Operation Manual
AC Servo Driver GPX2 Series
GPX2‐80
GPX2‐60

GPX2‐40
GPX2‐24

GPX2‐16
GPX2‐12GPX2‐8Sincerely we appreciate your purchasing our product.
This operation manual explains about function and connection methodsof a servo driver GPX2 series. To use at the optimum situation, pleasebe sure to read this before using.

Before use

Table of contents
Before use .............................................................. 5
Confirmation of combined motor ..............................................11
Optional goods ..........................................................................12
Name of each part ....................................................................13
Installation Method ..................................................................16
Installation ...............................................................................19

Wiring .................................................................. 21
Wiring of power supply ............................................................23
Control power supply ................................................................................ 25
Protective earth ......................................................................................... 25
Main power supply .................................................................................... 25

Motor connection ......................................................................26
Power line .................................................................................................. 28
Position sensor .......................................................................................... 29
Holding brake ............................................................................................ 30

Wiring of control signal ............................................................31
Connection of position control .................................................................. 32
Connection of speed control ...................................................................... 33
Connection of torque control .................................................................... 34
Details of each control signal ................................................................... 35

Connection of communication ..................................................38
Test terminal ............................................................................40

Parameter ............................................................ 41
Shipment setting list ................................................................42
Details of fundamental setting parameter ...............................47
Selection of control mode .......................................................................... 47
Selection of forwarding direction ............................................................. 48
Position command pulse ........................................................................... 49
Analog speed command ............................................................................ 50
Analog torque command ........................................................................... 52
Feedback pulse output .............................................................................. 53
Analog monitor output.............................................................................. 54
Control status ............................................................................................ 56

Details of servo adjustment parameter ....................................57
Selection of adjustment method ............................................................... 57
Adjustment by volume .............................................................................. 57
Automatic tuning ...................................................................................... 58
Manual tuning .......................................................................................... 59
Filter function ........................................................................................... 60-2-

Before use

Details of function allocation parameter ..................................61
Function allocation of control input ......................................................... 61
Function allocation of control output....................................................... 63

Details of extension setting parameter ....................................65
Selection of control value .......................................................................... 65
Selection of extension control mode ......................................................... 66
Selection of specified abnormality fanction ............................................. 66
Selection of specified warning fanction ................................................... 67
Designate a warning determination value .............................................. 68
JOG Drive .................................................................................................. 69
Internal speed ........................................................................................... 70
Internal torque .......................................................................................... 72
Process at the time of force stop............................................................... 73

Details of communication setting parameter ...........................74
RS-232C Communication ......................................................................... 74
RS-485 Communication ............................................................................ 74

Trial run............................................................... 75
LED Display .............................................................................75
Trial run from control signal ....................................................76
Trial run from a tool software ..................................................77

Gain adjustment .................................................. 78
Automatic tuning .....................................................................78
Manual tuning..........................................................................80

Protection function .............................................. 82
Abnormality .............................................................................82
Warning ...................................................................................84
Troubles shooting .....................................................................85

Other functions .................................................... 87
Dynamic brake function ...........................................................87
Inrush current reduction function............................................87
Regenerate voltage protection function ....................................89

Specification ......................................................... 90-3-

Before use＜ REVISION HISTORY ＞
DATENUMBER2019.02.21

D0502008

CONTENTSFIRST EDITION-4-

Before use

Before use
Followings are general notes which should be read before using our servo driver.
Please make sure to read them and use it correctly.
Please keep this manual so that it can be used by an operator of this equipment.

Safety precautions
Please use the equipment after knowing well about an equipment, allsafety note.
This operation manual dividing safety precaution ranking by『Dangerous』
and『Caution』.

Dangerous
CautionIn case of miss handling, dangerous situation
may happen and death and or serious injuries
can be considered.

In case of miss handling, dangerous situation
may happen and moderate injury and or minor
injury possibility and physical disorders can beconsidered.

Even an accident happened at Caution case, depending on situation it may
cause big accident.
Please keep precaution written here as it contains important notes.

Following symbols are used here, depending upon necessity.
Symbols

Meaning
General prohibition notice

Symbols

Disassemble

Meaning
Don't touch
Caution of ignition
Caution of electric shock

Compulsion (be sure to do)
Be sure to ground earthterminals

Caution of explosion-5-

Before use

1) Transportation・Installation

CautionServo controller, servo driver and servo motor are precision equipment’s.
Please pay attention not drop and give a strong impact.
Please pay attention about over loading of the products as it may cause a load
collapse.
Please do not step on the products and do not load any heavy articles on the top of
the product.
At time of transporting servo motors, please do not hold motor cable and motor
axis. There is a danger of causing injury and destruction of the products.
Please make sure to follow an installation instruction. Please follow heat sinkinstruction. Otherwise it may cause fire or malfunction.
Please make sure not to close an exhaust port or prevent exhausting.
Please do not insert any foreign articles into exhausting port. It may cause a fire.
Please keep an instructed distance between a servo controller, a servo driver andinside of control panel and other equipment’s. Otherwise there is a danger of amalfunction.
At a servo driver which has a regenerative absorption circuit, in case you use an
external regenerative resistor, please switch off the power by an abnormal signal.
There is a danger regenerative resistor may be over heated and cause a fire, by
regenerative transistor’s malfunction.
Please do not install at the place where there is corrosive gas, oil, dust, water vapor
and metal powder. It may cause a malfunction.
Please do not connect to bad quality power supply. (Variation ±more than 10%,pulse noise more than 1kV). It may cause a malfunction.
Please do not install at the place with heavy vibration and or a hermetically sealed.
It may cause a malfunction.
Please keep an operation environment temperature.
Servo controller, Servo driver：0～50 [℃]
Servomotor：0～40 [℃]
Please keep an operation environment humidity.
Servo controller, Servo driver：less than 85 [％RH]
Servo motor：less than 80 [％RH] (both no condensation)
Please fix firmly servo motor onto a machine. If fixation is not enough, it may
come out during operation. There is a danger of injury and malfunction.
During operation, please be absolutely sure not to touch moving portion of servo
motor, by setting a cover to an axis. There is a danger of an injury.
At the time of coupling combining to axis end of servo motor, please do not give
any impact like beating by hammer.
There is a danger a detector and bearing may cause a malfunction.
Please do not give a load more than permitted on a servo motor axis. It may
destroy the bearing, break the axis.
Please strictly never process on main frame and or axis of servo motor.
It may cause a malfunction.

-6-

Before use2) Wiring

DangerWiring operation and an inspection should be done by professional specialist.
Wiring should be done correctly and firmly.
Otherwise a runaway of servo motor and electric shock may happen.
Wiring material should be used according to an instructed capacity.
Otherwise there is a danger of firing by over heating.
Please be sure to ground the earth terminal of a servo driver (PE or FG terminal).
There is a danger of electric shock.
Please be sure to ground for improvement of noise tolerance dose and reduction ofradiation noise. We recommend ground method of D contact ground (less than100Ω, more than φ1.6mm)
Please do not harm, put unreasonable stress, load heavy articles, andsandwiched. There is a danger of electric shock.
Please do not mix up terminal connection wrongly. Please keep permitted voltage.
Otherwise there is a danger of bursting and damage.
In the case of malfunction of servo driver, please switch off at power supply sideof servo driver. It may cause a fire if big current keeps running.

