detection 

Others 

Setting prohibited 

Grid shift setting rangeHex 

Resolution 500 1000 2000 4000 5000 10000 

Positive DIR 333 666 CCC 1999 1FFF 3FFF 

Negative DIR FCCD F99A F334 E667 E001 C001 

In origin return Type =0,2,3 movement inside, H.Limit is ignored. 

Grid shift is mark data. Please be careful to setting of direction.


 

Command Code226E2h 


Control change condition 


DAT1 Control change Frequency 0FF 2 2000PPSLSB 

DAT2 Current Time const 0FF 2 3A/255/0.5ms 

When vibration is caused at the time of low speed drive, control change frequency is used for the purpose of reducing 

vibration. 

Please set frequency in referring to the following recommended method for order frequency. 

Speed differs by setting resolving. 

Outbreak torque in less than setting frequency depends on stop time Power Limit. 

When a control change does not do it, please set 0. 

Recommended usage 

Control change FrequencySetting value2000PPS 

At the time of low speed driveCMD frequency(PPS) 

At the time of Normal speed driveStart frequency+2000(PPS) 

CMD frequency 

+2000 

 

 


DAT1,4,7,10 Speed loop proportion Gain 0 to FFh 4 

DAT2,5,8,11 Speed loop integral Gain 0 to FFh 4 

DAT3,6,9,12 Position loop gain 0 to Fh 4 

This command sets the gain-table by IN1IN2 in-Port. 

Please set it in command 2Fh-DAT42Command 16h-DAT21 

proportion Gain integral Gain Position loop gain


 

Command Code230E6h 


CN1-19Pin Output Function 


DAT1 CN1-19 Pin Output Function 0,1 0 01P/R 

1Phase Origin(50P/R) 

A CN1-19 turn pin output function is chosen. 

Phase C , Phase Origin signal are not output at speed more than 200min-1.


 

3 command 


Data Length: 1 byte 

Parameter Read 


DAT1 A reading command code 

This command reads the setting data of a command. 

* The returned data represents the setting data stored in RAM. 

Returned data Command code + data content 



Amplifier Status Read 

This command returns the amplifier status. 

DAT1: Amplifier status 1 

 

Data Main 

power 

Incomplete Complete Normal 

Complete Incomplete 

DAT2: Amplifier Status 2 

 

Data 

Open 

Excite 

DAT3 to DAT5: I/O status 1=photo coupler ON 0=photo coupler OFF 

 

 

 

 

* The I/O port status monitors the photo coupler ON/OFF status regardless of the amplifier status.


 



Absolute Position Read 

This command reads the absolute position counter inside the amplifier. 

Returned data Signed 4 bytes (based on the resolution setting,) 

In the case of resolving power more than division into 4000, it is replied the value 

that multiplied the ratio of setting resolving power /2000 by it. 


ALM monitor 

This command reads the alarm history. 


Returned data 

The returned data is 8 bytes. 

DAT1: Current alarm status 

DAT 2 to 8: Alarm history (in the order of most recent to oldest) 

* A low voltage ALM is saved only if the power is recovered after detecting the low 

voltage. 

Abbreviation Code (Hex) ALM description 

No alarm 00 Normal status 

DE 01 Sensor disconnected 

OV 02 Input power voltage is above the specification range 

MPE 03 Input power voltage is below the specification range 

RSTE 04 Initialization error (overload) 

Power line disconnected 

OVF 05 Position deviation abnormal 

OL 06 Overload stop 

OS 07 Over speed 

RGOL 08 Regeneration voltage is over the specified value 

ORG 09 Zero-return error 

Wrap around 0B Absolute position counter sign reversal 

MO OH 0E Motor overheat detection 

AMP OH 0F Amplifier overheat detection 

EEPER 10 Non-volatile memory error 

PAM 11 PAM voltage abnormal 

OC 12 Over current detection 

LA 13 Sensor phase error


 


Software Revision 

This command reads the software revision. 


Returned 

data 


DAT Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 

DAT1 

 

DAT2 

 

 

 

This command reads the input voltage. 

Returned Returned data 

data 

 

 

 

 

 

 

 

 

 

 



AMP Type 

This command reads the AMP Type. 

