5. Commands and Functions - Sanyo Denki America, Inc.

M0007302 

SANMOTION 

CLOSED LOOP STEPPING SYSTEM 

PB 

Type RAC Power Input 

PB3A003R200 

 

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 TypeR. 

 

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. 

Position command stored beforehand through SIO or program can be started by Point or 

program no. designation and startup trigger signal. As this can be controlled by general PIO, 

hardware cost can be cut down. 

Push operation, teaching, modulo functionand various returning-to-origin are equipped. 

Addition command is also enabled. 

Precautions related to this Instruction Manual 

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

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 35 

3.4.2 External Installation Wiring Diagram 35 

3.4.3 Connector Model Numbers and Appropriate Electric Wires 36 

3.4.4 Connector Pin Assignment 37 

3.4.5 Grounding 38 

3.4.6 Short-circuit Breaker 38 

3.4.7 Motor and Encoder Wiring 38 

3.4.8 Power Wiring 38 

Control Input / Output Signal Wiring 39 

Communication 311 

 

 

 

4. 1 Input / Output Control Signal Functions 41 

4. 2 Switch Settings 48 

4. 3 Display 48 

4. 4 ALM Detection Function 49 

4. 5 Amplifier Status Change Diagram 413 

4. 6 Adjustment 414 

 

 

 

5. 1 Command structure 51 

5.2 Command List 52 

5.3 System Command 58 

5.4 Direct Command 515 

5.5 Point and Program Command 533 

5.6 RD Command 541 

 

 

 

6. 1 Communication Specifications 61 

6.2 Data Format 63 

6.3 Communication MethodTiming chart65 

6.4 Standard Response Time 67 

6.5 Communication Example 68 

 

 

 

7. 1 Amplifier Basic Specifications 71 

7. 2 Motor Standard Specifications 72 

7. 3 Motor Option Specifications 73 

7. 4 Velocity – Torque, power consumption characteristics 75 

7. 5 Outline Drawings 77

8. 1 Optional Cables 81 

8. 2 Optional Connectors 83 

8. 3 Optional Communication Equipment 84 

 

 

 

9. 1 International Standards Conformity 91 

9. 2 Low voltage command 91 

9. 3 EMC Directive 92

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 TypeR. 

 

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. 

Position command stored beforehand through SIO or program can be started by Point or 

program no. designation and startup trigger signal. As this can be controlled by general PIO, 

hardware cost can be cut down. 

Push operation, teaching, modulo functionand various returning-to-origin are equipped. 

Addition command is also enabled. 

Precautions related to this Instruction Manual 

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

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 

Communication 3-11 

 

 

 

4. 1 Input / Output Control Signal Functions 41 

4. 2 Switch Settings 49 

4. 3 Display 49 

4. 4 ALM Detection Function 410 

4. 5 Amplifier Status Change Diagram 414 

4. 6 Adjustment 415 

 

 

 

5. 1 Command structure51 

5.2 Command List 52 

5.3 System Command 58 

5.4 Direct Command 515 

5.5 Point and Program Command 533 

5.6 RD Command 541 

 

 

 

6. 1 Communication Specifications 61 

6.2 Data Format 63 

6.3 Communication MethodTiming chart65 

6.4 Standard Response Time 67 

6.5 Communication Example 68 

 

 

 

7. 1 Amplifier Basic Specifications 71 

7. 2 Motor Standard Specifications 72 

7. 3 Motor Option Specifications 73 

7. 4 Velocity – Torque, power consumption characteristics 75 

7. 5 Outline Drawings 77

8. 1 Optional Cables 81 

8. 2 Optional Connectors 83 

8. 3 Optional Communication Equipment 84 

 

 

 

9. 1 International Standards Conformity 91 

9. 2 Low voltage command 91 

9. 3 EMC Directive 92

7 

6 

9 A B C D E F 08 

2 

1 

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 

5 

4 

3 

SW1 

CN3 

C 

N 

7 

C 

N 

2 

S 

W 

2 

CN4 

C 

N 

1 

C 

N 

5 

C 

N 

6 

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 R - 

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: RS-485+PIO 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 PB3A003R200 7-7 

Motor 1 PBM∆∆□F**20 7-8 

Power cable 1 PBC7P0020A (2m) 8-2 

I/O cable 1 PBC1S0010A (1m) 8-2 

The communication cable is not included; refer to Chapter 8 to determine the appropriate 

communication cable and converter unit for the specific application. 

21


2.2.3 Amplifier Number Specification 

3 3 2 00 

Specification identification 00standard equipment 

Sensor type INC500 

I/F Specification + 

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 PBAR423 PBAR603 PBAR604 

Motor size 42 60 60 

Amplifier Number 

PB3A003R200 

Motor Number PBM423FE2 PBM603FE2 PBM604FE2 

Set Number PBAR861 PBAR862 

Motor size 86 86 

Amplifier Number 

PB3A003R200 

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 7.3 for gear and holding brake specifications. 

23

3. Installation, Wiring and Operation 

3.1 External wiring diagram 

*1) 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.) 

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

*3) The functions of IN1 to IN5 and OUT1 to OUT5 are allocated by command 16h. Refer to Section 4.1 and Section 5 for more 

information. 

3-1

7 

9 A B C D E F 08 

1 


3.2 Part Names and Functions 

ALM indicator LED (P4-9) 

M 

TION 

PB 

Power indicator LED (P4-9) 

SW1: Transmission rate setting 

6 

5 

4 

3 

2 

Node address setting switch (P4-9) 

(P4-9) 

SW1 

CN3: Motor connector (P3-8) 

CN3 

C 

N 

7 

C 

N 

2 

CN2: Sensor connector (P3-8) 

S 

W 

2 

SW2: Terminating resistor setting (P4-9) 

CN4: Power connector (P3-8) 

CN4 

C 

N 

1 

CN1: Control I/O signal connector 

(P3-9, P4-1) 

Protective ground terminal 

(P3-8) 

C 

N 

5 

C 

N 

6 

CN5, 6: Communication connector 

(P3-11) 

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

7 

9 A B C D E F 08 

1 


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 

6 

5 

4 

3 

2 

SW1 

3B 

CN3 

C 

N 

7 

2B 

C 

N 

2 

3C 

2C 

S 

W 

2 

3D 

2D 

4B 

CN4 

C 

N 

1 

1B 

C 

N 

5 

C 

N 

6 

5,6B PC/Slabe 

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 100m 

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 8) 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 

EXE 

Point1 

Point2 

Point3/IN1 

Point4/IN2 

Point5/IN3 

Point6/SDN/IN4 

STOP 

11 

12 

13 

14 

15 

16 

17 

18 

19 

20 

ALM CLR 

Point7/IN5 

Ack output 

In-Position output 

ALM output 

ZONE/OUT1 

END/OUT2 

SON MON/OUT3 

OUT4 

OUT5 

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 

Y 

8 

- 

4 

5 

Z 

GND 

9 

10 

- 

FG 

1 The functions of IN1 to IN5 and OUT1 to OUT5 are allocated by command 16h. 

2 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 - 230V –15% to +10% 50/60Hz 

Current capacity (A rms) See Section 7.4 

* 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. 

* Pins 4 and 5 of CN4 are the FG terminals. Use them when connecting to the motor case. 

(Use the M4 screw that was installed on the case as the amplifier ground terminal.) 

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 

Function summary 

Circuit 

No. 

(default value) 

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

2 power -COM Output port common ground 

3 Input EXE Point/PRG execution number 

1 

4 Point1 Point/PRG No. selection signal 1 

5 Point2 Point/PRG No. selection signal 2 

6 (Point3)/IN1 Point/PRG No. selection signal 3/generic input 1 



9 (Point6)/SDN/IN4 Point/PRG No. selection signal 6/generic input 4 

10 STOP Emergency stop input (SOFF input) 

11 ALM CLR ALM cancel signal 

12 

(Point7)/IN5 Point/PRG No. selection signal 7/generic input 5 

13 Output Ack Response to the EXE signal 

2 

14 In-Position In-Position signal 

15 ALM ALM output 

16 (ZONE)/OUT1 ZONE/generic output 1 

17 (END)/OUT2 END/generic output 2 

18 (SON MON)/OUT3 SON MON/generic output 3 

19 OUT4 ZONE/generic output 4 

20 

OUT5 ZONE/generic output 5 

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

16h) for more information about modifying the logic. 

* These functions can be selected remotely for IN1 - IN5, OUT1 - OUT5. Refer to Chapter 5 

(Command 16h) and Section 4.1 for more information. 

IN1 to IN5 functions 

OUT1 to OUT5 functions 

Point No. Zone Out 0 Zone Out 1 to 15 

Zero-return start END signal Zone No Bit 0 

Pause P.Busy Zone No Bit 1 

Interlock Zero-return completion monitor Zone No Bit 2 

SELECT SON monitor Zone No Bit 3 

Positive direction H. Limit Input pin monitor 

Negative direction H. Limit Generic output 

Generic input 

Motor stop 

3-9


Circuit 

Type 

1 

(Input) 

Circuit Structure 

DC Input Specifications 

DC 5V~24V ± 10% 

2 

(Output) 

DC 30V, maximum 30 mA 

3-10


3.4.10 Communications 

Amplifier side 

1 

2 

3 

4 

A 

B 

Y 

Z 

GND 

5 

10 

5G 

FG 

Note 1) If multiple amplifiers are daisy-chained, do not connect Pin 6 (VCC) of the communication 

cable between amplifiers. 

Note 2) If multiple amplifiers are daisy-chained, verify that the IP addresses that are set using the 

switches on the front panel of the amplifier are not overlapping. 

Note 3) If the VCC from Pin 6 of the communication connector is used for an external device, make 

sure that the total current drawn does not exceed 0.4 Arms. 

Note 4) Turn ON the terminating resistor after the amplifier that is the last node (by using the 

dip-switches). Refer to Section 4.2 for more information about these settings. 

RS-232/RS-485 Conversion 

Use a communication conversion unit if you are using the PB amplifier via RS-232C communication. 

The conversion unit is available as an optional product. Refer to Section 8.3 for more information. 

PC I/F 

Optional PC software is available for functions including operation verification for installation, point 

and program data editing / execution, and teaching functions. Contact Sanyo Denki for details 

regarding this software. 

 

3-11

4. Input / Output Signal Functions 

4.1 Input / Output Control Signal Functions (CN1) 

4.1.1 Point Execution and Program Execution 

This function allows for I/O signal-controlled execution of a point or program previously stored in 

the amplifier’s internal non-volatile memory. 

Signal Name Functions Logic 

EXE 

Ack 

Point n 

SELECT 

P.Busy 

Switching the EXE signal OFF→ON starts the execution of the target 

specified by the SELECT signal and the point number 

Response signal for EXE 

If a non-executable command is specified, the system does not respond. 

* If no point data is stored, Ack does not respond. 

* NOP in a program is recognized as normal command. 

Selects the point number or program number 

* An input port with a function other than the point assigned is recognized 

as point number 0. 

* The maximum number of points is 128. The number of programs can be 1 

or 32,128, depending on the setting input by command1Bh. 

* Even if points or programs are started remotely via transmission, port 

settings are not affected. 