-7-

Before use3) Operation

CautionPlease make confirmation adjustment of each setting value before operation.
Some machine may make unexpected action.
Please never change adjustment by extreme way as such cause unstable action.
Please pay attention not to cause electrical short circuit on an inspection terminal(monitor). It may cause some injury.
Please set an external emergency stop circuit so that operation can be
immediately stop and power supply can be cut.
Trial operation should be done under circumstances of the motor is firmly set andseparated from the machine.
In case machine is operated without confirmation and adjustment, it might cause
malfunction or injury of operator.
In the case of an alarm is generated, please get rid of the cause of an alarm,
confirm safety and reset an alarm then start operation again.
Otherwise it may cause some injury.
Please use a servo motor and a servo driver by an appointed combination.
Otherwise it may be damaged.
A retention brake is not a stopping equipment to confirm a security of machine.
Please set a stopping equipment on the machine side to keep a security.
Otherwise there is a danger of injury of an operator.
Please be very careful the machine starts an operation suddenly after a recoveryof power cut. (Please set a machine so that it will confirm a security of an
operator after re starting an operation) There is a danger of injury.
Please try to minimize an influence of electro magnetic interference by something
like noise filter.
There is a danger it may give an electromagnetic interference to an electronicequipment’s used nearby the servo driver.
Please do not touch to a radiator of servo driver, regenerative register and frameof servo motor carelessly as those can be very hot.
There is a danger of a burn.

-8-

Before use

4) Maintenance, Inspection and Components

DangerInspection should be done more than 5 minutes after an input power supply isswitched off. There is a danger of an electric shock.
Please do not make an inspection while a power is on.
There is a danger of an electric shock.

CautionA condenser at power supply line lower a capacity by deterioration.
We recommend to change each about 5 years to prevent secondary disaster by
Malfunction. In that opportunity, please contact us.

Prohibition
About driver and sensor portion of motor, please do not make Mega Testers・Pressure test. It may damage a control circuit.
Please never dismantle, modify and repair. We do not take any responsibility toan accident caused by a repair done without any permission.

5) Disposal

CautionPlease process as a general industrial waste.

6) Others

CautionAlthough we are paying our maximum possible efforts to keep quality of thisproduct、by unexpected external noise, static electrode, if anything should
happen on components, terminal wiring, it may act unspecified.
Please pay your maximum attention on security of your machine andsurroundings. There is a danger of an injury.

-9-Before use

7) Warranty＜ Gratis warranty period ＞
Whichever comes earlier, less than 12 months after start of use at your company
or your customer’s place by proper use range, or 18 months after our shipment.
＜ Range of warranty ＞
It is understood following 4 items are chargeable and others are free of charge.
・By you and at your customers place, inappropriate storage, handling,carelessness, accident and malfunction caused by your design.
・Malfunction caused by repair and dismantle done by you without ourpermission.
・Malfunction caused by use of our product out of specification range.
・All other malfunction which you recognize as out of our responsibility.
In principle, a repair can be done in Japan only.
Any repair out of warranty period and repair at oversea, the cost, postage shouldbe paid by you.
It is understood any damage to an equipment except for ours, and any othertreatment is understood excluded from compensation.

- 10 -

Before use
Confirmation of combined motor
Our driver has a matching information to combined motor.
If operation is done by different combination, there is a danger of a damage may happen on
motor and driver.
Please use them after confirming your using motor model matches to the one sealed on a driver.

- 11 -

Before use
Optional goods
We have prepared following connection cables between motors and tool soft ware for setting
as optional goods.
Please select if necessary and order to us in addition to main products.
Application
Parameter
settingWiringcomponents

Motorconnection

Name
Tool soft ware
Communication cable 3m
CN1.connection connector ※1
CN2.connection connector
CN3.connection connector
TB1.connection terminal ※2
TB2.connection terminal ※2
Motor power cable 3m
Motor power cable 5m
Motor power cable 8m
Encoder cable 3m
Encoder cable 5m
Encoder cable 8m
Resolver cable 3m
Resolver cable 5m
Resolver cable 8m

Model
TelGPX2
GP2-RS3
GP2-CN1C
GP2-CN2C
GP2-CN3C
GP2-TB1C
GP2-TB2C
GP2-MC3
GP2-MC5
GP2-MC8
GP2-EC3
GP2-EC5
GP2-EC8
GP2-RC3
GP2-RC5
GP2-RC8Remarks～750 [W]～750 [W]～750 [W]※1：Accessory common to all models.
※2：Accessory specially for GPX2‐16～8 (small capacity type).

◎We can do some special modification like cable length. Please contact to our sales
department.

- 12 -

Before use
Name of each partGPX2‐80，GPX2‐60- 13 -

Before use

GPX2‐40，GPX2‐24- 14 -

Before use

GPX2‐16，GPX2‐12，GPX2‐8◎At the time of shipment, all the setting of Dip-SW1~4, upper side of driver (GPX2‐40~8)
is OFF. Please check and confirm before setting.

1

Dip-SW condition
2
3

4

OFF
ON
―
―

OFF
―
ON
―

OFF
―
―
ON

OFF
―
―
―

―

―

―

ON

Overview
Switch setting at time of shipment
Control mode forced switch
Please refer 「3.2.1 Selection of control mode」
Fundamental communication switch
Please refer 「3.6.1 RS-232C Communication」
Do not use- 15 -

Before use
Installation Method
GPX2‐80，GPX2‐60
unit：[mm]- 16 -

Before use

GPX2‐40，GPX2‐24
unit：[mm]- 17 -

Before use

GPX2‐16，GPX2‐12，GPX2‐8
unit：[mm]- 18 -

Before use
Installation
Please install a driver correctly to prevent any malfunction and accident.
A capability of the driver changes largely depending on heat radiation. Please take care thefollowing points.
◎Please be sure to install vertically so that words can be seen in front as it is shownon drawing. If you install it up side down and or lay down, there is a possibility of partial
over heating and causing troubles.

◎To avoid a heat interference, please keep a distance with other equipment or wallas it is shown on the drawing.
◎It is effective if you install it at the place where a heat does not muffled and makeforced air circulation by fun.
In the case of forced air circulation is affected, you may set an installation distanceless than 20 [mm], with in a range of a ventilation is not prevented.
◎GPX2‐80，GPX2‐60 : Cooling fun is installed at lower side of driver.

- 19 -

Before use＜ Place of installation ＞
・Where rain and direct sunshine do not exist.（the equipment is not water proof）
・Where a corrosive gas, sprayed oil, dust and metal powder do not exist.
・Where less dust, no condensation and no frozen.
・Where there is no vibration.

＜ Environmental condition ＞
・Storage temperature －10 [℃] ～ 80 [℃] （no frozen）
・Storage humidity less than 90 [％RH]（no condensation）
・Operation temperature

0 [℃] ～ 50 [℃] （no frozen）

・Operation humidity less than 85 [％RH]（no condensation）＜ Installation ＞
・Please fix firmly by 4 pieces of M4 screw (GPX2‐16~8), 4 pieces of M5 screw(GPX2‐80~24).
・If there is any paintings on the surface of installation, it is effective for antinomies’
measures to install after pealing off the painting.

- 20 -

WiringWiringAbout wiring, please make sure it is done by a specialist of electric construction workand be careful about following points, please.
◎To prevent an electric shock, please do not switch on until wiring work iscompleted. Once switched on, please keep 5 minutes interval to start a work
again, after switched OFF.
◎While main power supply charge lamp at front panel of GPX2‐8～16 is ON,
charge remains in driver. Please be careful.
◎To prevent Electric shock and malfunction of driver by foreign noises, please
make sure to ground the earth terminal PE.
Please connect motor ground FG(E) to driver special terminal FG. You canconnect to the earth through above mentioned ground terminal PE.
◎For power supply wiring, please do not use not appointed terminal.
Please do not use poor quality power supply. (Variation more than ±10%, pulse
noise more than 1kV)
◎Please take care a motor power and a power supply wiring should not give noise
influence to other equipment’s.
In order to prevent noise influence as much as possible, a wiring of position sensor
and a wiring of control signal should be another system from motor power andpower supply wiring.
◎A connection cable length between driver and motor differs according to a motor
position sensor specification. Please contact to our sales department in case ofusing cable length more than below.
・Encoder specification：10 [m]・Resolver specification ：20 [m]◎In this manual, to connect our motor, we describe counter clock wise (CCW)
rotation as forward at the time of shipment.