Returned 

data 



DAT1 

DAT2 

AMP Type182h 

AMP Type20 



Switch Monitor 

This command reads the SW Status. 

Returned 

data 



DAT1 

DAT2 

DAT3 

Ro SW1 

Ro SW2 

DIP SWBit0 to 5SW1 to SW6

6. Specifications 

6.1 Amplifier Basic Specifications 

Amplifier Model 

Control Mode 

Power Single Power 

PB3A003P200 

PWM control SIN drive method 

AC100, 115200, 230 -15% +10% 5060Hz 

Environment 

Ambient Operating 0 to 55 °C 

Temp. Storage -20 to 70 °C 

Operating and Storage Maximum 90% RH (non-condensing) 

Humidity 

Vibration Resistance 0.5G (tested with frequency range 10 to 55 Hz, X, Y, Z each direction 2H) 

Structure 

Weight 

Tray structure Rear mounting type 

Approximately 0.8 kg 

Dimensions W 45 × H 150 × D 120 

Functions 

Rotation Speed 0 to 4500 min -1 (86º angle is 4000 min -1 ) 

Resolution (P/R) 500, 1000, 2000, 4000, 5000, 10000 

Regeneration Process 

Internal (external regeneration available) 

Protective Functions 

Power Voltage Error, Regeneration Voltage Error, Over-speed, Encoder 

Disconnection, CPU Error, Overload Stop, Excessive Position Deviation, 

Motor Overheat, Amplifier Overheat, Zero-return Error, Nonvolatile 

Memory Error, Initialization Error, Over-current 

Input / Output Signals 

Display 

Operation Functions 

Switches 

Input Signals 

Output Signals 

Serial Communication 

LED Display (power status, alarm) 

Normal Drive, Zero-return Operation 

DSW1: Pulse Input TypeMOTOR SELECT 

RSW1: Gain setting RSW2S-shape acceleration / deceleration filter 

CWCCWPulseALMCLRSTOPH.LimitDeviation CLR 

HomingGain select 

ALMHOME End Sensor SignalPhase A,B,CExcitation ORG 

SON monitor 

RS-232C9600bps 

6-1


6.2 Motor Standard Specifications (No gear, no holding brake) 

6.2.1 Motor Standard Features 

Motor Model 

Maximum Stored Torque 

Rotor Inertia 

Mass 

Allowable Thrust 

Radial Load Tolerance 

(Nm) 

(x 10 -4 kgm 2 ) 

[kg] 

Load 

(N) 

(N) 

PBM423FXE20 0.39 0.056 0.35 9.8 49 

PBM603FXE20 1.3 0.4 0.85 14.7 167 

PBM604FXE20 1.9 0.84 1.42 14.7 167 

PBM861FXE20 3.5 1.48 1.9 60 200 

 

PBM862FXE20 6.6 3 3.1 60 200 

* The maximum value of the stop-time holding torque is 50% of the maximum stored torque. 

6.2.2 Load Tolerances 

Motor Model 

Maximum Inertia Tolerance 

Maximum Friction Torque 

Maximum Side Load Tolerance 

(x 10 -4 kgm 2 ) 

(Nm) 

(Nm) 

PBM423FXE20 0.56 0.15 0.15 

PBM603FXE20 4 0.52 0.52 

PBM604FXE20 8.4 0.76 0.76 

PBM861FXE20 14.8 1.4 1.4 

PBM862FXE20 30 2.64 2.64 

6.2.3 Motor Common Specifications 

Encoder Specifications 

Common Specifications 

Basic Divisions P/R 500 x 4 multiplier 

Number of Channels - 3 

Maximum Response 

37.5 

kHz 

Frequency 

Output Method - Line driver 

Environment 

Ambient 

0 to +40 

°C 

Temperature 

Ambient 

%R 

20 to 90 

Humidity 

H 

Vibration Resistance G 10 (tested with frequency range 10~500 Hz, X, Y, Z each direction 2H) 

Shock Tolerance G 30 (shock wave: half sine wave, shock time: 11ms; X, Y, Z direction 3 times each) 

Withstand Voltage V AC2000V 1 min 

Insulation Resistance MΩ 10 min DC500V 

Insulation Class - Class B 

Protection Method - Fully enclosed, self-cooling type 

Motor Surface 

Max 85º (consider a radiation cooling method to ensure the temperature is below the 