The EXE start-up target (point or program) can be selected. 

* The SELECT function is enabled when selected with command 16h. 

* Command 1Ch is used to select a point or program. 

This signal is ON during program execution, SOFF and Save to non-volatile 

memory. 

* Enabled if the P.Busy function was set with command 16h. 

ON Active 

ON Active 

ON=1 

OFF=0 

Selectable 

ON Active 

Timing Chart 

tDS 

SELECT 

Point / Prog. Data 

EXE Signal 

tDE 

tEB 

ON 

tEL 

tEA 

Ack Output 

ON 

Point data hold time: tDS 

EXE signal hold time: tEL 

EXE signal setup time: tDE 

Ack signal response delay time: tEA=tEB 

2ms min 

1ms min 

1ms min 

1ms max 

4-1


4.1.2 CN1 Input Signals 

1) Input Signals with Fixed Functions Allocated 

Signal 

Name 

STOP 

Functions 

This is the emergency stop signal. If input occurs during drive operations, the motor 

decelerates at its maximum rate, and goes into the servo OFF state. After clearing the 

signal, once the motor is stopped and at least 200ms have elapsed, the servo will go into 

the ON state. 

Input during movement 

Logic (Initial 

setting) 

Selectable 

(A conn. 

: ON Active) 

STOP 

Active 

In-Position 

ON 

Velocity (operation) 

ALMCLR 

* Canceling the STOP signal is only possible after the motor has 

completely stopped and 300ms have elapsed. 

* When the STOP is cancelled, the interlock turns OFF, and if an ALM is 

not issued, automatically changes to servo ON status. 

* STOP signal cancel (detection of Active→Non-Active edge) cancels 

STOP commands set remotely via transmission as well. 

* Changing to STOP status can be initiated via transmission or the 

STOP input port. 

Alarm clear signal for alarms that can be cancelled. 

ALM issued during operation 

ALM 

Selectable 

(A conn. 

:ON Active) 

In-Position 

ON 

ALMCLR 

CLR 


* The ALM cancel is possible only after the motor has completely 

stopped and 300ms have elapsed. 

* The ALMCLR signal works with edge-detection. 

* To clear non-cancelable alarms, reset the system power or use the 

initialization command. 

4-2


2) Generic Input Signals 

The functions of the generic inputs (IN1 to IN5) on CN1, pins 6 to 9 and 12 can be selected using 

command 16h. Refer to Section 5 (command 16h) for more information. 

Selected 

Function 

Point 

Generic 

Input 

Pause 

Function 

Selects the point or program number. Refer to Section 4.4.1 for more 

information. 

Used for jump conditions (command 63h) during program operation. 

For temporary stoppage of operation 

If input during drive operations, the motor will decelerate and stop using 

the pre-set deceleration rate. The target position is maintained, and 

when the signal is cancelled, movement to the target resumes. 


setting) 

ON=1 

OFF=0 

ON=1 

OFF=0 

Selectable 

(A conn. 

:ON Active) 

Pause 


In-Position 

In-Position width 

Interlock 

* If the Pause command was input via transmission, canceling the 

pause input signal also cancels pause commands that were set via 

transmission as well. 

This is an operation stop signal that maintains servo ON status. The 

stop position becomes the target position. 

Interlock 

In-Position 


Selectable 

(A conn. 

:ON Active) 

* During interlock, move commands are not accepted. The transmission 

will generate a command error, and the EXE execution will not 

respond with Ack. 

* During interlock, initialization is not performed. 

* The interlock status is cancelled if the deceleration stop is complete 

and if the signal is OFF. 

* Interlock input cancel (detection of ON→OFF edge) cancels interlock 

commands set remotely via transmission as well. 

* This function is enabled by operating commands during program 

execution. 

4-3


Selected 

Function 

Zero-return 

start 

H. Limit 

(+/-) 

Function 

This is a unique execution signal for zero return commands stored by 

command 53h. 

The Ack signal responds to this signal. 

* If the zero-sensor (SDN) type zero-return start function is used, pin 

9 will be the zero-sensor input. Follow the instructions below to 

allocate the zero-sensor signal function using command 16h. Set 

command 14h, DAT4, Bit7 (SDN) = 0. 

a) If H. Limit and zero-sensor are shared, set the H. Limit function of the 

desired direction. 

b) If only the zero-sensor function is used, set the generic input port 

function. 

c) To use the zero-sensor (SDN) type zero-return function, set the 

desired function. 

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

After the limit input, the system performs a deceleration stop and the stop 

position becomes the target position. During the limit period, commands 

for the limit direction are disabled, but commands for the opposite limit 

direction are accepted. 

* The limit input is disabled during zero-return movement. 

* The limit direction is defined by the positive direction setting of 

command 12h. 

* Only NPN output-type limit sensors are supported. 

CN1 

1 

4.7kΩ 


setting) 

A conn. 

Selectable 

(A conn. 

:ON Active) 

During drive: 

Limit 

In-Position 


4-4


4.1.3 Output Signal Functions (CN1) 

1) Input Signals with fixed functions allocated 

Signal Name Function Logic (Initial setting) 

Ack 

Response signal for EXE. 

Refer to Section 4.1.1 for more information. 

ON Active 

ALM This is the alarm output signal. Selectable 

(A conn.) 

In-Position 

Outputs the In-Position status. The In-Position width can be set by 

using command 30h. 

Selectable 

(ON=In-Position) 

Power input 

Initialization 

Operation 

In-Position 

In-Position width 

* During SOFF, this signal becomes the Out-Position status. 

* During Pause stop, signal this becomes the Out-Position status. 

* If the zero return is completed normally, the In-Position status is 

displayed. 

* During limit deceleration this signal is the Out-Position; during 

stop, it is the In-Position. 

* During push operations, this function determines the In-Position 

width for the push target position. 

* After the main circuit power is turned ON and during the 

amplifier’s internal power voltage detection process, this signal is 

in the In-Position state. 

* During an initialization stop, this signal goes into Out-Position 

status. 

4-5


2) Generic Output Signals 

The functions of the generic inputs (IN1 to IN5) on CN1, pins 16 to 20 can be selected using 

command 16h. Refer to Section 5 (command 16h) for more information. 

Selected 

Function 

ZONE 

Function 

Outputs the signal within the coordinate range pre-set by command 

2Ah or 31h. 

As for the output form, two ways of choice equal to or less than by 

setting of command 16h is possible. 

Zone No: It is 1 for a Zone setting range it reply with 1. 

Zone No Bit: Output the Zone setting No in a binary. 

 

Zone setting range = x, y 


setting) 

Selectable 

(A conn.) 

Operation 

Coordinates 

x 

y 

ZONE 

Motor 

Stop 

Zero-return 

* This output is independent of amplifier status; however, if a 

disconnection alarm is issued, the output status becomes 

uncertain. 

Outputs the operation complete status of the move command. 

* In the case of undershoot, such as for irregular deceleration; 

chattering may occur at the time of the motor stop signal. 

* Normally OFF in servo OFF status. 

* Does not respond to move commands less than 1.8 degrees in 

machine angles. 

Outputs the zero-return complete status. 

ON=In-drive 

OFF=Operation 

complete 

ON=Zero-return 

Completion 

Zero-return operation 

1st 

2nd 

complete 

Zero-return complete output 

P.Busy 

If another zero-return is started after a zero-return completed, this 

signal will turn OFF; when the second zero-return is completed 

normally, it will turn ON again. 

This signal is ON during program execution, SOFF and Save to 

non-volatile memory. 

* Refer to Section 4.1.1 for more information. 

ON Active 

4-6


Selected 

Function 

END 

Function 

The END signal responds only to operations initiated by the EXE 

signal. 

Abnormal completions, such as stopping by Pause, Limit, interlock, 

ALM, STOP, or unloaded push, will leave the signal in the OFF status. 

Use this signal to determine if the move command initiated by the EXE 

signal is completed normally. 

The move complete determination is based on the In-Position width as 

set by command 30h. 


setting) 

ON=In-operation 

In-Position 

END signal 

SON signal 


In-Position 

setting 

SON 

Input 

Monitor 

Generic 

Output 

* The signal turns ON at the normal completion of the initialization. 

* In order to ensure the proper width of the END signal when 

executing short move commands, this signal turns ON only if the 

In-Position condition is fulfilled and the Ack output = LO. 

* The signal turns ON at the normal completion of a push operation. 

* Dribble during push operations (if pushed in the pushing direction 

after normal completion) is not observed. The signal stays ON if the 

push operation was completed once. 

Monitors the amplifier status. Monitors the servo ON/OFF status. 

* Refer to the Status change diagram in Section 4.5 regarding 

amplifier status. 

Monitors the status of an input port. 

The following table shows the output port monitor pins for the input port 

pins. 

Output port Pin 16 Pin 17 Pin 18 Pin 19 Pin 20 

Monitor pin Pin 6 Pin 7 Pin 8 Pin 9 Pin 12 

* The monitor output monitors the hardware status of the input port, 

regardless of the input port functions and the amplifier status. 

The output status is set by command 4Bh: Bit Out. 

If there is no generic output function selected, the corresponding bit 

settings in the Bit Out command are ignored. 

ON=SON status 

Input 

ON=Output ON 

- 

4-7


4.2 Switch Settings 

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

amplifier. 

1) Rotary Switch (node address setting) 

Sets the node address when connecting multiple shafts. 

The address setting range is 0 to F (maximum 16 nodes). 

2) Dip-switches 

SW1 

Initial factory settings: All ON 

SW1 

No. 

Function 

Settings 

1,2 Transmission 

rate setting 2 1 Transmission 

rate (bps) 

ON ON 9600 

ON OFF 38400 

OFF ON 115200 

OFF OFF 128000 

SW1 

1 2 3 4 5 6 

3 to 6 - No function assigned 

ON 

OFF 

DIP SWITCHES 

SW2 

This switch sets the terminating resistor. Set SW1, 2 both ON at the last node. 

4.3 Display 

LED Color Description 

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

flashing. 

Refer to Section 4.4, ALM Functions, for more information about the 

display status. 

POW Green Illuminated when the power is on. 

Goes dark when the amplifier internal charge voltage is below 50V. 

4-8


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 monitored via transmission (see Section 5, Command 86h). 

4.4.1 ALM Description Table 

Number of 

Abbreviation 

Code 

ALM Description 

Recoverability 

Flashes 

(hex) 

OFF No alarm 00 - - 

ON 

CPUE - CPU error Unrecoverable 

EEPER 10 Nonvolatile memory error Unrecoverable 

1 

DE 01 Sensor disconnected Unrecoverable 

LA 13 Sensor Counter error Unrecoverable 

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) 

Unrecoverable 

Power line disconnected 

4 

OVF 05 Servo error Recoverable 

OL 06 Overload stop Recoverable 

OS 07 Overspeed Recoverable 

5 RGOL 08 Regeneration voltage is over 

Recoverable 

the specified value 

6 ORG 09 Zero-return error Recoverable 

7 

Wrap around 0B 

Absolute position counter 

Recoverable 

sign reversal 

CNT OVF 0A Counter Over Flow Recoverable 

8 Push 0C Push Error Recoverable 

9 

MO OH 0E Motor overheat detection Recoverable 

AMP OH 0F Amplifier overheat detection Recoverable 

10 PAM 11 Internal voltage error Unrecoverable 

11 OC 1214 Overcurrent detection Unrecoverable 

* To cancel unrecoverable alarms, it is necessary to turn off the power, and then restart. 