- 21 -

Wiring- 22 -

WiringWiring of power supply
We need a control power supply to start a driver and main power supply to drive a motor.
Both power supplies are insulated internally in driver.
GPX2‐80，GPX2‐60
・TB1：Power supply/motor terminal plate
Pin-No.
1
2
3
4
5
6
7
8
9～12

[ POWER ]Name

Abbreviation

Control power supply input
Single phase
AC200～240[V]Control power supply input
Protective earth
Main power supply input
Three phases
Main power supply input
AC200～240[V]Main power supply input
External regenerate resistor（optional）
External regenerate resistor（optional）（Item 2.2）Written on motor connection.

＜Parts＞
Driver：FRONT4-H-6.35(Made by phoenix contact)

L1C
L2C
PE
L1
L2
L3
RB1
RB2
―

※Wire insert type

◎In case you use single or stranded wire, please set stripped wire 14 [mm].
In case you use insulated sleeve bar terminal (made by phoenix contact), please refer below.
Wire material
AWG10 (UL1015)
AWG12 (UL1015)
AWG14 (UL1015)

Wire diameter
About 4.7 [mm]About 4.1 [mm]About 3.6 [mm]Terminal
AI6‐12YE
AI4‐12GY
AI2,5‐12BU

GPX2‐40，GPX2‐24
・TB1：Power supply/motor terminal plate
Pin-No.
1
2
3
4
5
6
7
8
9～12

Stripped wire
More than
13 [mm]FRONT 2,5-H/SA 5

Please cut protruded
material after pressing
bar terminal.

[ POWER ]NameControl power supply input
Single phase
AC200～240[V]Control power supply input
Protective earth
Main power supply input
Three phases
Main power supply input
AC200～240[V]Main power supply input
External regenerate resistor（optional）
External regenerate resistor（optional）（Item 2.2）Written on motor connection.

＜Parts＞
Driver：Remarks(Made by phoenix contact)

Abbreviation
L1C
L2C
PE
L1
L2
L3
RB1
RB2
―

※Wire insert type

◎In case you use single or stranded wire, please set stripped wire 9 [mm].
In case you use insulated sleeve bar terminal (made by phoenix contact), please refer below.
Wire material

Wire diameter

Terminal

AWG14 (UL1015)
AWG16 (UL1015)
AWG18 (UL1015)

About 3.6 [mm]About 3.2 [mm]About 2.9 [mm]AI2,5‐10BU
AI1,5‐10BK
AI1‐10RD- 23 -

Stripped wire
More than
11 [mm]Remarks
Please cut protruded
material after pressing
bar terminal.

Wiring

GPX2‐16，GPX2‐12，GPX2‐8
・TB1：Power supply terminal plate
Pin-No.
1
2
3
4
5
6

[ POWER ]Name

Abbreviation

Control power supply input
Control power supply input
Protective earth
Main power supply input
Main power supply input
Main power supply input＜Parts＞
Driver：Wiring side：

Single phase
AC100～240[V]Three phases
AC200～240[V]GMSTB 2,5/6-G-7,62 (Made by phoenix contact)
GMSTB 2,5/6-ST-7,62 (Made by phoenix contact)

L1C
L2C
PE
L1
L2
L3

※Accessory◎In case you use single or stranded wire, please set stripped wire 7 [mm].
In case you use insulated sleeve bar terminal (made by phoenix contact), please refer below.
Wire material

Wire diameter

Terminal

AWG14 (UL1015)
AWG16 (UL1015)
AWG18 (UL1015)

About 3.6 [mm]About 3.2 [mm]About 2.9 [mm]AI2,5‐8BU
AI1,5‐8BK
AI1‐8RD

Stripped wire
More than
9 [mm]

Remarks
Please cut protruded
material after pressing
bar terminal.

◎Please design circuit you can cut a main power supply in case of emergency.

- 24 -

Wiring
Control power supply
An input voltage range of control power supply differs depending on driver models.
・GPX2‐80, 60：Single phase AC200～240 [V]・GPX2‐40, 24：Single phase AC200～240 [V]・GPX2‐16, 12, 8：Single phase AC100～240 [V]Please use a wire bigger than AWG18 for power supply wiring.

Protective earth
Please be sure to make ground in order to prevent any wrong action of driver made byelectric shock and external noise. For wiring, please use same level of wire as main power
supply wiring.
Please do no make transition wiring but to each equipment, please make individual groundwiring.

Main power supply
A range of input voltage of main power supply is three phase AC200~240 [V] and a single
phase input is also possible depending on a combination of low capacity motor.
Power supply wiring also defers depending on a capacity of motor. Please refer below.
Motor capacity
3.0～2.2 [kW]1.5～1.0 [kW]750～400 [W]
400 [W]
200～60 [W]
200～60 [W]

Input

WiringThree phases
Three phases
Three phases
Single phase ※1
Three phases
Single phase

More than AWG12
More than AWG14
More than AWG16
More than AWG18

Remarks

Please wire to any two.
Please wire to any two.

※1：There is a limitation of usage at motor instant area. For details please contact our sales department.

There is a possibility that main power supply usage changes depending on motor load.
Please make an individual wiring to each equipment, not transition wiring.

- 25 -

Wiring
Motor connection
In order to drive a motor, power line is to be connected to position sensor. In case a holding
brake is equipped, brake release circuit would be necessary.
As a wiring connection varies by motor model, please refer below.
Motor model
LNEⅡ300
LNEⅡ300B
BNRⅡ300
BNRⅡ300B
LNEⅡ220
LNEⅡ220B
BNRⅡ220
BNRⅡ220B
LNEⅡ150，LNEⅡ100
LNEⅡ150B，LNEⅡ100B
BNRⅡ150，BNRⅡ100-A
BNRⅡ150B，BNRⅡ100B-A
BNRⅡ100CLNEⅡ075C，LNE075C
LNEⅡ075BC，LNE075BC
BNRⅡ075C
BNRⅡ075BC
LNE060C
LNE060BC
LNEⅡ040C，LNEⅡ020C
LNEⅡ040BC，LNEⅡ020BC
LNE040C，LNE020C
LNE040BC，LNE020BC
BNRⅡ040C，BNRⅡ020C
BNRⅡ040BC，BNRⅡ020BC
LNEⅡ012C，LNEⅡ006C
LNEⅡ012BC，LNEⅡ006BC
LNE012C，LNE006C
LNE012BC，LNE006BC
BNRⅡ012C，BNRⅡ006C
BNRⅡ012BC，BNRⅡ006BC

Power line
GPX2‐80
TB1 wiring
AWG12
GPX2‐60
TB1 wiring
AWG14
GPX2‐40
TB1 wiring
AWG16
GPX2‐24
TB1 wiring ※1
AWG18
GPX2‐16
TB2 wiring ※1
AWG18

GPX2‐12
TB2 wiring ※1
AWG18

GPX2‐8
TB2 wiring ※1
AWG18

Position sensor

Holding brake

Encoder
CN2 connect ※2

NoWiring neededNo
Wiring neededNo
Wiring neededNo
Wiring neededNo
Wiring neededNo
Wiring neededNo
No
Wiring needed

ResolverCN2 connect ※3
Encoder
CN2 connect ※2
ResolverCN2 connect ※3
Encoder
CN2 connect ※2
ResolverCN2 connect ※3
Encoder
CN2 connect ※2
ResolverCN2 connect ※3
Encoder
CN2 connect ※2
Encoder
CN2 connect ※2
Encoder
CN2 connect ※2
ResolverCN2 connect ※3
Encoder
CN2 connect ※2
Encoder
CN2 connect ※2
ResolverCN2 connect ※3

No
Wiring neededNo
Wiring neededNo
Wiring neededNo
Wiring neededNo
Wiring neededNo
Wiring neededNo
Wiring neededNo
Wiring needed※1：A power line at motor side has been processed with connector. You may use an optional
motor power cable (GP2-MC□).