°C 

Temperature Tolerance 

specified limit) 

6-2


6.3 Motor Option Specifications 

6.3.1 Low-backlash gear 

1) PBM423 

Motor Model PBM423FGAE20 PBM423FGBE20 PBM423FGEE20 PBM423FGGE20 PBM423FGJE20 

Reduction Gear Ratio 1 : 3.6 1 : 7.2 1 : 10 1 : 20 1 : 30 

Torque Tolerance (N m) 0.343 0.7 0.98 1.47 1.47 

Rotation Tolerance (min -1 ) 500 250 180 90 60 

Backlash (degree) 0.4 0.4 0.35 0.25 0.25 

Rotational Direction (compared Forward Forward Forward Reverse Reverse 

to the command direction) 

Thrust Load Tolerance (N) 15 

Radial load Tolerance (N)* 20 

Motor Weight (kg) 0.48 

2) PBM603 

Motor Model PBM603FGAE20 PBM603FGBE20 PBM603FGEE20 PBM603FGGE20 PBM603FGJE20 

Reduction Gear Ratio 1 : 3.6 1 : 7.2 1 : 10 1 : 20 1 : 30 

Torque Tolerance (N m) 1.25 2.5 3 3.5 4 


Backlash (degree) 0.55 0.25 0.25 0.17 0.17 

Rotational Direction (relative to Forward Forward Reverse Reverse Reverse 

the command direction) 

Thrust Load Tolerance (N) 30 

Radial Load Tolerance (N)* 100 

Motor Weight (kg) 1.22 

There is no low-backlash gear option for the PBM604, PBM861 and PBM862. 

*The load point is at 1/3 length from the output shaft. 

6.3.2 Harmonic gear 

Motor Model PBM423FHJE20 PBM423FHLE20 PBM423FHME20 PBM603FHLE20 PBM603FHME20 

Reduction Gear Ratio 1 : 30 1 : 50 1 : 100 1 : 50 1 : 100 

Torque Tolerance (N m) 2.2 3.5 5 5.5 8 

Instantaneous Torque Tolerance 

4.5 8.3 11 14 20 

(N m) 


Lost Motion (min) - - - 0.4 to 3 (±0.28 Nm) 0.4 to 3 (±0.4 Nm) 

Hysteresis Loss (min) 3.6 2.4 2.4 - - 

Rotational Direction (relative to 

Reverse 

Reverse 

the command direction) 

Thrust Load Tolerance (N) 1150 400 

Radial Load Tolerance (N)* 209 360 

Motor Weight (kg) 0.54 1.45 

There is no harmonic gear option for the PBM604, PBM861 and PBM862. 

*The load point is at 1/3 length from the output shaft. 

6-3


6.3.3 Holding brake 

Motor model PBM423FCE20 PBM603FCE20 PBM604FCE20 

Operation Method 

Non-excitation type 

Excitation Current (A) 0.08 0.25 0.25 

Power Consumption (W) 2 6 6 

Friction Torque (N m) 0.22 0.78 0.78 

Brake Engage Time (ms) 20 

Brake Release Time (ms) 30 

Motor Weight (kg) 0.5 1.19 1.76 

The holding brake control function is built into the amplifier. 

There is no holding brake option for the PBM861 and PBM862. 

6-4


6.4 Velocity – Torque, power consumption (during drive) characteristics 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

6-5


 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

6-6

9 

9 


6.5 Outline Drawings 

6.5.1 Amplifier Drawing 

8 

7 

1 

7 

5 

10 

8 

7 

6 

A B C D E F 0 

2 

1 

45 

(6.5) 

120 

33 

4 

M 

TION 

PB 

5 

4 

3 

SW1 

6 

A B C D E F 0 

5 

4 

3 

2 

CN3 

N C 7 

M 

TION 

PB 

N C 2 

170 

160 

(5) 

CN4 

5 

N C 1 

N C 5 

(10) 150 

00563491 

6-7


7.5.2 Motor Drawings 

6-8


6-9


6-10

7. Options 

7. Options 

7.1 Optional Cables 

7.1.1 Optional Cable Model Number Nomenclature 

PBC □ ∆ 0030 

A 

Design Order 

A: Standard 

Cable Length (x 10cm) 