4-9


4.4.2 ALM Conditions and Causes 

ALM Code ALM Description Condition / Cause 

CPU error Indicates a CPU error (W.D). 

Possible causes 

Problem with the amplifier internal control power. 

CPU malfunction due to excessive noise. 

01h Sensor 

disconnected 

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. 

02h Over-voltage 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, over-voltage is determined based on the following values: 

100V input: approx. 138V AC 


* Not detected during servo ON. 

03h Under-voltage 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, under-voltage is determined based on the following values: 



* History record of under-voltage error detected during the amplifier’s internal voltage 

stabilization period when turning the power off is not recorded in the ALM history. 

The ALM history is saved if the voltage returns to normal after under-voltage 

detection due to instantaneous under-voltage. 

04h Initialization error After the power of the PB system is turned on, tit detects the initial phase, initializes the 

internal counter, and 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 limit. 

Load is out of tolerance range (excessive load). 

* If there is an ALM or STOP status after the power is turned ON, the process will not be 

executed. 

* Refer to Section 7.2 for more information about load tolerance. 

4-10


ALM Code ALM Description Condition / cause 

05h Servo error Detects an ALM if the position deviation is over the value set by command 14h. 


Delay due to excessive acceleration / deceleration. 

Delay due to excessive load. 

06h Overload stop 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 the mechanical limit. 

Load is out of tolerance range (excessive load). 

07h Velocity error Indicates a velocity error. 


Overshoot due to unreasonable acceleration / deceleration. 

Overshoot due to excessive load. 

08h Regeneration 

error 

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 Sano Denki for assistance if this function is not sufficient for 

regenerative control. 

09h Zero-return 

error 

When using zero-return Type 0,1,3 (C-phase detection zero-return): 

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): 

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. 

0Ah Counter 

Overflow 

Remain Pulse Counter Overflow 


An additional timing of a movement order is non-appropriate 

0Bh Absolute position 

sign reversal 

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

Command 14h can be used to enable or disable detection of this condition. 


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

4-11


ALM Code ALM Description Condition / cause 

0Ch Push Error When hard stop occurred, at the time of imposition movement, it is detected. ALM is detected 

in the case of CMD14h-DAT4-Bit1 =0. 


Setting value of an imposition push current limit is unreasonable 

Push travel distance is excessive 

0Eh 

Motor 

overheating 

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

The continuous operational area of the motor is limited by heat dissipation and drive 

conditions. 


Insufficient radiation, excessive ambient temperature. 

Continuous drive of a momentary operational area. 

0Fh Amplifier 

overheat 

Indicates that the amplifier is overheated. 

At certain tines, the amplifier cannot be used for continuous operation, due to heat dissipation 

and drive conditions. 


Insufficient radiation, excessive ambient temperature. 

Continuous drive of a momentary operational area. 

10h Memory error 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 initial factory settings. 

11h Internal voltage 

error 

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


Insufficient power capacity (refer to Section 7.4 for more information about 

consumption current). 

Amplifier damage. 

12h/14h Over-current Indicates an over-current due to a short circuit on the power line. After detection, the motor 

enters into the unexcited state. 12hHard Ware detect14hSoft Ware Detect 


Short circuit on the motor line. 

Short circuit on the regenerative connection. 

Amplifier damage. 

13h Sensor Counter 

error 

Indicates a misalignment of the sensor A/B-phase. 


Sensor phase misalignment. 

* If this error occurs, motor replacement is necessary. 

4-12


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 

CLR 

Power 

Limit 3 

Recoverable alarm 

Fixed 

excitation 

Unrecoverable alarm 

Power 

Limit 3 

Fixed 

excitation 

Alarm status 

(1) The reset operation is automatically initiated 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 is completed once, the 

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

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

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

4-13


4.6 Adjustments 

4.6.1 Command 21h 

Adjustments can be made to the proportional gain and the integral gain of the velocity loop 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 

Increase the level gradually (0h→3h→6h→...), as long as there is no oscillation in the motor or 

the load, and select the proportional gain. As the level increases, the 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. As for the integral, the time fixed number becomes big as raise the 

numerical value. 

4.6.2 Command 2Fh 

Command 2Fh can coordinate proportional and integral gain individually. 

When a fine adjustment of gain setting is necessary, please use this. 

* Proportional Gain: Please do not set 0. 

* Integral Gain: When set the 0, it does not arrive at order speed. 

4-14

5. Commands and Functions 

5. Commands 

5.1 Command Structure 

1) System Commands 

System commands configure data save / load operations and the amplifier operating conditions. 

Confirm that the software switches (11h) and the input/output port functions (16h) are configured 

before installing the amplifier. 

* System commands cannot be used with points and within programs. 

2) Direct Commands 

Direct commands configure motor operation and adjustment functions related to the operation. 

All direct commands can be used with points. 

They can also be used in programs, except for the following: 

Function 

Unuseable Command Codes 

Command Code 

3Bh, 3Dh, 4Ah, 4Ch 

3) Point Storing and Program Commands 

These commands are related to point and program functions. 

4) RD Commands 

Reads the configured value of direct commands, point and program data, and the amplifier 

status. 

* Acceptance of these commands depends on the amplifier status. Refer to the 

Amplifier status change diagramChapter4.5, for more information. 

5-1


5.2 Command List 

1) System commands 

1-1Memory Access 

Command Command Name Function Initial Value 

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. - 

5 Point CLR Clears point s and proglam data. - 

6 ALM history CLR Clears the ALM history. - 

 


16 (10h) Response time Sets the response time of communication. 500μs 

17 (11h) Software switch Sets the motor model and the resolution. 

PBM423, 2000P/R 

18 (12h) Positive direction 

definition 

* If the connected motor depends on the initial 

value, configure it before installing the amplifier. 

Sets the positive direction. 

Positive direction=CCW 

19(13h) 

initialization 

Sets the initialization movement direction. 

0CW 

movement direction 

20 (14h) ALM detection 

condition 

22 (16h) Input/output port 

function 

24 (18h) Excessive deviation 

during push 

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. 

Sets the threshold for detecting a deviation error due to 

pushback during push operations. 

Overload stop=8s 

Servo error=3 rotations 

All A conn. 

Input: Point 

Output: Zone, END, 

SON, Out n 

3 rotations 

27 (1Bh) Number of programs Selects the number of programs as follows. 

1 PRG x 1024 lines128 PRG x 8 lines 

1 PRG x 1024 lines 

28 (1Bh) Execution target 

selection 

32PRG32lines 

Selects the EXE signal execution target to point or 

program when not using the SELECT signal function. 

Point 

30(1Eh Move Enable Selects the Enable or disables of movement before 

0Enable 

origin return. 

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

5-2


2) Direct commands 

2-1Adjust Command 


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

used for Torque limit or Power Down. 

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%) 

33 (21h) Gain parameter 1 Sets the normalized servo parameter. 

7Fh 

FFh 

7Fh 

0 

For maximum performance for a given load and 

operation conditions, it is necessary to adjust this 

parameter. 

47(2Fh) Gain parameter 1 Set the proportion / an integral calculus gain individually. 4,4,0 

36 (24h) Correction coefficient This is an adjustment parameter for soft landing. Amplifier specified 

value 

39(27h) Current offset An adjustment command when vibration at the time of a stop 

0064h 

 

 

was caused. 

0 


42(2Bh) ZONE2 Sets the coordinate range for ZONE output.16 area ALL 0 

49 (31h) ZONE1 Sets the coordinate range for ZONE output. 1 area 00 

Modulo function 


43 (2Bh) Modulo 

enabled/disabled 

Enables or disables the modulo function (coordinate range 

adjustment function). This function is effective for indexing 

applications. 

Disabled 

44 (2Ch) Modulo value Sets the modulo pulse number per rotation. 1 rotation 

45 (2Dh) Modulo rotational 

Sets the rotational direction for the modulo function. 

Shortcut 

 

direction 


50 (32h) Positive direction soft 

limit 

51 (33h) Negative direction soft 

Sets the soft limit for the positive direction. 

Sets the soft limit for the negative direction. 

Upper limit 

coordinates 

Upper limit 

 

limit 

coordinates 

5-3


 

Push condition 


37 (25h) Push 

determination time 

Sets the determination time for push completion. 

150ms 

38 (26h) Push velocity Sets the push velocity of a push operation. 40min -1 

 


35 (23h) Maximum travel 

distance during 

zero-return 

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 generated. 

Maximum 

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

Ah (1. 8 degrees) 

based on the position deviation value set here. 

52 (34h) Counter preset Presets the absolute position counter inside the amplifier. - 

2-3Move 


54 (36h) Velocity Specifies the velocity for commands 38h and 3Ah (move command: 

40min -1 

55 (37h) Acceleration / 

deceleration rate 

56 (38h) Incremental move 

command 

58 (3Ah) Absolute position 

move command 

travel distance only), or modifies the velocity during operation. 

Specifies the acceleration / deceleration rate for commands 38h and 

3Ah (move command: travel distance only), or modifies the 

acceleration / deceleration rate during operation. 

Initiates an incremental position move. 

The command data specifies only the travel distance. 

Initiates an absolute position move. 

The command data specifies only the absolute position. 

1min -1 /ms 

1min -1 /ms 

- 

- 

62 (3Eh) Slow move command Specifies a slow move command using the Open control. - 

64 (40h) SCAN operation Initiates continuous rotation. - 

65 (41h) SCAN stop Specifies the stop of a continuous rotation. - 

66 (42h) Incremental move 


68 (44h) Absolute move 


Specifies the velocity, acceleration / deceleration rate, or an 

incremental move with push condition. 

Specifies the velocity, acceleration / deceleration rate, or an absolute 

move with push condition. 

- 

- 

69 (45h) Zero-return Initiates zero-return. 

- 

* If the input function of the CN1 port is allocated to zero-return start, 

then the zero-return operation is set by 53h. 

* The zero-return of this command can be used if it is allocated to a 

 

direct operation or a point via communication. 

5-4


 


53 (35h) Brake Enable Specifies holding brake engage / release when the servo is OFF. - 

71 (47h) Deviation clear Initiates deviation clear. The position at the time of receiving this 

- 

command will become the target position. 

72 (48h) Pause Initiates a Pause (temporary stop). The target position is maintained, 

- 

and when the signal is cancelled, the movement to the target 

continues. 

73 (49h) Pause clear Cancels the pause signal. Starts movement to the target position. - 

74 (4Ah) Alarm clear Specifies the clearing of alarms that may be cancelled. - 

75 (4Bh) Bit OUT Controls the output function when the generic output is used for 

- 

output port functions. 