- 26 -

Wiring※2：An encoder sensor at motor side has been processed to connector. You may use an optional
encoder cable (GP2-EC□).

※3：A resolver sensor at motor side has been equipped with a connector. You may use an optional
resolver cable (GP2-RC□).

- 27 -

Wiring
Power line
If you connect a power line wrongly, there is a danger motor may be locked or become
uncontrollable.
Please be very careful about cable connection as there are danger of a short circuit and aground circuit which damages a driver.
As for terminal processing, please refer 「2.1 Wiring of power supply」.

GPX2‐80，GPX2‐60
・TB1：Power supply/motor terminal plate
Pin-No.
1～8
9
10
11
12
＜Parts＞
Driver：FRONT4-H-6.35(Made by phoenix contact)

GPX2‐40，GPX2‐24
・TB1：Power supply/motor terminal plate
Pin-No.
1～8
9
10
11
12
＜Parts＞
Driver：[ POWER ]Name（Item 2.1）Written on wiring of power supply.
Motor U phase output
Motor V phase output
Motor W phase output
Motor FG connection※Wire insert type

[ POWER ]Name（Item 2.1）Written on wiring of power supply.
Motor U phase output
Motor V phase output
Motor W phase output
Motor FG connection
FRONT 2,5-H/SA 5

Abbreviation
―
U
V
W
FG

(Made by phoenix contact)

Abbreviation
―
U
V
W
FG
※Wire insert type

GPX2‐16，GPX2‐12，GPX2‐8
・TB2：Motor terminal plate [ MOTOR ]Pin-No.
12
34＜Parts＞
Driver：Wiring side：

Name
Motor U phase output
Motor V phase output
Motor W phase output
Motor FG connection

Abbreviation
U
V
W
FG

GMSTB 2,5/4-G-7,62 (Made by phoenix contact)
GMSTB 2,5/4-ST-7,62 (Made by phoenix contact)- 28 -※Accessory

Wiring
Position sensor
A connectable position sensor is “Optical Incremental Encoder” or “Brushless Resolver”.
Please take note if setting contents and sensor feedback signal does not match, it happens
motor position sensor abnormality.
・CN2：Sensor connector
Pin-No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26

Encoderconnection

Resolverconnection[ SEN ]
Name

Abbreviation

A phase feedback＋
A phase feedback－B phase feedback＋
B phase feedback－Z phase feedback＋
Z phase feedback－U phase feedback＋
U phase feedback－V phase feedback＋
V phase feedback－W phase feedback＋
W phase feedback－
Frame ground ※1（connect to cable shield）
Sensor power supply 5V ※2
Sensor power supply 5V ※2
Sensor power supply common ※2
Sensor power supply common ※2
Excitation signal R1
Excitation signal R2
Frame ground ※1（R1/R2 shield connection）
Feedback signal S1
Feedback signal S3
Frame ground ※1（S1/S2 shield connection）
Feedback signal S2
Feedback signal S4
Frame ground ※1（S2/S4 shield connection）

A＋
A－
B＋
B－
Z＋
Z－
U＋
U－
V＋
V－
W＋
W－
FG
+5VE
+5VE
GNDE
GNDE
R1
R2
FG
S1
S3
FG
S2
S4
FG

※1：Pin-No.13, 20, 23, 26, FG terminals are connected internally.
※2：Pin-No.14, 15 (+5VE) terminal and 16, 17 (GNDE) terminals : each same abbreviations
are connected internally.

＜Parts＞
Driver：Wiring side：

10226-52A2PL(Made by Sumitomo 3M)
10126-3000PE solder
10326-52A0-008 shell(Made by Sumitomo 3M)- 29 -

Wiring
Holding brake
In case a motor (motor option) with a brake is selected, it is necessary to open and closea brake coordinating with a motor drive.
If it drives while braking, or if you use a brake to control a movement, there is a dangerof malfunction of shorter the life span. Please be careful.
◎Below is a circuit diagram of utilizing a brake output (while brake is open) coordinatingwith Servo ON. You cannot connect directly to a motor brake to output signal (OUT3) of
input and output (CN1). Please create relay circuit.
Please create multiple failsafe function like, a braking can be done by an external operation.

◎Below is a brake specification of our standard motor. Please refer at time of selecting a
brake power supply.
Motor model
BNRⅡ300B，LNEⅡ300B
BNRⅡ220B，LNEⅡ220B
BNRⅡ150B，LNEⅡ150B
BNRⅡ100B-A，LNEⅡ100B
BNRⅡ075BC，LNEⅡ075BC，LNE075BC
BNRⅡ040BC，LNEⅡ040BC，LNE040BC
BNRⅡ020BC，LNEⅡ020BC，LNE020BC
BNRⅡ012BC，LNEⅡ012BC，LNE012BC
BNRⅡ006BC，LNEⅡ006BC，LNE006BC※Measuring condition Ta=20 [℃]- 30 -

Rating voltage

Consumption current

DC24 [V]0.70 [A]DC24 [V]0.65 [A]DC24 [V]0.45 [A]DC24 [V]0.36 [A]WiringWiring of control signal
It is necessary to connect an input and output signal in order to do a servo control.
Please refer below as available function differs depending to control mode.
・CN1：Input and output connector
Pin-No.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32

Analog speed
input
Analog torqueinput

Control input

Control output

Analog monitor
outputFeedback pulse
outputPositioncommand pulse
input

33
34
35

Alarm output

36

Frame ground[ I／O ]Name＋
（Speed command）－（Speed command）＋（Torque control）－（Torque control）
Input common
1（Servo ON）
2（Reset + Deviation counter clear）
3（Forward start）
4（Reversal start）
5（Forward JOG）
6
（Reversal JOG）
7
（Forward force stop）
8（Reversal force stop）
1（Positioning complete）
2（Zero speed）
3（Brake open）
4（Abnormal happen）
Output common

Abbreviation
VC＋
VC－
TC＋
TC－
INC
IN1
IN2
IN3
IN4
IN5
IN6
IN7
IN8
OUT1
OUT2
OUT3
OUT4
OUTC

1
（Speed feedback）
Signal ground ※1
2（Torque feedback）

TP1
GND
TP2

Signal ground ※1
A phase＋
A phase－B phase＋
B phase－Z phase＋
Z phase－A phase＋（2 pulse method）
A phase－（2 pulse method）
B phase＋（2 pulse method）
B phase－（2 pulse method）

GND
EA＋
EA－
EB＋
EB－
EZ＋
EZ－
PA＋
PA－
PB＋
PB－

Open at abnormality
Short circuit at abnormality
Alarm common

ALM-NCALM-NO
ALM-COM
FG※1：Pin-No. 20, 22, GND terminals are connected internally.
※2：Names with in ( ) are parameters set at the time of shipment.

＜Parts＞
Driver：Wiring side：10236-52A2PL(Made by Sumitomo 3M)
10136-3000PE solder
10336-52A0-008 shell(Made by Sumitomo 3M)※Accessory- 31 -

Wiring
Connection of position control
Following is a connection example using position control mode.

- 32 -

Wiring
Connection of speed control
Following is a connection example using speed control mode.

- 33 -

Wiring
Connection of torque control
Following is a connection example using torque control mode.