Cable Type 

Management Number 

System Series Name PB Cable 

7.1.2 Optional Cable Model Numbers 

Cable Type Cable Standard Model Number Standard Length Maximum Length 

Power cable PBC7P0020A 2 3 

Motor power cable PBC6M0030A 3 20 

Sensor cable PBC6E0030A 3 20 

I/O cable PBC1S0010C 1 3 

Communication cable PBC5C0010A 1 2 

* The optional cables are necessary to extend the motor power cable and the sensor cable beyond 50cm. 

(The motor power cable and the sensor cable can be directly connected if the motor side is wthin 50cm.) 

* If a set is ordered, the power cable and I/O cable will be included. 

* A communication cable is necessary in the case of PC I / F use. 

71

7. Options 

72 

7.1.3 Cable Drawings 

 

2 

10 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1 

9 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

1 

5 

6 

9

7. Options 

Cable Leads Identification 

Pin No Signal Name Wire Color Print Mark (Color/Type) 

1 +COM Orange Red 

2 -COM Orange Black 

3 CCW Pulse+ Gray Red 

4 CCW Pulse- Gray Black 

5 CW Pulse+DIR+ White Red 

6 CW Pulse-DIR- White Black 

7 Dev Clr/Gain Select Yellow Red 

8 ORG/Gain Select Yellow Black 

9 +H.Limit/SDN Pink Red 

10 STOP Pink Black 

11 ALM CLR Orange Red 

12 -H.Limit/SDN Orange Black 

13 SON Gray Red 

14 ORG Monitor Gray Black 

15 ALM White Red 

16 In-Position White Black 

17 EN.A Yellow Red 

18 EN.B Yellow Black 

19 EN.C/Excitation ORG Pink Red 

20 Pink Black 

73

7. Options 

7.2 Optional Connectors 

Single Item Model No. Connector Type. Packaging Type Model Number Qty. Mfr. 

PBC7P0000A Power connector Receptacle housing 1-1778288-5 1 

Contact 1-175218-5 5 

AMP 

PBC1S0000A I/O connector Receptacle 8822E-020-171D 1 KEL 

PBC6M0000A Motor power Receptacle housing 1-1318119-3 1 AMP 

connector 

Receptacle contact 1318107-1 6 

Tab housing 1-1318115-3 1 

Tab contact 1318111-1 6 

PBC6E0000A Sensor connector Receptacle housing 1-1318118-6 1 AMP 

Receptacle contact 1318108-1 12 

Tab housing 1-1318115-6 1 

Tab contact 1318112-1 12 

* Refer to Section 3.4.3 regarding the appropriate electric wire and the maximum length. 

* Refer to Section 3.4.4 regarding the connector pin assignment. 

* For harness assembly, special crimping and pressure welding tools are necessary. Refer to the 

manufacturers' specifications regarding each connector. 

* The number of contacts included in the package equals the number of connector pins, regardless 

of how many will be used. 

* There is not setting of a connector option for communication. 

74

7. Options 

7.3 Optional Communication Equipment 

Type Model Number Memo 

PC software for Windows TM SPBA1W-01 Supports Windows TM 98, 2000, NT, XP 

Both Japanese and English versions 

Communication Cable PBC5C0010A 

Cable SpecificationDsub9 Pin 

9 

5 

10 9 

6 

1 

2 1 

PC sideRS-232C 

AMP Side 

Dsub-9Pin 

Wiring 

 

Signal Name Pin No 

Pin No Signal Name 

2 1 

3 2 

5 5 

Please do not connect a power supply pin and a earth terminal. 

75

International Standards Conformity 

 


 

PB driver conforms to the international standards below. 

Mark 

International 

standards 

Standard number 

Certification Organization 

 

 

 

 

 

 

UL standard 

CSA standard 

EN standard 

 

 

 

 

 

PB motor has an article for following standards. 