76 (4Ch) STOP command Commands a STOP. Moves to SOFF state. - 

77 (4Dh) STOP clear Clears the STOP status. Moves to SON state. - 

78 (4Eh) Interlock Keeps the SON status, and stops. - 

79 (4Eh) Interlock clear Clears the interlock status. - 

5-5


3) Point and program commands 

3-1 Store and start commands 

Command Command Name Function 

80 (50h) Remote start Remotely starts a previously stored point or program. First use 55h to 

specify the start target. 

81 (51h) STEP operation Specifies STEP operation of the program. 

82 (52h) Program stop Stops the program. 

83 (53h) Zero-return store Stores the zero-return operation of the zero-return start that is allocated 

to the CN1 input port function. 

84 (54h) Zero-return start Remotely starts the zero-return operation that was stored using 52h, via 

communication. 

85 (55h) Remote start target Sets the target for remote start by 50h. 

86 (56h) Point store This command stores the point data. 

87 (57h) PRG store This command stores the program data. 

3-2Program commands 


96 (60h) Program END Ends the program. 

97 (61h) Timer Wait Sets the delay timer. 

98 (62h) In-Position JMP Jump command based on in-position status. 

99 (63h) In-Port JMP Jump command based on input port status. 

100 (64h) ZONE JMP Jump command based on ZONE status. 

101 (65h) Position JMP Jump command based on absolute position status. 

102 (66h) Unconditional JMP Unconditional jump command. 

103 (67h) Motor stop JMP Jump command based on motor stop status. 

106 (6Ah) FOR Sets the loop counter; nested structures are possible. 

107 (6Bh) NEXT Returns to the loop counter. 

108 (6Ch) Gosub Calls a subroutine. 

109 (6Ch) Return Returns from the subroutine. 

5-6


4) RD commands 


128 (80h) Parameter RD Reads a direct command. 

129 (81h) Point data RD Reads the point data. 

130 (82h) Program data RD Reads the program data. 

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

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

133 (85h) Velocity monitor Monitors the current velocity. 

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. 

138 (8Ah) Program stop line Reads the line number where the program stopped. 

140 (8Ch) Loop counter read Reads the current value of the loop counter associated with the For 

/ NEXT command in the program. 

143 (8Fh) Operation complete 

cause read 

Reads the motor stop cause. 

5-7


Command Code:01h 

Data Length:0 bytes 

Initialization 

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



Parameter Clear 

Resets RAM parameters to their factory settings. (To clear point or program data, use 05h.) 

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

command. 



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. 


Point or Program Clear 

Immediately clears all point and program data. 



ALM History Clear 

Clears the alarm history. 


5-9


5.3.2 Initial Setting Command 

Command Code: 16 (10h) 

Data Length: 1 byte 

Response Time 

DAT No Contents Setting range Setting unit Initial Value 

DAT1 Response Time n= 0 to 7 T1500μsec×2 n T22×T1 T32×T2 0 

Sets the amplifier status response time. The setting will be valid beginning with the response to this 


* If 0 is specified, the response will be the status immediately after receiving the command. Certain 

cases exist when the amplifier status is not reflected in the response data. 

* If a value other than 0 is received, the response will be the amplifier status as a result of the received 

data. 

* See Chapter 6, Communication Timing Chart, for more information. 


Data Length: 4 bytes 

Software Switch 


DAT1 motor type and the resolution Cf. list shown below 10h 

DAT3 to 4 

 

 

 

Sets the motor type and the resolution. 

(2) Resolution 

(1) 

Motor model 

Bit5 Bit4 Bit3 

(P/R) Bit2 Bit1 Bit0 

0 0 0 500 0 0 0 PBM423 

0 0 1 1000 0 0 1 PBM603 

0 1 0 2000 0 1 0 PBM604 

0 1 1 4000 0 1 1 PBM861 

1 0 0 5000 1 0 0 PBM862 

1 0 1 10000 1 0 1 Setting prohibited 

1 1 0 Setting prohibited 1 1 0 Setting prohibited 

1 1 1 Setting prohibited 1 1 1 Setting prohibited 

* Before installing the amplifier, always verify the motor model number, and set parameters accordingly. 



Rotational Direction Definition 


DAT1 Rotational Direction Definition 0,1 0 (Pos. direction = CW) 1CCW 

1 (Pos. direction=CCW) 

Defines the positive direction (when viewed from the surface where the motor was installed). 

The sign of an incremental move command is “+” for positive direction, and “-“ for negative direction. 

 



Initial movement direction 


DAT1 Initial movement direction 0,1 0 (Pos. direction = CW) 0CW 

1 (Pos. direction=CCW) 

Set the initialization movement direction after power supply injection. 

Greatest 1.8 degrees usually move from an default excitation state after power supply injection in 

a motor axis. 

 

5-10




ALM Detection Condition 


DAT1 Overload stop time 1 to Ch 1s 8 

DAT2, 3 Excessive deviation value 1 to FFFFh 1PLS (equivalent of 2000P/R) 1770h 

DAT4 

Enables or disables the 

optional Alarm and Limit 

functions. 

0 to FFh 0=Detection allowed (enabled) 

1=Detection prohibited (disabled) 

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

DAT1: Sets the detection time for overload stop (stop before reaching the target position). 

DAT2, DAT3: Sets the servo error detection condition (enabled if DAT4, Bit 2=0). 

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

DATA NO Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 

DAT4 SDN * * SL- SL+ SE Push Wrap 

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

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

Push: Enables or disables alarm detection for an unloaded push (when the target position set by the 

movement distance is reached during the push operation). 

SE: Enables or disables the detection of a servo error in the case of excessive deviation. If enabled, the 

detection conditions set in DAT2, 3 are used. 

SL+: Enables or disables the Positive Soft Limit function set by command 32h. 

SL-: Enables or disables the Negative Soft Limit function set by command 33h. 

SDN: Set to enable (0) if the zero-return sensor signal is input at CN1, pin 9. 

*If an external sensor detection-type zero-return is started, the external sensor input on CN1 pin 9 

will be interpreted as the zero-return sensor signal, regardless of the function setting status 

(command 16h, DAT6) of that pin. 

* Overload stop ALM is not detected during push operation. 

81h 

5-11


Command Code:22 (16h) 

Data Length:12 (d) bytes 

Input / Output Port Function RevBadd Output Function 8 to 22 


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

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

DAT3 Pin 6 input function 0 to 7 See Table 1 0(Point3) 





DAT8 Pin 16 output function 0 to 26 See Table 2 0(ZONE0) 

DAT9 Pin 17 output function 0 to 26 See Table 2 1(END) 

DAT10 Pin 18 output function 0 to 26 See Table 2 4(SON MON) 

DAT11 Pin 19 output function 0 to 26 See Table 2 6Generic output 

DAT12 Pin 20 output function 0 to 26 See Table 2 6Generic output 

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 NO Function Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 

DAT1 Input logic ALM CLR STOP SELECT INT Pause * HL- HL+ 

DAT2 Output logic * * * * * ZONE ALM In-Pos 

Table 1: Input Port Functions 

Table 2: Output Port Functions 

Setting data Function Setting data Function Setting data Function 

0 Note 2) Point No. 0 Note 5) ZONE Out 0 8 to 22 Note 5) ZONE Out 1 to 15 

1 Note 3) Zero-return start 1 END signal 23 Note 5) Zone No Bit 0 

2 Pause 2 P. Busy 24 Note 5) Zone No Bit 1 

3 Interlock 3 Zero-return completion monitor 25 Note 5) Zone No Bit 2 

4 SELECT 4 SON monitor 26 Note 5) Zone No Bit 3 

5 Positive direction H. Limit 5 Note 4) Input pin monitor 

6 Negative direction H. Limit 6 Generic output 

7 Generic input 7 Motor stop 

5-12


Note 1) If the zero-sensor (SDN) type zero-return start function is used, pin 9 will be the zero-sensor 

input. Follow the instructions below to allocate the zero-sensor signal function. 

Set command 14h, DAT4, Bit7 (SDN) = 0 to use pin 9 as the zero-sensor input. 

a) If the H. Limit and zero-sensor are shared: set the H. Limit function of the desired direction. 

b) If only the zero-sensor function is used: set the generic input port function. 

c) If you want to use the zero-sensor (SDN) type zero-return function: set the desired function. 

Note 2) If the point input was selected, see the table below for the point bit number of each input pin. 

Input port Pin 6 Pin 7 Pin 8 Pin 9 Pin 12 

Point Bit No Point3 Point4 Point5 Point6 Point7 

* Input ports with settings other than point functions will be interpreted as point or program bit = 0. 

Example: Pin 6 = Generic input, Pin 7 = Point4 (Point1, 2=0 (OFF)) 

Point1 

(Pin 4) 

Point2 

(Pin 5) 

(Pin 6) (Pin 7) Point No 

0 0 0 (Fixed) 0 0 

0 0 0 (Fixed) 1 8 

Note 3) If the zero-return start function is allocated, it is necessary to set the zero-return start 

conditions first, using command 53h. 

Note 4) The following table shows the monitored pins when an input pin monitor function is set 

to an output port function. 

Output port Pin 16 Pin 17 Pin 18 Pin 19 Pin 20 

Monitor pin Pin 6 Pin 7 Pin 8 Pin 9 Pin 12 

The monitor output monitors the hardware status of the input port, regardless of the input port functions 

and amplifier status. When the input port coupler is ON, output Tr = ON. 

Note 5) Setting method of a Zone output signal 

When set the output function which supported with 1 to 1 for ZONE No set in command 2Ah or 

31h, please choose output Type0 and 8-22. 

When a binary outputs Zone No, please choose output Type23 to 26. 

5-13




Push Deviation 


DAT1 to 2 Push Deviation 1 to FFFFh 1Pulse (standard 2000P/R) 1770h 

Sets the threshold for detecting a deviation error due to pushback during push operation. Enabling or 

disabling the alarm detection is configured by command code 14h DAT4, Bit 2. (0=Detect, 1=No 

detection) 

Command Code: 27 (1Bh) 


Program number 

RevBadd 32 programs 


DAT1 Program number 0 to 2 01PRG1024Line 

0 

1128PRG×8LINE 

232PRG×32LINE 

Selects the number of programs. 

Command Code: 28 (1Ch) 


Execution Target Selection 


DAT1 Execution Target Selection 0,1 0=Point 1=Program 0 

Sets the execution target of the EXE signal to point or program when not using the SELECT signal 

function. 

Command Code301Eh Data Length1 byte 

Move Inable 


DAT1 Movement permission before 01 0Enable 

0 

origin return completion 

1Disable 

Enable or Disable the movement before origin return completion. Please use safety of a device for 

cases to secure. When set the disable, a movement order before origin return movement becomes 

command error. Ack does not reply in the case of practice by EXE. 

Command Code: 31 (1Fh) Data Length: 8 bytes Initial Value:0, 0,0,0,0,0,0,0 

User memory 


DAT1 User memory 0 to FFh ALL 0 

Provides 8 bytes of memory for the user, which can be used as the user management data area. 

The specified data will be saved to the non-volatile memory by Parameter Save (command 03). 

 

5-14


5.4 Direct commands 

5.4.1 Command for adjustment 



Power Limit (Power Down) 


DAT1 Positioning completion Current 0 to 7Fh (Setting value (d) /255) X Rated 7Fh 

limit during SON status 

current 

DAT2 Current upper limit during 0 to FFh FFh 

operation 

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. 