- 34 -

Wiring
Details of each control signal◎Position command pulse input
You may use 2 systems of pulse line inputs as position command. You may set command
system of pulse line input by parameter. Maximum input frequency of line driver usageis 1 [Mpps].

We recommended to use line driver which can prevent noise influence but you may connect
open collector too. Please use anti noise countermeasure if you do it.

◎Feedback pulse output
Position sensor signals after frequency division processing will be output at each line
driver.

- 35 -

Wiring◎Analog (command/control) input
There are two systems of speed and torque, you may set as command and control value
by parameter.
Each input usage voltage range is ±10[V] (Maximum allowable input ±12[V]).

◎Analog monitor output
It analog out puts the two system of monitor contents selected by parameter.
Each output’s applying voltage range is ±10[V] (Max allowable output ±12[V]).
Connecting devices, please select the one which does not be broken by applied voltage
max 15[V].
The same monitor contents are out put at panel face test terminal (TP1,2).

- 36 -

Wiring◎Control input
Maximum 8 points of control signal can be input and usable by function allocation byparameter. External power supply of DC24 [V] is necessary to operate input circuit.

◎Control output
It is possible to output maximum 4 control signals which have been functional allocatedby parameter. Alarm output is relay output of function fixation.

- 37 -

Wiring
Connection of communication
It is necessary to connect at time of using tool software. You may select by parameter from
communication function of RS-232C or RS-485.
・CN3：Communication connector 1
Pin-No.
1
2
3
4
5
6
7
8

・CN4：Communication connector 2
Pin-No.
1
2
3
4
5
6
7
8

[ COM1 ]Name
RS-232C-1 transmission
RS-232C-1 reception
Signal ground ※1
RS-485 transmit and receive ＋ ※1
RS-485 transmit and receive － ※1
Not usedNot used
Power supply specially for display ※1 ※2

Abbreviation
TxD1
RxD1
GND
TD＋
TD－
―
―
+5V

[ COM2 ]Name

Abbreviation

RS-232C-2 transmission
RS-232C-2 reception
Signal ground ※1
RS-485 transmit and receive ＋ ※1
RS-485 transmit and receive － ※1
Not usedNot used
Power supply specially for display ※1 ※2

TxD2
RxD2
GND
TD＋
TD－
―
―
+5V

※1：Pin-No.3～8 is internally connected with same abbreviation terminal of CN3 and CN4.
※2：Pin-No.8 is an exclusive terminal. Please do not connect externally as there is a possibility of damage.
※3：Metal shell joint portion of connector is connected to frame ground (FG).

＜Parts＞
Driver：Wiring side：

MD-S8100-90(made by JST connector)
Mini-DIN compliant
8pin straight connector
soldering type- 38 -

Wiring◎PC and RS-232C communication connects one either CN3 or CN4.
Please use optional communication cable (GP2-RS3).

◎By setting communication setting parameter (item P520~), it becomes possible
to connect by using RS-232C and RS-485 on the same time.
Details please contact our sales department.

- 39 -

Wiring
Test terminal
An analog monitor output contents at in and output (CN1) is outputs at a test terminal.
Please use it for test run and gain adjustment. Each terminal has two holes at right and left.
Left hand side hole is to confirm by a tester. Right hand side hole can be used by inserting wireand fixed by a spring pressure.
・Test terminal
Position
Upper
Middlelower＜Parts＞
Driver：Wiring side：

Name
Analog monitor output1
Analog monitor output2
Signal ground

Abbreviation
TP1
TP2
GND

OCN-022-3P (Made by Osada Corporation)
AWG20～24 wire to be inserted. (strip wire length 8 [mm])- 40 -

Parameter

Parameter
Driver has various parameters to set servo characteristics and in and output signals.
In this paragraph, we explain about function contents of each parameters.
Please understand well and set for you optimal situation of your driving condition.
A modification of parameter contents can be done on tool software (TelGPX2) connectedby communication to PC.
Please refer (2.4 Communication of connection) for details.
Parameter No.
Item P100～

Parameter analysis
Fundamental setting

Item P200～

Servo adjustment

Item P300～

Function allotment

Item P400～

Extension setting

Item P500～

Communication setting

Contents
Parameter about control mode, command styleand fundamental setting.
Parameter about gain and filter of servo
adjustment.
Parameter to allocate function status against in
and out signal.
Parameter about extension setting of internal
command and alarm output.
Parameter about baudrate and axis number forcommunication setting.

＜Tool software display image＞
Japanese version- 41 -

Parameter
Shipment setting list
Below is a parameter setting value at time of driver shipment.
P1xx：Fundamental setting parameter
No.
P100
P101
P110
P111
P112
P120
P121
P122
P123
P124
P125
P130
P131
P132
P140
P141
P150
P151
P152
P153
P154
P160
P161
P162
P163
P164
P170
P171
P172
P180
P181
P182
P183
P184

Parameter nameControl mode
Forward direction
Position command pulse
Pulse line input format
Electronics gear numerator
Electronics gear dominator
Analog speed command
Command factor ※2
Command dead zone
Input voltage offset
Acceleration time
Deceleration time
S shaped acc/dec time
Analog torque command
Command factor
Command dead zone
Input voltage offset
Feedback pulse output
Pulse division numerator
Pulse division dominator
Analog monitor output 1
Output selection
Output factor ※2
Output standard
Output voltage offset
Averaging process function
Analog monitor output 2
Output selection
Output factor
Output standard
Output voltage offset
Averaging process function
Position deviation excessive
judgement value
Speed control value ※2
Torque control value
Mechanical lock judgement
function
Position keep function
Position complete judgement value
Speed reaching judgement value※2
Zero speed judgement value

Setting value at shipment

Applicable control mode
Position
Speed
Torque

Speed
CCW

●
●

●
●

●
●

2 Pulse
1
1

●
●
●

×
×
×

×
×
×

3000 [min-1] (2000 [min-1])
0.0 [min-1]
0.00 [V]0 [ms]
0 [ms]
0 [ms]

×
×
×
×
×
×

●
●
●
●
●
●

※1

300 [%]
0.0 [%]
0.00 [V]

※1

※1

※1

※1

※1

※1

●
●
●

1
1

●
●

●
●

●
●

Speed：Feedback [min-1]
3000 [min-1] (2000 [min-1])
0 [min-1]
0.00 [V]16 [step]

●
●
●
●
●

●
●
●
●
●

●
●
●
●
●

Torque：Feedback [%]300 [%]
0 [%]0.00 [V]16 [step]
10000 [pulse]

●
●
●
●
●
●

●
●
●
●
●
×

●
●
●
●
●
×

3500 [min-1] (2500 [min-1])
300 [%]
Invalid

●
●
●

●
●
●

●
●
●

Invalid
10 [pulse]
3000 [min-1] (2000 [min-1])
10 [min-1]

×
●
●
●

●
×
●
●

×
×
●
●

※1
※1

×
×
×

※1：It is used when control value selection function (item P400) is valid. When position control and speed
control is on, torque (command) input becomes torque control. When torque control is on, speed (command)
input will be speed control.
※2：A combined motor excluding BNRⅡ100C more than 1 [kW], shipment setting value in ( ) will be applied.