International 

Mark 

Standard number 

standards 

 

 

 

 

 

Certification Organization 

 

 

 

 

 

 

 

UL standard 

EN standard 

 

 

 

 

 

 

 

 

 

Low voltage command 

 

 

overvoltage category 

 

pollution level 

 

The control panel installation configuration (under IP54) must exclude exposure to water, oil, 

carbon, dust, etc. 

Always ground the protective earth terminals of the Driver to the power supply earth. ( ) 

When connecting grounding wire to the protective earth terminal, always connect one wire in one 

terminal; never connect jointly with multiple wires or terminals. 

When connecting the leakage stopper, make sure to connect the protective earth terminal to the 

power supply earth. ( ) 

The power supply input department please use IEC or a reinforcement insulation transformer of 

 

EN standard conformity. 

81


 

EMC Directive 

 

Directive 

classification 

 

 

Classification Test standard 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Precautions for EMC Directives 

For the EMC Directives, tests are performed by general installation and countermeasure methods, in 

our company as machines and configurations differ depending on customers’ needs. 

This driver has been authorized to display CE marking based on the recognition certificate issued by a 

separate, third-party certifying authority. Accordingly, customers are instructed to perform the final 

conformity tests for all instruments and devices in use. 

Use the following guidelines below for the PB system in order to conform the customer’s equipment and 

devices to the EMC Directives. 

 

 

 

 

Noise Filter Surge protector 

Metal Plane 

 

 

 

 

 

 

Amplifier 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Noise suppression components : 

Noise Filter: SUP-EK10-ER-6 (OKAYA) 

Surge Protector: RCM-781BQZ-4 (OKAYA) 

Ferrite Core: 

HF60T 381422 (TDK) 2 turns 

HF60T 311319 (TDK) 2 turns 

82

Closed Loop Stepping System 

PB series Type P 

Instruction Manual 

Copyright 2006, SANYO DENKI Co., Ltd. 

All Rights Reserved. 

SANYO DENKI CO., LTD. 

URL http://www.sanyodenki.co.jp 

JAPAN SANYO DENKI CO., LTD. 1-15-1, Kita-Otsuka Toshima-ku Tokyo 170-8451, Japan 

International Sales Dept. 

PHONE: +81 3 3917 2223 (North America area) 

+81 3 3917 5157 (Europe area) 

+81 3 3917 2814 (Asis area) 

FAX: +81 3 3917 4251 

U.S.A SANYO DENKI AMERICA, INC. 468 Amapola Avenue Torrance, CA 90501, U.S.A 

PHONE: +1 310 783 5400 

FAX: +1 310 212 6545 

SANYO DENKI AMERICA, INC. 1500 Wyatt Dr.Ste 10 Santa Clara, CA 95054, U.S.A 

Silicon Valley Office PHONE: +1 408 988 1700 

FAX: +1 408 982 1700 

SANYO DENKI AMERICA, INC. 35 Merchant Drive, Walpole, MA 02081 U.S.A 

New England Office PHONE: +1 508 660 2470 

FAX: +1 508 660 7912 

SANYO DENKI AMERICA, INC. 100 Fairway Drive, Suite 126 Vernon Hills, IL 60061 U.S.A 

Midwest Office PHONE: +1 847 362 3723 

FAX: +1 847 362 4903 

FRANCE SANYO DENKI EUROPE SA. BP. 50286 95958 Roissy Charles-De-Gaulle Cedex, France 

PHONE: +33 1 48 63 26 61 

FAX: +33 1 48 63 24 16 

GERMANY SANYO DENKI EUROPE SA. Niederlassung Deutschland, Posthof 4 D86609-Donauworth Germany 

German Liaison Office PHONE: +49 906 24 57 00 

FAX: +49 906 24 57 01 

TAIWAN SANYO DENKI CO., LTD Room 401, 4F, No.96, Sec.2, Chung Shan N, Rd, Taipei 104, Taiwan, R.O.C 

TAIWAN BRANCH PHONE: +886 2 2511 3938 

FAX: +886 2 2511 3975 

HONG KONG 

SANYO DENKI CO., LTD 

New East Ocean Centre 11F, 9 Science Museum Road, TST East, Kowloon, 

HONG KONG BRANCH HONG KONG PHONE: +852 2312 6250 

FAX: +852 2312 6220 

SANYO DENKI

Commands - Sanyo Denki America, Inc.

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