Gain Parameter 1 


DAT1 Gain Parameter 1 0 to Fh 0 

Selects the normalized servo parameter. Refer to Section 4 for more information about the adjustment 

method. 

* Gain adjustment is necessary for maximizing performance. 

Command Code: 47(2Fh) 


Gain Parameter 2 


DAT1 Proportion Gain 0 to FFh 4 

DAT2 Integral Gain 0 to FFh 4 

DAT3 Gain Select 0,1 0CMD21h Enable 

1CMD2Fh Enable 

0 

Set the detailed Gain than order 21h. Refer to Section 4 for more information about the adjustment 

method. 

* Please do not set proportion Gain0. 

* When set the integral Gain0, please warn speed because it does not arrive at order speed. 

Command Code: 36 (24h) Data Length: 2 bytes Initial Value: 0, 0 

Correction Coefficient 


DAT1 Correction Coefficient 

Enable/Disable 

0,1 

0 

DAT2 Correction Coefficient 0 to FFh 

0: Coefficient pre-defined inside the amplifier 

1: DAT2 setting enable 

1PLS/LSB (equivalent of 2000P/R) 

Corrects the deceleration start position calculated inside the amplifier. A large setting value will result in 

a gentle deceleration slope near the target position. This function is effective for soft landing, etc. 

Smaller ← Correlation coefficient → Larger 

0 

* Note that increasing the correlation coefficient will result in increased In-position time. 

5-15


 

Command Code3927h Data Length3 byte 

Current Offset 

DAT No Function Setting range Setting unit Initial Value 

DAT1 current addition speedLow byte 01194h 1min -1 LSB 64h100min -1 

DAT2 current addition speedHih byte 

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

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. 

5-16


5.4.2 Function setting 

Zone 

Use Zone output signal to determine in-work position, and as a start trigger for another shaft. 

The Zone signal output set in command 16h replies. As for the output signal, 1 to 1 output either is 

chosen for binary output or Zone. Setting of 16 areas is possible at the maximum. 

 

 

 

 

 

Command Code: 42(2Ah) 

ZONE 2 


RevBFunction addition 


DAT1 Select the Zone No 0 to Fh 

DAT2 to 5 Low Zone See below Coordinate 0 

DAT6 to 9 High Zone See below Coordinate 0 

Sets the coordinate range of the 16 ZONE output as absolute position. Output is performed if the motor 

position is within the specified coordinates. This function is effective for monitoring in-position 

completion. 

Setting range 

Basic division setting 

POS.upper limit value 

Neg.upper limit value 

*The sent data should be signed, starting with the low value (negative direction) followed by the high 

value (positive direction). 

*The zone signal is output within the set coordinate range. 

 

Command Code: 49(31h) 

ZONE 1 



DAT1 to 4 Low Zone See below Coordinate 0 

DAT5 to 8 High Zone See below Coordinate 0 

Set a ZONE coordinate for ZONE No 0. It is a function same as what set Zone No 0 by Command 2Ah. 

5-17


Modulo Function 

The following section describes the modulo function (coordinate range adjustment function). 

This function presets the amplifier internal coordinates to the range specified by command 2Ch. The operation is 

performed in the direction selected by command 2Dh. The modulo function is enabled if command 2Bh=1. 

This function is effective for applications where shortcut-control of rotating loads or switching from velocity control to 

in-position control is necessary. 

Coordinate value 

Modulo function is disabled 

Modulo value 

(Command 2Ch value -1) 

Valid position range when modulo function is enabled 

0 

* When using incremental move commands or SCAN operation, the coordinates (absolute position monitor) 

follow the modulo settings. 



Modulo Function Enable / Disable 


DAT1 Low Zone 0 to 1 0=Modulo function disabled 

0 

1=Modulo function enabled 

Enables or disables the modulo function. When enabled, absolute move commands perform modulo operation. 

* When modulo is enabled, the target position should be set in the following range: 0 ≤ Target position ≤ Modulo value -1 

Command Code: 44 (2Ch) Data Length: 4 bytes 

Modulo Value 


DAT1 to Modulo Value See below depends on setting resolving Equivalent of 1 rotation 

Sets the modulo pulse number per rotation. 

* Coordinate setting is not possible for the negative direction. 

Setting range 

Basic divisions 500 1000 2000 4000 5000 10000 

Upper limit coordinate 3333333 6666666 CCCCCCC 19999999 1FFFFFFF 3FFFFFFF 

Command Code: 45 (2Dh) 


Modulo Direction 


DAT1 Modulo Direction 0 to 2 0=Negative direction 

2 (Shortcut) 

1=Positive direction 

2=Shortcut 

Sets the direction of the modulo operation. 

5-18


Soft Limit 


Pos. Soft Limit 



DAT1 to 4 Pos. Soft Limit See below See below Upper coordinate limit 

Sets the Positive direction software limit as an absolute position. 

The limit is valid if the soft limit function was enabled by command code 14h. 

Setting range 




(Detection conditions) 

When a move command is received 

If the target position exceeds the limit when a move command is received, a command error is 

generated. 

During SCAN operation 

If the actual position exceeds the limit, a deceleration stop is performed. During the limit state, a 

move command in the limit direction will generate a command error. A move command opposite 

to the limit direction will be executed normally. 

When performing a zero-return operation 

Limit is not monitored if the zero-return is incomplete or the zero-return is still in progress. 

 


Neg. Soft Limit 



DAT1 to 4 Neg. Soft Limit See below See below Upper coordinate limit 

Sets the negative direction software limit as an absolute position. 

The limit is valid if the soft limit function was enabled by command code 14h. 

Setting range 




(Detection conditions) 

Same as command 31h. 

5-19


Push Condition 

Set the push movement condition. It become effective for all movement with push. 



Push Determination Time 


DAT1 Push Determination Time 0 to FFh 10msec/LSB Fh (150ms) 

Sets the time for completion determination for push zero-return operation and push operation. The 

determination time counter starts when the current limit for push set for the respective operation is 

reached. 



Push Velocity 


DAT1 to 2 Push Velocity 0 to 1194h 

1min -1 /LSB Fh (150ms) 

(0 to FA0h for 86 motors) 

Sets the velocity for the push operation. Consider the push dynamics, such as push shock, when 

setting the velocity. 

 

Push determination overview 

Collision 

Velocity waveform 

Push velocity 

Current command 

Push complete determination time 

END signal 

5-20


Others 


Zero-return Maximum Travel Distance 



DAT1 to 4 

Zero-return Maximum 

Travel Distance 

See below 

Depends on the 

resolution setting 

Maximum 

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 



In-position Width 


DAT1 to 4 In-position Width 0 to CCCCCCCh 0. 18 degrees 

Ah 

(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.) 



ABS Counter Preset 

DAT No Function Setting range Setting unit 

DAT1 to 4 Counter Preset See below See below 

Presets the absolute position counter inside the amplifier. 

Setting range 

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 

* Do not use during operation. 

 

5-21


5.4.3 Move command 



Velocity 


DAT1 to 2 Velocity 0 to 1194h 

1min -1 /LSB 28h (40 min -1 ) 

(0-FA0 for 80 motors) 

This command is used to specify the operation velocity initiated by command 38h, 3Ah, and to modify 

the velocity of an operation. 



Acceleration / Deceleration Rate 


DAT1 Acceleration 1 to FFh 1min -1 /ms /LSB 1 (1min -1 /ms) 

DAT2 Deceleration 1 to FFh 1min -1 /ms /LSB 1 (1min -1 /ms) 

This command is used to specify the acceleration or deceleration rate for command 38h, 3Ah and 

zero-return, and to modify the acceleration or deceleration rate during an operation. 

 

5-22




Incremental Move Travel Distance (without options) 


DAT1 to 4 Incremental Move Travel Distance See below 360/resolution setting 

Initiates an incremental position move. The rotation direction is determined by the sign (+ or -) of the 

move command. 

(Positive=positive direction, Negative=negative direction) 

The velocity, acceleration or deceleration rate are set by commands 36h and 37h. 

Incremental travel distance setting range 




*If used during operation, it will be treated as an additional move command. The travel distance will be 

added to the original target position before the additional move command. 

 

Command Code: 58 (3Ah) 


Absolute Move Travel Distance (without options) 


DAT1 to 4 Absolute Move Travel Distance See below See below 

Initiates an absolute position move. The rotation direction is determined by the current position and the 

command position at the time of the command. 

Command position>Current position: Positive direction 

Command position


Command Code: 62 (3Eh) 


Slow Move Command 


DAT1 Velocity See below 1min -1 /LSB 

DAT2 Slow move current 1 to 64h (Setting value (d) /255) x Rated current 

DAT3 to 6 Incremental move travel distance 0 to 7Fh 1PLS/LSB 

Initiates slow movement by open control. Use this command if a velocity change during a slow 

operation causes problems. 

Incremental travel distance setting range (depends on the resolution as shown below) 




* If a slow move command is entered as an additional command during operation, the slow move will 

start after the current operation is completed. The in-position signal will be output when the slow 

move operation completed. 

* If there is a position drift during slow move operation, the control will switch to close-control mode. 

* The torque generated during slow move operation will not exceed 50% of the maximum stored 

torque. 

5-24




Continuous Rotation (SCAN) Command 


DAT1 Rotational direction 0 to 1 0: Positive direction; 1: Negative direction 

DAT2, 3 Velocity 0 to 1194h 

1min -1 /LSB 


DAT4 Acceleration rate 1 to FFh 1min -1 /ms/LSB 

DAT5 Deceleration rate 1 to FFh 1min -1 /ms/LSB 

DAT6 Push current limit 0 to FFh (0=no push Setting value (d) /255 x Rated current 

current limit) 

Initiates continuous rotation 

* If the push current limit is other than 0, overload will not be detected during SCAN operation. 

* Push completion can be detected by the motor stop signal output or by the END signal. The in-position 

signal will stay the same as it was during operation. 

* There is no error detection performed during SCAN push operation. 

Note) If this function is used for continuous rotation in a single direction only, use command code 

14h, DAT4, Bit0=0 to enable Wrap Around. 



Continuous Rotation (SCAN) Stop 

Specifies the stop of a continuous rotation. 

While receiving the command, the motor will decelerate to a stop using the deceleration rate set for the 

SCAN operation. The stop position becomes the target position. 

5-25



Data Length: 11 (d) bytes 

Incremental Move Command (with velocity, acc/dec. rate, push specifications) 


DAT1,2 Velocity 0 to 1194h 


1min -1 /LSB 



DAT5 to 

Incremental move 

travel distance 

See below 

1PLS/LSB 

DAT9 Push current limit 0 to FFh Setting value (d) /255 x Rated current 

(0=no push current limit) 

DAT10, 11 Push travel distance Depends on the resolution 1PLS/LSB 

This is an incremental position move command with velocity, acceleration/deceleration rate and push 

condition options. The rotation direction is determined by the sign (+ or -) of the move command. 

(Positive=positive direction, Negative=negative direction) 

Incremental travel distance setting range 




* If there is an incremental position move command coming in during an operation initiated by an absolute position 

move command, the incremental command distance will be based on the target position of the absolute position 

move command. 