- 42 -

ParameterP2xx：Servo adjustment parameter
No.
P200
P210
P211
P220
P221
P222
P223
P224
P225
P226

P242
P243
P244
P245
P248
P249
P250
P251
P260
P261
P262
P263
P264
P270
P271

Parameter name
Tuning system
Gain volume
Adjustment function 1
Adjustment function 2
Automatic tuning
Inertia estimation
Gain 1Tuning level
Response level
Inertia ratio
Gain2
Tuning level
Response level
Inertia ratio
Manual tuning
Gain 1
Position feed forward
Position proportion
Speed proportion
Speed integral
Gain 2
Position feed forward
Position proportion
Speed proportion
Speed integral
Current command notch filter
Function
Frequency
Q value
Current command low pass filter
Function
Frequency
Speed command low pass filter
Function
Frequency

Setting value at shipment
Automatic

Applicable control mode
Position
Speed
Torque
●
●
×

Valid
Valid

●
●

●
●

×
×

Invalid

●

●

×

1.0
0.0
0.2 [ratio]

●
●
●

●
●
●

×
×
×

1.0
0.0
0.2 [ratio]

※1

※1

※1

※1

※1

※1

×
×
×

0 [%]
30
300
150

●
●
●
●

×

0 [%]
30
300
150

※1

×

※1

※1, ※2

※1

※1

※1

※1

×
×
×
×

Invalid1000.0 [Hz]
0.7

●
●
●

●
●
●

●
●
●

Invalid1000.0 [Hz]

●
●

●
●

●
●

Invalid1000.0 [Hz]

●
●

●
●

×
×

※2

●
●

※1：Normal motor control is ”Gain 1” contents are selected. A content of “Gain 2” can be selected only
after gain selection (item P303) function status switches ON.
※2：It is to be used when position keep function (item P181).

- 43 -

××××

ParameterP3xx：Function allocation parameter
No.
P300
P301
P302
P303
P304
P305
P306
P307
P320
P321
P322
P323
P324
P325
P326
P350
P351
P352
P353
P354
P355
P356
P357
P360
P370
P371

Parameter name
Input allocation
Servo ON
Reset
Deviation counter clear
Gain selection
Forward start
Reverse start
Forward force stop
Reverse force stop
Extended input allocation
Forward JOG
Reverse JOG
Command selection 1
Command selection 2
Control value selection 1
Control value selection 2
Control mode selection
Output allocation
Ready
Servo being ON
Positioning completed
Speed reached
Zero speed
Brake open
Control ON
Abnormal happen
Reverse ON
Extended output allocation
Specified item abnormal
Specified item warning

Setting value at shipment

Applicable control mode
Position
Speed
TorqueInput 1 positive logic
Input 2 positive logic
Input 2 positive logic
Always OFF
Input 3 positive logic
Input 4 positive logic
Input 7 negative logic
Input 8 negative logic

●
●
●
●
×
×
●
●

●
●
×
●
●
●
●
●

●
●
×
×
●
●
●
●

Input 5 positive logic
Input 6 positive logic
Always OFF
Always OFF
Always OFF
Always OFF
Always OFF

●
●
×
×

●
●
●
●

×
×
●
●

※1

※1

※1

※1

※1

※1

※2

※2

※2

No allocation
No allocation
Output 1 positive logic
No allocation
Output 2 positive logic
Output 3 positive logic
No allocation
Output 4 negative logic
No allocation

●
●
●
●
●
●
●
●
●

●
●
×
●
●
●
●
●
●

●
●
×
●
●
●
●
●
●

No allocation
No allocation

●
●

●
●

●
●

※1：It is used when control value selection function (item P400) is valid.
※2：It is used when extend control mode (item P401) is selected.

- 44 -

ParameterP4xx：Extension setting parameter
No.
P400
P401
P402
P403
P410
P411
P412
P413
P414
P415
P416
P420
P421
P422
P430
P431
P432
P433
P434
P435
P436
P437
P438
P439
P440
P441
P450
P451
P452
P472

Parameter nameControl value selection function
Extension control mode
Specified abnormality function
Specified warning function
Warning judgement value
Main power supply bus voltage
rise
Main power supply bus voltage
declineTransistor temperature
Regenerate resistancetemperature
Position deviation
Over speed ※2
Effective torque
JOG
Speed
Accelerating & Deceleratingtime
Inching travel value
Internal speed 1
Speed
Accelerating time
Decelerating time
S shaped acc/dec time
Internal speed 2
Speed
Accelerating time
Decelerating time
S shaped acc/dec time
Internal speed 3
Speed ※2
Accelerating time
Decelerating time
S shaped acc/dec time
Internal torque 1
Internal torque 2Internal torque 3
Force stop processing

Setting value at shipment
Invalid
None
None
None

Applicable control mode
Position
Speed
Torque
●
●
●
●
●
●
●
●
●
●
●
●

380 [V]●●●

220 [V]●●●70 [℃]
30 [K]

●
●

●
●

●
●

9000 [pulse]
3200 [min-1] (2200 [min-1])
80 [%]

●
●
●

×
●
●

×
●
●

100 [min-1]
500 [ms]

●
●

●
●

×
×

Infinite [pulse]

●

×

×

1000 [min-1]
100 [ms]
100 [ms]
100 [ms]

×
×
×
×

●
●
●
●

※1

2000 [min-1]
100 [ms]
100 [ms]
100 [ms]

×
×
×
×

●
●
●
●

3000 [min-1] (2000 [min-1])
100 [ms]
100 [ms]
100 [ms]
50 [%]
100 [%]
150 [%]Torque zero

×
×
×
×

●
●
●
●

※1

※1

※1

※1

※1

※1

●

●

×
×
×
※1

×
×
×
※1

×
×
×
●
●
●
●

※1：It is used as internal control value by input combination of Control value selection function (item P400)
and Control value selection 1,2 (item P312,313). At the time of position control and speed control, internal
torque becomes torque control value, and at the time of torque control, internal speed becomes speed
control value.
※2：In case of combination of motors more that 1 [kW] motor, excluding BNRⅡ100C, shipment setting value
shown in ( ) is applied.
※3：GPX2‐80～24 cannot be used.

- 45 -

ParameterP5xx：Communication setting parameter
No.
P500
P510
P520
P521
P525
P526

Parameter name
RS-232C-1 (COM1)
Baud rate
RS-232C-2 (COM2)
Baud rate
RS-485
Axis number
Baud rate
Terminator
Response waiting time

Setting value at shipment

Applicable control mode
Position
Speed
Torque38400 [bps]

●

●

●

38400 [bps]

●

●

●

0
38400 [bps]Invalid
1 [ms]

●
●
●
●

●
●
●
●

●
●
●
●

- 46 -

Parameter
Details of fundamental setting parameter
The fundamental setting parameter is a group of an initial conditions assembled parameterslike control mode and command systems.

Selection of control mode
Set a control mode which becomes a fundamental.
・Position control： An action to control a motor angle (position) by pulse line
input.
・Speed control：

An action to control a motor speed by analog input orinternal speed setting value.

・Torque control：

An action to control motor’s generated torque by analog
input or internal torque setting value.

No.

P100

Name & Setting function

Value

Control mode

Speed

Set a fundamental control mode.

Setting range
Select from position,
speed and torque.

◎There is a function of control mode force exchange at driver (GPX‐8~40) upper side
Dip-SW. A control mode can be set without using tool soft ware by Dip-SW1,2 change
to ON.
Dip-SW condition
1
2
OFF
OFF
ON
OFF
OFF
ON
ON
ON

Applicable control mode
A contents of parameter control mode (item P100) becomes valid.
Fixed to position control.
Fixed to speed control.
Fixed to torque control.

※A force change of control mode by Dip-SW becomes valid, same like parameter setting,by power supply re-input.

＜Warning＞
Please pay attention as setting contents of parameter (item P100) does not reflect on
motor control while Dip-SW is ON.

- 47 -

Parameter
Selection of forwarding direction
Setting a rotation direction of motor axis versus driver control forward direction.
You may use when rotation direction changes by mechanical system like decelerator.
No.

P101

Name & Setting function

Value
CCW

Forward direction

Setting range
Select from CCW, CW

To set a rotation direction of motor axis.