* If the incremental move travel distance is 0, do not set the push travel distance to a value other than 0. 

 

5-26




Absolute Move Command (with velocity, acc/dec. rate, push specifications) 


DAT1,2 Velocity 0 to 1194h 


1min -1 /LSB 



DAT5 to 

Absolute move 

travel distance 

See below 

1PLS/LSB 

DAT9 Push current limit 0 to FFh Setting value (d) /255 x Rated current 

(0=no push current limit) 

DAT10, 11 Push travel distance Depends on the resolution 1PLS/LSB 

This is an absolute position move command with velocity, acceleration/deceleration rate and push 

condition options. The rotation direction is determined by the current position and the specified position 

at the time of the command. 

Command position>Current position: Positive direction 

Command position




Zero Return Command 


DAT1 Zero-return type 

Rotational direction 

Zero-return type: 0 to 4 

Rotational direction: 0 to 1 

See (1) 

0: Positive direction1: Negative direction 

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

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

DAT4 to 5 Grid shift Depends on the resolution 1PLS 

DAT6 Zero-return push current limit 0 to FFh Setting value (d) /255 x Rated current 

DAT7 to 10 Counter preset value Depends on the resolution 1PLS 

Initiates zero-return. The acceleration/deceleration rate is set by command code 37h. 

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 

* The grid shift setting is signed; for push zero-return type set the grid shift for both the 

command direction and reverse direction. 

* If zero-sensor (SDN: Type 1, 2) is started, pin 9 will be the zero-sensor input. Refer to command 

16h to set the input port function as the zero-sensor signal. 

In additionSet command 14h, DAT4, Bit7 (SDN) = 0. 

 

5-28


Each setting is enabled or disabled based on the type of zero-return. 

Zero-return type Zero-return Zero-return low Grid shift Current Preset value 

velocity velocity volume limit 

C channel detection Disabled Enabled Enabled Disabled Enabled 

SDN detection Enabled Enabled Enabled Disabled Enabled 

SDN + C channel Enabled Enabled Enabled Disabled Enabled 

Push zero detection Enabled Enabled Enabled Enabled Enabled 

Push + C channel 

detection 

Enabled Enabled Enabled Enabled Enabled 

Zero-return operation overview 

* The zero-return in-position signal is output after the zero detection operation is complete. 

1) C-phase detection mode: Type 0 

Zero-return is based on detecting the C-phase (1PLS/rotation) of the motor-sensor. 

Grid shift travel distance 

Operation (velocity waveform) 

In-position signal 

C-channel signal 

* If high velocity is used, an overshoot can occur after detecting the C-phase, causing a return 

operation to be performed. 

2) SDN detection: Type 1 

Zero-return is performed by detecting the edge of the SDN signal connected to Pin 9 of CN1. 



In-Position signal 

SDN signal 

5-29


3) SDN + C-phase detection mode: Type 2 

After detecting the edge of the SDN signal connected to Pin 9 of CN1, movement starts in the 

opposite direction and zero-return is performed based on C-phase signal detection. 




C-channel signal 

SDN signal 

4) Push zero detection: Type 3 

Zero-return is based on detecting a stop due to pushing against the mechanical end. 

Mechanical end 

Grid shift travel 



Command code 25h: Push complete 


* The sign of the grid shift volume must be set to the opposite direction of the push direction. 

* Confirm that the push current limit setting is a value with which the motor can operate. If the 

value is low, a push may be prematurely determined as completed. 

5) Push + C-phase detection: Type 4 

After detecting a stop due to pushing against the mechanical end, movement starts in the 

opposite direction and zero-return is performed based on C-phase signal detection. 

Mechanical end 

Grid shift travel 

Operation 


C-phase signal 

Command code 25h: Push complete 


5-30


5.4.4 State control Command 



Brake Enable 


DAT1 Brake Enable 0 to 1 0=Release; 1=Engage 

Directly controls the holding brake status during servo OFF (including Alarm and STOP status). 

* This status is not saved in the non-volatile memory. (Normally 1 after powering up.) 

When switching to servo ON, the status is automatically set to 1, and unless 0 was preset, the 

holding brake will be engaged when a STOP or ALM occurs. 



Deviation Clear 

This command initiates deviation clear. The position at the time of receiving this command becomes the 

target position. 

* Note that if the command is sent during rotation, it returns to the original position using the excess 

deceleration distance. 



Pause Command 

This command initiates a Pause (temporary stop). The target position is held, and a deceleration stop is 

performed based on the current deceleration rate settings. When Pause is cancelled, the move to the 

target position resumes. 

* If the Pause function is allocated to an input port, it will operate with an OR condition with this 


* The Pause input function is allocated by command 16h. 



Pause Clear 

This command cancels the Pause, and at the same time, moving to the target position resumes. 

* If the Pause function is active at the input port, it will not be cancelled. 



Alarm Clear 

This command clears the alarm. 

* Non-recoverable alarms are not cancelable; they can be cleared only by restarting the power, or 

using the initialization command. 

* If the ALM clear function is allocated to an input port, it will operate with an OR condition with this 


5-31




Bit Out 


DAT1 Bit Out 0 to 1Fh 

Sets the output status of the generic output port. 

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 

* * * Out5 Out4 Out3 Out2 Out1 

0: Photocoupler OFF 1: Photocoupler ON 

* This command is valid only at generic output ports set for output port functions using command 

16h. For non-generic outputs, this function will be ignored. 



STOP Command 

This command initiates an emergency stop. If the motor is in motion, it stops with the maximum 

possible deceleration rate, and the amplifier status changes to servo OFF. 

* The command operates using an OR condition with the STOP input port. 

* If used during program execution, the program execution will stop. 



STOP Clear 

Cancels the STOP initiated by a STOP command. At the time of the STOP clear, the amplifier status 

automatically changes to servo ON. 

* This command does not clear the STOP signal at an input port. 

Command Code: 78 (4Eh) 


Interlock 

This command aborts movement. A deceleration stop is performed using the deceleration rate set at 

the time of receiving the command. The stop position becomes the target position. The system keeps 

the SON status, and performs a deceleration stop. Move commands during interlock will generate a 

command error. 

* During interlock, initialization is not executed. 

Command Code: 79 (4Fh) 


Interlock Clear 

Clears the Interlock initiated by an Interlock command. 

* This command does not clear the interlock of an input port. 

5-32


5. 5 Point and Program Commands 

5. 5. 1 Point and program control commands 



START Command 

This command remotely starts the point or program previously specified with 55h. 

Before using the START command, always set the execution target using 55h. 


STEP Operation 



DAT1 Program number When 1 PRG selected: 0 

When 128 PRG selected: 0 to 7Fh 

When 32PRG selected: 0 to 1Fh 

DAT2,3 Line number When 1 PRG selected: 0 to 3FFh 

When 128 PRG selected: 0 to 8 

When 32PRG selected: 0 to 1Fh 

This command specifies the STEP operation (line by line execution) of the program. 

Note that the range for program number and line number depends on the settings performed by 

command 1Bh. 

Response: 

As a response to the STEP operation command, the next executable line (2 bytes) is returned. The 

response format is the following: 

Packet length Address Response status Line number Line number Checksum 

(lower) 

(higher) 

* If the STEP operation is executed in the middle of a Gosub/Return command, and the next 

executable line is unknown, the response will be FFFF. 

When a Timer Wait is executed in STEP mode, the setting time of the Timer will be disabled. 

 

 



Program Stop 

This command aborts the program operation. The amplifier maintains the servo ON status. 

* Program lines that have already started execution will not be aborted. To abort the movement itself, 

use the STOP command. 

* The Program stop command can only be used during program execution; otherwise, a command 

error will be generated. 

* Refer to command code 8Ah to read the stopped program line. 

5-33




Zero-return Store 

This command stores the details of the zero-return operation to be started by a zero-return start signal 

at a generic input port, as specified by command 16h. The setting is stored in the system’s non-volatile 

memory. 

Execution starts by command code 54h, or by the zero-return start signal. 

The content of the zero-return operation is the same as command 45h. Refer to 45h for more 

information. 

The settings will be cleared by command 5 (Point CLR). 

* For verification, use command code 81h, Point No=80h to read the setting. 



Zero-return Start 

This command remotely (via communication) executes the zero-return operation set by command 53h. 

Since there is no default factory setting for zero-return, the user is required to store the data using 

command code 53h before using this command. 

* If no data has been set, a command error is generated, or if execution was initiated by the 

zero-return start signal, the Ack signal output will not respond. 



Remote Start Target 


DAT1 Start target 0 to 1 0Point 1PRG 

DAT2 Point / Program No. For point: 0 to 7Fh 

 

When PRG No.=0: 0 

When PRG No.=128: 0 to 7Fh 


Sets the target for remote start by command 50h. Sets either point or program. 

* If a program is selected, the setting range will depend on the program number selected by command 

1Bh. 

 

5-34



Point Store 

Data Length: Depends on the command 


DAT1 Point number 0 to 7Fh - 

DAT2 Direct command to be stored Direct command - 

DAT3 and Depends on the command in DAT2 Depends on the command - 

above 

Stores a direct command to the specified point number. The data length depends on the direct 

command being stored. 

Transmitted data format: 

Packet Length Address Command code (56h) Point No Direct command code Data (n bytes) Checksum 


Data Length: Depends on the command 

Program store 


DAT1 PRG No When PRG No.=1: 0 

When PRG No.=128: 0 to 7F 

When PRG No.=32: 0 to 1F 

DAT2, 3 Line number When PRG No.=1: 0 to 3FFh 

When PRG No.=128: 0 to 7 


DAT4 Command code to be stored Direct command (20h to 4Fh) 

Program command (60h to 6Dh) 

DAT5 Depends on the command in DAT4 Depends on the command 

Stores a direct command line by line to the specified program number. The data length depends on the 

direct command being stored. 


Packet 

Address 

Command 

PRG 

Line number 

Line number 

Store 

Data 

Checksum 

Length 

(57h) 

No. 

(lower) 

(higher) 


(n bytes) 

5-35


5.5.2 Program Commands 

1) Definition and use of jump conditions 

The following section describes the conditions of jump commands. 

Condition = False (0): If the condition does not match, jump to the specified line; if it matches, execute the next line. 

Condition = True (1): If the condition matches, jump to the specified line; if it does not match, execute the next line. 

Command 67h (Motor stop jump example) 

A) Example using a jump condition to wait for move completion 

Data included: Jump condition = False (0), Jump target line =same line (Line No=n) 

Motor start 

Line No = n 

Motor stop 

No 

YES 

B) Example using a jump condition for a simple jump 

Data included: 

Jump condition = True (1), Jump target line=n Jump condition = False (0), Jump target line=n 

Motor stop 

YES 

Motor stop 

No 

No 

Yes 



Line No=n 

Line No=n 



2) Jump target number 

The setting range of the jump target line number depends on the program number selected by 1Bh, as follows: 

The line number setting range is omitted from the command explanations. 

No. of Programs 1 (command 1Bh=0) 128 (command 1Bh=1) 32 (command 1Bh=2) 

Line number setting range 0 to 3FFh 0 to 7h 0 to 1Fh 

5-36




Program END 

This command ends the program. Program execution stops when the END command is encountered. 

* Empty command lines are recognized as NOP and the program execution continues. It is 

necessary to always include the END command in the program. 

* It is possible to have subroutines after the END command. 



Timer Wait 


DAT1 to 2 Timer Wait 0 to FFFFh (65535ms) 1ms/LSB 

This command sets the delay timer value. 

* This command is ignored during STEP operations. 


In-position JMP 



DAT1 Condition 0,1 0: False (jumps to the specified line when in-position) 

1: True (jumps to the specified line when out-position) 

DAT2 Jump target line No Depends on number of PRG 

Sets the jump target according to the In-Position condition set by command code 30h. If the condition 

matches, execution jumps to the specified target. If the condition does not match, the execution 

continues on the next line. 

5-37




In-port JMP 


DAT1 Condition 0,1 0: False 

(jumps to the specified line when condition does not match) 

1: True 

(jumps to the specified line when condition matches) 

DAT2 Input Port status 0 to 1Fh 0OFF, 1=ON 

DAT2 Jump target line No Depends on number of 

PRG 

This command sets the jump target according to the status of the generic input. If the condition 

matches, it will jump to the specified target. If the condition does not match, the execution continues on 

the next line. 

DAT2 input port allocation 


* * * IN5 IN4 IN3 IN2 IN1 

Individual input bits cannot be manipulated. The input status of all 5 bits is assessed. 

 



Zone JMP 


DAT1 Jump condition 0,1 0: False (jumps to the specified line when in the Zone range) 

1: True (jumps to the specified line when out of the Zone range) 

DAT2 Zone No 0 to Fh 

DAT34 Jump target line No Depends on 

 

number of PRG 

This command sets the jump target according to the Zone output condition set by command code 2A or 

31h. If the condition matches, it jumps to the specified target. If the condition does not match, the 

execution continues on the next line. 

5-38



Actual Position JMP 



DAT1 Jump condition 0 to 1 0: False (jumps to the specified line when the 

setting ≤ actual position) 

1: True (jumps to the specified line when the 

setting ≥ actual position) 

DAT2 5 Absolute position Depends on the 1PLS 

resolution 

DAT6,7 Jump target line No Depends on the 

PRG No 

 

This command sets the jump target according to the current position condition (absolute position). If the 

condition matches, the execution jumps to the specified target. If the condition does not match, the 

execution continues on the next line. 

Specifying multiple shafts at the same time generates a command error. 

Absolute travel distance setting range 






Jump 


DAT1,2 Jump target line No Depends on the PRG No 

This command sets the jump target unconditionally. 



Motor Stop JMP 


DAT1 Jump condition 0,1 0: False (jumps to the specified line during 

operation) 

1: True (jumps to the specified line when the 

motor is stopped) 

DAT2,3 Jump target line No Depends on the PRG No 

This command specifies the jump target according to the motor stop status. 

 

5-39




FOR (loop counter) 


DAT1 Variable appointment O to A 

DAT2 Loop counter (repetition time) 1 to FFh 

This command repeats the program enclosed by a For and a Next (command 6Bh), using the same 

variable, as many times as specified by the loop counter and is used together with the Next command. 

* The loop counter increments by 1. The number of loop repetitions is specified by the loop counter. 

* Nested loops are allowed within the specified variable range. 

* The loop counter clears to 0 when the loop ends. 



NEXT (loop counter) 


DAT1 Variable appointment O to A 

This command repeats the program enclosed by a For (command 6Ah) and a Next, using the same 

variable, as many times as specified by the loop counter, and is used together with the For command. 

* Must use the same variable as the For command. 



Subroutine call 


DAT12 Subroutine first line number O to A 

This command initiates a subroutine call. The target of the subroutine call is specified by the line 

number, and is used together with Return (command 6Dh). 

* Nested Gosub/Return commands are allowed up to 16 levels. 



Return 

This command returns execution from the subroutine to the main program, and is used together with 

the Gosub command. 

* Nested Gosub/Return commands are allowed up to 16 levels. 

5-40


5. 6 RD commands 



Parameter Read 


DAT1 RD target command code SysytemDirect Command 

This command reads the setting data of a direct command or a system command. 

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

Returned data Command code + data content 



Point Read 


DAT1 RD target point number 0 to 80h80hZero-Return Profile 

This command reads the data content of the specified point number. 




Program Read 


DAT1 RD target program number Depend on PRG No 

DAT2,3 Line number Depend on PRG No 

This command reads a single line of the specified program. 


 

5-41



Amplifier Status Read 

This command returns the amplifier status. 

DAT1: Amplifier status 1 

Bit 

Description 

Data 

0 1 

5-42 


Explanation 

0 Main power status ON OFF The status of the main power 

1 In-position status 

Within 

range 

Out of 

range 

The status of the in-position signal 

2 Amplifier alarm status Normal Alarm The alarm status of the amplifier 

3 Initialization operation Complete Incomplete 

Completion status of the 

initialization process 

4 Servo ON/OFF status ON OFF Servo ON/OFF status 

5 Stop control status 

Normal 

status 

STOP 

status 

Stop control status 

6 Zero-return completion Incomplete Complete Zero-return completion status 

7 Pause control status Non-Pause Pause Pause control status 

DAT2: Amplifier Status 2 

Bit 

Description 

Data 

0 1 

Explanation 

0 Positive direction soft limit No Limit Limit Positive direction soft limit status 

1 Negative direction soft limit No Limit Limit Negative direction soft limit status 

2 Brake Open Excite Holding brake control status 

3 Interlock control status No interlock Interlock Interlock control status 

4 Positive direction hard limit No Limit Limit Positive direction hard limit status 

5 Negative direction hard limit No Limit Limit Negative direction hard limit status 

6 * - - Always 0 returned. 

7 * - - Always 0 returned. 

These status conditions are returned only if the function is enabled by the port settings. If the function is 

disabled, it will return 0. 

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

Bit DAT3 (input port) DAT4 (input port) DAT5 (output port) 

0 * Point2 OUT2 

1 * IN1 OUT3 

2 * IN2 OUT4 

3 * IN3 OUT5 

4 * IN4 ACK 

5 * STOP In-Position 

6 EXE ALARM CLEAR ALARM 

7 Point1 IN5 OUT1 

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




Absolute Position Read 

This command reads the absolute position counter inside the amplifier and returns a 4 byte signed 

data. 

Returned data Signed 4 bytes (based on the resolution setting, returned in order, starting with the 

lower bytes) 


Velocity Monitor 

This command monitors the current velocity. 


Returned data 

The returned data is an absolute value (unit: 1 min -1 , returned in ascending order) 

5-43




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 Overspeed 

RGOL 08 Regeneration voltage is over the specified value 

ORG 09 Zero-return error 

CNT OVF 0A Position Deviation Counter over flow 

Wrap around 0B Absolute position counter sign reversal 

Push 0C Push ErrorWide swing 

MO OH 0E Motor overheat detection 

AMP OH 0F Amplifier overheat detection 

EEPER 10 Non-volatile memory error 

PAM 11 PAM voltage abnormal 

OC1 12 Overcurrent detectionHardware 

LA 13 Sensor phase error 

OC2 14 Overcurrent detectionSoft Ware 

5-44




Communication Error 

This command returns the history of all past communication errors; the data is cleared at power OFF. 

Returned data The returned data is 8 bytes (returned in the order of most recent to oldest) 

Communication error codes 

Name 

Code (hex) 

Checksum error 01 

Timeout 02 

Parity error 08 

Framing error 10 

Overrun error 20 



Software Revision 

This command reads the software revision. 

Returned 

The returned data is 2 bytes. 

data 

DAT Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 

DAT1 * 

DAT2 

Software Rev 



Program Stop Line 

This command reads the line where the program stopped if a STOP, program stop, or ALM aborts the 

running program. 

Returned The returned data is 2 bytes. 

data 


DAT1 

Stop line (lower byte) 

DAT2 

Stop line (higher byte) 



Loop Counter Read 

This command is exclusively used in programs; it returns the current value of the For/Next loop counter. 

The returned data contains the values of all variables from 0 through A, in that order. 

The returned data is 2 bytes (in the order of most recent to oldest) 

Returned 


data 

DAT1 to 10 

Loop counter (variable 0~Ah) 

5-45




Operation Complete Cause Read 

This command returns the cause of a motor stop. This function can be used to analyze the cause of an 

unexpected motor stop. 

Returned 

data 

The returned data is 1 byte. 

Data 

Stop cause 

0 Normal completion 

1 Stop due to positive direction limit 

2 Stop due to negative direction limit 

3 Stop due to deviation clear 

4 Stop due to STOP 

5 Stop due to alarm 

6 Stop due to Pause 

7 Stop due to Interlock 

FF 

In motion 

* This function cannot be used for zero-return operation. 

* The read data is kept only for the move command immediately before the stop. After 

checking the stop cause, the move command must be updated. 

5-46

6. Communication specifications 

6.1 Communication Specifications 

The following section describes the communication specifications of the PB Series system. 

6.1.1 Communication Format 

Item 

Specifications 

Transmission rate* 9600, 38400, 115200, 128000 

(Select with dip-switches: see Section 4.2) 

Synchronization method 

Start-stop synchronization 

Databits 

8 bit 

Parity bit 

Even 

Stop bit 

1 bit 

Number of slaves 1 to 15 units (Select with rotary switch; see Section 4.2) 

Data length 

Maximum of 255 bytes 

Data 

Hexadecimal 

Data transmission 

LSB first 

Transmission method 

Four-wire full duplex polling method 

*Contact Sanyo Denki for information on non-standard transmission rates. 

6.1.2 Hardware 

Item 

Line driver/Receiver IC 

Cable 

Termination resistor 

Extension length 

Insulation 

Connector (amplifier side) 

Specifications 

Full duplex: SN751178(TI) equivalent 

3 or 4-wire twisted pair, shielded cable 

Both ends of the signal line have a termination resistor 

connected (Rt: 150Ω), and can be set using dip-switches 

(see Section 4.2) 

Max. 100m 

Photocoupler insulation 

S10B-PADSS-1GW(JST) 

6-1


6.1.3 Daisy Chaining 

A 

B 

Rt 

TXD 

RAD RXD RXD 

Slave No.0 

Slave No.1 

Y 

Rt 

Z 

TAD 

TXD 

TXD 

RAD 

Master Slave No.0 Slave No.1 

Slave No.n (max F) 

6-2


6.2 Data Format 

6.2.1 Command Issue (Master → Slave) 

Packet Length Address Command Code Data Checksum 

1 byte 1 byte 1 byte n bytes 1 byte 

Packet Length 

Contains the length of one packet in bytes in hexadecimal notation. Indicates the total number of 

transmitted bytes from the packet length to the checksum. 

Packet length = Number of databytes (N) + 4 

Address 


Address 

A maximum of 16 amplifiers can be connected. This value specifies the address set by the rotary 

switch. Address=FFh simultaneously specifies all the amplifiers connected to the communication line. 

In this case only the amplifier at address 0 will respond. 