＜Related items＞
Contents
Position command and pulse addition (+)
direction like feedback pulse output.
Speed/torque command and analog positive
terminal (+) voltage at monitor output.
Forward direction of start, force stop and JOG
function status.
Adding (+) direction of on tool software anddriving condition monitoring.
Rolling direction of motor axis.

- 48 -

Forward direction (item P101)
CCW setting
CW setting
CCW

CW

CCW

CW

CCW

CW

CCW

CW

CCW

CW

Parameter
Position command pulse
Setting a position command pulse which is given from upper device to driver. As forwiring specification of input signal, please refer 「2.3.4 Details of each control signal」.
Input format
2 pulse method
1 pulse method
2 phase pulse method

PA
Adding (＋)
command pulse
Command pulse
A phase command
pulse

PB
Subtraction (－)
command pulse
Rotation direction
B phase command
pulse

Remarks

Adding (+) by PB=OFF
Adding (+) progress PA=90 [°]▷ Position command pulse
No.

Name & Setting function

P110

Value

Pulse line input format

2 pulseTo set a command format of pulse line input.

P111
P112

Electronics gear numerator
Electronics gear dominator

1
1

Setting range
Select from 2 pulse,
1 pulse, 2 phase pulse.
Value input: 1～10000

To set motor moving volume per pulse line
input unit.
To set an electronics gear (conversion factor)
by numerator and dominator.
※Motor moving volume ＝ Pulse line input × Electronics gear (numerator／dominator)＜Related items＞
Parameter
Fundamental
settingFunctionallocation

No.
P100

Name
Control mode

P101

Forward direction

P300

Servo ON

P302

Deviation counter clear

P306
P307

Forward force stop
Reverse force stop

- 49 -

Condition
By setting at position, it accepts pulse line input
as command.
To set motor rotation direction versus adding (+)
command. At shipment setting, CCW has been
selected.
Servo becomes ON by function status becomes
ON. At shipment setting, it functions by turningon the input signal (IN1).
You can clear the position deviation countervalue by changing function status ON. At
shipment setting, it functions by input signal(IN2) turning ON.
While function status is ON, fail safe works andnormal processing cannot be done. Please use by
input signal (IN7,8) turning ON, as it is allocatedto negative logic input.

Parameter
Analog speed command
Setting analog speed command to give to driver from upper device. As for analog signal
wiring, please refer to 「2.3.4 Details of each control signal」.

▷ Analog speed command
No.

Name & Setting function

P120

Value

Command factor ※1

3000 [min-1](2000 [min-1])

Setting motor rolling speed versus speedcommand voltage 10 [V].

P121

Command dead zone

Setting range
Value input: 1～99999

0.0 [min-1]

Value input: 0.0～999.9

0.00 [V]

Value input:－1.00～1.00

0 [ms]
0 [ms]

Value input: 0～99999

Setting dead zone (non-action area) versus
speed command.

P122

Input voltage offset
Adding as an offset adjustment value of analog
speed command (VC) including upper device.

P123
P124

Acceleration time
Deceleration time
Adding as acceleration and deceleration slope
to speed command (VC) of analog input.
Setting value till the time reaches command
factor (item P120).

P125

Value input: 0～99999
0 [ms]
S shaped acc/dec time
Adding S shaped acceleration and deceleration
Please set by smaller
to straight slope of acceleration time andvalue than (item P123)
deceleration time. It is used if shock happensand (item P124).
by acceleration speed modification caused atstart and stop timing.
※1：A combined motor excluding BNRⅡ100C more than 1 [kW], shipment setting value in ( ) will beapplied.

＜Related items＞
Parameter
Fundamental
settingFunctionallocation

No.
P100

Name
Control mode

P101

Forward direction

P300

Servo ON

P304
P305

Forward start
Reverse start

P306
P307

Forward force stop
Reverse force stop

Condition
By setting on speed, analog input is accepted as acommand.
A motor rolling direction versus positive polarity(+) voltage is set. At shipment setting, CCW is
selected.
Servo becomes ON by function status becomes
ON. At shipment setting, it functions by turning
ON the input signal (IN1).
By function status turns ON, rolling direction
facing to command will be selected. At setting,either input signals (IN3,4) should be kept
turning ON.
While function status is ON, fail safe works andnormal processing cannot be done. Please use by
input signal (IN7,8) turning ON, as it is allocatedto negative logic input.
- 50 -

Parameter◎Following is a related drawings showing at time of modifying command factor (item P120)
and command dead zone (item P121).

◎When you set an acceleration time (item P123), deceleration time(item P124) and S shaped
Acc/dec time (item P125), acceleration and deceleration will be added to analog speedcommand pattern as per shown below.

- 51 -

Parameter
Analog torque command
Setting an analog torque command which is given to a driver from upper device. As forwiring specification of input signal, please refer 「2.3.4 Details of each control signal」.

▷ Analog torque command
No.

Name & Setting function

P130

Value

Command factor

300 [%]

Setting range
Value input: 1～999

0.0 [%]

Value input: 0.0～999.9

0.00 [V]

Value input:－1.00～1.00

Setting generated torque of motor to torquecommand voltage 10 [V].

P131

Command dead zone
Setting dead zone (non-action area) versus
torque command.

P132

Input voltage offset
Adding as an offset adjustment value of
analog torque command, (TC) including upperdevice.

＜Related items＞
Parameter
Fundamental
settingFunctionallocation

No.
P100

Name
Control mode

P101

Forward direction

P300

Servo ON

P304
P305

Forward start
Reverse start

P306
P307

Forward force stop
Reverse force stop

Condition
By setting to torque, it accepts analog input as acommand.
Setting generated torque direction to positive
polarity (+) voltage. At shipment setting, CCW
is selected.
Servo becomes ON by function status becomes
ON. At shipment setting, it functions by turning
ON the input signal (IN1).
By function status turns ON, rolling direction
facing to command will be selected. At setting,either input signals (IN3,4) should be kept
turning ON.
While function status is ON, fail safe works andnormal processing cannot be done. Please use by
input signal (IN7,8) turning ON, as it is allocatedto negative logic input.

- 52 -

Parameter
Feedback pulse output
This is to set a position feedback pulse (number of pulse generated by one cycle of motor)
output to upper device.
A phase and B phase signal output is 2 phase pulse system (4 multiplication). Phase
relationship is, position information is output by adding (+) direction, phase A advances
90[°] versus phase B. Phase Z signal is output phase A 1 pulse width to one cycle of motor.
As for wiring specification of output signal, please refer 「2.3.4 Details of each control
signal」.

▷ Feedback pulse output
No.

Name & Setting function

P140
P141

Pulse division molecule
Pulse division denominator

Value
1
1

Setting range
Value input: 1～10000

Setting pulse output number per motor one
rotation. Setting pulse division (conversion
factor) by numerator and dominator.
※Feedback pulse output (2 phase pulse 4 multiplication)＝ Driver resolution × Pulse division (molecule／denominator)
Please do not set a feedback pulse output number more than driver division.
Please set a division ratio by divisible value of feedback pulse output number.

◎Following is a feedback pulse output in case of changing pulse division (Molecule/Dominator).

◎Following is a driver resolution and pulse output number at time of combination with
our standard motors.
Motor series
Position sensor
Driver resolution
Phase A pulse output
Phase B pulse output
BNRⅡ
Resolver 1x4096 [ppr]1024 [ppr]1024 [ppr]
LNEⅡ ※1
Encoder 2000 [ppr]8000 [ppr]2000 [ppr]2000 [ppr]
LNE ※1
Encoder 1000 [ppr]4000 [ppr]1000 [ppr]1000 [ppr]※1：A driver resolution at time of encoder sensor using, it is used 4 times multiplication by internal
processing.

- 53 -

Parameter
Analog monitor output
Setting a contents of analog monitor which outputs to test terminals (TP1, TP2).
As for wiring specification of output signal, please refer 「2.3.4 Details of each control
signal」.