Command Code 

Specifies the command code defined in Chapter 5. 

Data 

The number of data bytes depends on the command. The data fields contain the actual data for each 

command. Data longer than 2 bytes is sent in lower-higher order. 

Checksum 

The checksum is calculated by adding all bytes except the checksum, and taking the lowest byte. 

6-3


6.2.2 Status Response (Slave → Master) 

Packet Length Address Transmission Status Response Data Checksum 

1 byte 1 byte 1 byte n bytes 1 byte 

Packet Length 

Contains the length of one packet in bytes in hexadecimal notation. 

Packet length = Number of transmitted databytes (N) + 4 

Address 

Contains the address of the status response-originating slave device in hexadecimal notation. 

 

Communication Status 

The communication status byte contains information about the communication status of the last 

command sent, the device status, etc. for the slave. This is a response data for the status of all 

enabled shafts. 

Bit 

Description 

Data 

0 1 

0 Operation complete Incomplete complete 

1 In-Position status Out of range Within range 

2 Amplifier alarm status Normal Alarm 

3 Servo ON status SOFF SON 

4 Limit (hard, soft both) Out of Limit Within Limit 

5 Command error Normal Error 

6 STOP control status 

Normal 

status 

STOP status 

7 No function assigned - - 

* Command error is generated when the following conditions are met: 

If a non-preset command is received. 

If a command that is not receivable due to the status of the amplifier is received. 

Response Data 

The number of bytes in the response data depends on the command sent and the data. Responses 

to commands other than RD commands do not have data attached. 

Data longer than 2 bytes is sent in lower-higher order. 

 

Checksum 

The checksum is calculated by adding all bytes except the checksum, and taking the lowest byte. 

6-4


6.3 Communication Method, Timing Chart 

6.3.1 Communication Method (Normal operation) 

Command issue 

Status response 

 

 

Time until the slave sends the status response after receiving the command: Minimum [T1] / 

Maximum [T2] 

Time until the master is able to issue commands after receiving the status: Minimum of 1ms 

1) The master sends all commands with an address attached to the header (Packet length). 

2) Slave devices can only transmit immediately after receiving a command with their own address. 

3) Slave devices send the status response with their address attached to the header. 

4) After receiving the command, the slave device must start responding after [T1] but before [T2] is 

over. 

5) After the master receives the response from the slave, it can issue the next command after [T1] 

has passed. 

6) If there is no response from the slave after [T3], it will be considered a time-out error, and the 

master can issue the next command. (It is possible to re-issue the command.) 

7) If the slave doesn’t complete receiving the data until [T3] is over, it discards the data received, 

and interprets the next data as a header (packet length). 

8) If there is a communication error, the master stops issuing commands after [T3] and clears the 

receive buffer of the slave device. 

9) If there is a communication error, the slave discards the data received, and does not send a 

response. A communication error is shown by opening the line longer than [T3]. 

10) If the slave receives a command that is not a pre-set command, it returns the command error 

status. 

Note 1: During control power connection / cutoff, when the CPU is not working due to unstable 

control power, the amplifier may output some arbitrary data, which should be ignored by the user. 

6-5


6.3.2 Communication Method (Abnormal Operation) 

1) If the slave device did not send a status response (but a return response is sent) 

Master 

Command issue 

Transmission enable 

Slave 


Transmission enable 

Status response does not work for some reason 

 

i) Time until the master can issue the next command if there is no status response after issuing the 

command: Minimum [T3] 

2) If abnormal data is generated 

Abnormal data 

Data is interrupted during a packet 

Communication error occurred due to noise, etc. 

Master 

Command execution 

Slave 


 

 

i) In the case of abnormal data (packet is not recognizable), the master stops issuing of commands for at 

least [T3]. 

ii) If there is no communication for at least [T3], the slave discards the previously received 

unrecognizable data. If the communication continues after [T3], the first data is interpreted as the 

header (packet length). If the packet is recognizable, it will be processed normally. 

6-6


6.4 Standard Response Time Values 

[T1]=500μsec×2 n (n=0 to 7) setting is possible (command code 10h). 

Based on the T1 setting, [T2]=[T1] x2, [T3]=[T1] x4 will be set. 

Standard values for [T1] to [T3] are shown in the table below. 

 

Standard response time values Unit (ms) 

Response Time 

Response Time 

T1 T2 T3 

Setting Value n 

Setting Value n 

T1 T2 T3 

0 0.5 1 2 4 8 16 32 

1 1 2 4 5 16 32 64 

2 2 4 8 6 32 64 128 

3 4 8 16 7 64 128 256 

6-7


6.5 Communication Example 

The following example explains the communication process in detail. 

For the purposes of this example, the amplifier’s address is set to 0. 

Parameter WR 

Transmission example: Setting the Gain parameter1=5 (command 21h). 


5 0 21h 5 7Bh 

Parameter RD 

Example: Reading the Gain parameter1 (command 21h) using Parameter RD (command 80h). 

Transmitted data: 


5 0 80h 21h F6h 

Returned data: 

Packet Length Address Response Status Data 1 Data 2 Checksum 

6 0 21h 5 

Point Data Save 


Packet Length Address Command code (56h) Point No Direct Command Code Data Checksum 

Example: Storing an incremental move command (command 38h) = 4000 (FA0h) to Point No=2. 

Packet Length Address Command Code Point No Command Data Data Data Data Checksum 

9 0 56h 2 38h A0h Fh 0 0 48h 

Point data RD 


Packet Length Address Command Code (81h) Point No Checksum 

Returned data format: 

Packet Length Address Response Status Store Command Data Checksum 

* There is no point number attached to the return data. 

Example: Reading the Point data stored at . 


Packet Length Address Command Point No Checksum 

5 0 81h 2 88h 


Packet Length Address Response Status Store Command Data Data Data Data Checksum 

9 0 * 38h A0h Fh 0 0 * 

6-8


 

Program Data Save 


Packet Length Address 57h Program No. Line Number (2 bytes) Command Code Data Checksum 

Example: This program is PRG number 0, which performs a zero-return and a 200ms Timer Wait, and then 

executes an incremental move. 

Line Command Code 

0 Zero-return (each direction push origin, velocity 75min -1 , grid shift=200, counter=0) 45h 

1 Zero-return complete wait (false, this line waits to complete) 67h 

2 Timer Wait (200ms) 61h 

3 Absolute travel distance (velocity: 1000min -1 , accel. / decel. rate: 100min -1 /ms, absolute position=4000) 44h 

4 PRG exit 52h 

 

Packet ADR Command PRG No. Line (lower) Line (higher) Command Data (n bytes) Sum 

12h 0 57h 0 0 0 45h 13h,4B,4B,C8,0,0,0,0,0,0 

Bh 0 57h 0 1 0 67h 0,1,0 

Ah 0 57h 0 2 0 61h C8h,0 

13h 0 57h 0 3 0 44h E8h,3,64h,64h,A0h,Fh,0,0,0,0,0 

8 0 57h 0 4 0 52h - 

Program data RD 


Packet Length Address 82h Program No. Line Number (2 bytes) Checksum 


Packet Length Address Response Status Command Code Data (n bytes) Checksum 

* There is no program number or line number attached to the return data. 

Parameter CLR 


Packet Length Address 02h Checksum 

Parameter Save 



Parameter Load 



6-9

7. Specifications 

7.1 Amplifier Basic Specifications 

Amplifier Model 

Control Mode 

Power Single Power 

PB3A003R200 

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 

Display 

Operation Functions 

LED Display (power status, alarm) 

Normal Drive (incremental move command, absolute move command), 

Zero-return, Modulo Operation, Continuous Rotation, Push Operation 

Switches 

DSW1: Transmission speed setting; DSW2: Terminating resistor setting; RSW: 

Node address setting 

Input / Output Signals 

Input Signals Fixed Function: EXE, ALMCLR, STOP, Point1, 2 

Selectable (5): Point, Zero-return Start, Pause, Interlock, SELECT, 

Hard Limit (Positive/Negative), Generic Input 

Output Signals 

Fixed function: Alarm Output, In-Position, Ack 

Selectable (5): Motor Stop, END, ZONE, P.Busy, Zero-return Complete, 

SON Monitor, Input Pin Monitor, Generic Output 

Serial Communication 

RS-485 Standard, Start-stop Synchronization, Full Duplex 

Transmission Rate: 9600, 38400, 115200, 128000bps 

Maximum Connections: 16 devices 

7-1


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

7.2.1 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. 

7.2.2 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 

7.2.3 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) 

7-2


7.3 Motor Option Specifications 

7.3.1 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 to the Forward Forward Forward Reverse Reverse 

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 the 

Forward Forward Reverse Reverse Reverse 


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. 

7.3.2 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 (N m) 4.5 8.3 11 14 20 


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 the 

Reverse 

Reverse 


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. 

7-3


7.3.3 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. 

7-4


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

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

7-5


 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

7-6

7 

9 A B CD E F 08 

1 


7.5 Outline Drawings 

7.5.1 Amplifier Drawing 

45 

(6.5) 

120 

7 

 

33 

4 

170 

160 5 

(5) 

M TION 

SW1 

CN3 

CN4 

5 

PB 

6 

5 

4 

3 

2 

C 

N 

7 

C 

N 

2 

S 

W 

2 

C 

N 

1 

C 

N 

5 

C 

N 

6 

(10) 150 10 

M 

TION 

PB 

7-7


7.5.2 Motor Drawings 

7-8


7-9


7-10

8. Options 

8. Options 

8.1 Optional Cables 

8.1.1 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 

8.1.2 Optional Cable Model Numbers 

Cable Type Cable Standard Model Number Standard Length Maximum Length 

Power cable PBC7P0020A 2m 3m 

Motor power cable PBC6M0030A 3m 20m 

Sensor cable PBC6E0030A 3m 20m 

I/O cable PBC1S0010A 1m 3m 

Communication cable (to amplifier) PBC6C0003A 0.3m 100m 

* 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. 

81

8. Options 

82 

8.1.3 Cable Drawings

8. Options 

8.2 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 

PBC6C0000A Communication Housing PADP-10V-1-S 2 JST 

connector Contact SPH-002T-P0.5L 20 

* 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. 

83

8. Options 

8.3 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 

RS-232C/RS-485 converter unit 

* Full duplex 

PBFM-U3 

(Set number) 

Unit configuration 

Main unit: PBFM-P2 

Cable: PBC3T0005A (50cm) 

 

PB3A003R200 

IBM compatible PC 

 

 

Converter 

* The user must supply a commercially available RS-232C straight cable for connecting the PC to 

the converter unit. 

* Refer to M0006803 for the PC I/F specifications sheet. 

* A housing of converter please do not make a common use of amplifier earth. There is the fear that 

a PC and an amplifier are damaged. 

 

Cable connection example (for D-Sub 9-pin) 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

84

8. Options 

Converter Drawing 

Full duplex: PBFM-P2 

 

 

 

 

 

 

 

 

85

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. 

91


 

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 

92

Closed Loop Stepping System 

PB series Type R 

Instruction Manual 

Copyright 2005, 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

5. Commands and Functions - Sanyo Denki America, Inc.

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