▷ Analog monitor output 1
No.

P150

Name & Setting function

Value

Output selection
Setting a monitor contents which outputs totest terminal (TP1).

P151

Output factor ※1

Speed：Feedback[min-1]

Setting range
Select from monitor
selection group※2

3000 (2000)

Value input: no limit0

Value input: no limit

0.00 [V]

Value input:－1.00～1.00

16 [step]

Invalid or select from,16, 32, 64, 128, 256 steps.

Setting a conversion factor of monitor
contents to output voltage 10 [V].

P152

Output standard
Setting a standard value of monitor contents
to output voltage 0 [V].

P153

Output voltage offset
Adding as an offset adjustment value of
analog system monitor output (TP1),
including connection devices.

P154

Averaging processing function
To a contents of output selection (item P150)
which is renewed by 0.1 [ms], setting
whether presence or absence and number ofsteps of averaging processing function.
A process is a moving average.

▷ Analog monitor output 2
No.

P160

Name & Setting function

Value

Output selection
Setting a monitor contents which outputs totest terminal (TP2).

P161

Output factor

Torque：Feedback[%]

Setting range
Select from monitor
selection group※2

300

Value input: no limit0

Value input: no limit

0.00 [V]

Value input:－1.00～1.00

16 [step]

Invalid or select from,16, 32, 64, 128, 256 steps.

Setting a conversion factor of monitor
contents to output voltage 10 [V].

P162

Output standard
Setting a standard value of monitor contents
to output voltage 0 [V].

P163

Output voltage offset
Adding as an offset adjustment value of
analog system monitor output (TP2),
including connection devices.

P164

Averaging processing function
To a contents of output selection (item P160)
which is renewed by 0.1 [ms], setting
whether presence or absence and number ofsteps of averaging processing function.
A process is a moving average.

※1：A combined motor excluding BNRⅡ100C more than 1 [kW], shipment setting value in ( ) will beapplied.
※2：Monitor selection group.
・Position：Feedback [pulse], Command [pulse], Deviation [pulse], Command speed [pps]・Speed：Feedback [min-1], Command [min-1], Analog input [V]・Torque：Feedback [%], Command [%], Analog input [V]・Effective torque [%]・Main power supply voltage [V]（GPX2‐16～8 only）
・Estimated inertia ratio [ratio]・Monitor offset adjustment output：－10 [V], 0 [V], ＋10 [V]- 54 -

Parameter◎Analog monitor’s output voltage value is to be set by 2 points, output factor andoutput standard. Following is a relative drawing of shipment setting.

◎Output factor and Output standard can be set an input by negative polarity (-).
Please refer below relative drawings.

- 55 -

Parameter
Control status
Setting fundamental control function and threshold of output signal.
No.

Name & Setting function

P170

Position deviation excessive judgement
value

Value
10000 [pulse]

Setting range
Value input: 0～100000

3500 [min-1](2500 [min-1])

Value input: 0～99999
Please set lower value
than combined motor’s
maximum rolling speed.

300 [%]

Invalid

Value input: 0～1000
Please set lower value
than the maximum
instantaneous torque(rating current ratio) of
combined motor.
Select from valid, invalid.

Invalid

Select from valid, invalid.

10 [pulse]

Value input: 0～10000

3000 [min-1](2000 [min-1])

Value input: 0～99999

Setting an abnormal determination value ofexcessive position deviation.
If position deviation excess a determination value,
position deviation excess (light failure) happens.

P171

Speed control value ※1
Setting a control value (upper limit) of motor
rolling speed.
It controls that speed should not exceed more thancontrol value.

P172

Torque control value
Setting a control value (upper limit) of motor
generation torque.
It controls so that a torque should not be generated
more than control value.

P180

Mechanical lock judgement function
Setting a present or absent determination functionof mechanical lock.
Mechanical lock determination means if the lowest
torque control situation within zero speed
determination value (item P184) continues morethan 0.2 [sec], it causes a mechanical lock (light
failure).

P181

Position keep function
Setting a present or absent of position keepfunction.
Position keep is a function to stop a motor atpresent position of motor axis without drift (motor
rolls slowly) at the time of motor stopping of speed
control.
It works when motor rolling speed is within zero
speed determination value (item P184) andfunction status of forward start (item P304) andreverse start (item P305) are both OFF.

P182

Positioning complete judgement value
Setting a deviation counter’s positioning complete
judgement value.
When a position deviation enters within setting
value, a function status of positioning complete(item P352) turns ON.

P183

Speed reaching judgement value ※1
Setting motor rolling speed’s speed reaching
judgement value.
Regardless a rolling direction, if speed feedback
exceeds a setting value, function status of speed
reach (item P353) turns ON.

P184

Zero speed judgement value

Value input: 0～10000
Setting zero speed judgement value of motor
rolling speed. Regardless a rolling direction, when
speed feedback becomes lower than a setting value,function status of zero speed (item P354).
※1：A combined motor excluding BNRⅡ100C more than 1 [kW], shipment setting value in ( ) will be applied.
10 [min-1]- 56 -

Parameter
Details of servo adjustment parameter
Servo adjustment parameter is a group of parameters which adjusts gain and filter during
actual driving. A parameter contents, excepts for tuning system (item P200) can be immediatelyreflected to control by changing a setting value. Please change taking care of motor andmechanical movements. Please refer 「5 Gain adjustment」 about adjustment method.

Selection of adjustment method
Setting a method of servo adjustment.
・Automatic tuning： Generating a fundamental gain which is according toan inertia ratio automatically.
Setting a position and speed loop gain individually.
・Manual tuning：
No.

P200

Name & Setting function

Value

Tuning system

Automatic

Setting range
Select from automatic or
manual.

Selecting a servo adjustment system fromautomatic tuning or manual tuning.
※To change a setting of tuning system, it is necessary to start a power supply again.

Adjustment by volume
Setting a present or absent of gain volume application to servo adjustment.

▷ Gain volume
No.

P210

Name & Setting function

Adjustment function 1

Value
Valid

Setting range
Select from valid, invalid.

Valid

Select from valid, invalid.

Setting to use a panel surface volume (VR1,
VR2) to servo adjustment of gain 1.

P211

Adjustment function 2
Setting to use a panel surface volume (VR1,
VR2) to servo adjustment of gain 2.

◎By using gain volume adjustment function, you can operate servo adjustment by
panel surface volume (VR1, VR2). Please refer and confirm below as operation items
are different by tuning system.
Adjustment function1 (item P210)

Adjustment function2 (item P211)

Parameter No.：Name
ValidInvalid
Valid
InvalidP221：Tuning level
Adjust by VR1Figure input――
Adjust byVR2
Figure input――
Automatic P222：Response leveltuningP224：Tuning level――
Adjust by VR1Figure input
P225：Response level――
Adjust by VR2
Figure input
P242：Position feed forward
Figure input――
P243：Position proportion
Figure input――
P244：Speed proportion
Adjust by VR1Figure input――
P245：Speed integral
Adjust by VR2
Figure input――
Manualtuning
P248：Position feed forward――
Figure input
P249：Position proportion――
Figure input
P250：Speed proportion――
Adjust by VR1Figure input
P251：Speed integral――
Adjust by VR2
Figure input※When you change adjusting function from valid to invalid, please write down a servo adjustment value
onto a parameter.
- 57 -

Parameter
Automatic tuning
Automatic tuning generates fundamental gain according to inertia ratio automatically.
By adjusting one item of tuning level, total servo adjustment is possible. Each gain canbe set by two patterns. You can use by changing to a function allocation input (item P303).
No.

Name & Setting function

P220

Value

Inertia estimation

Invalid

Setting range
Select from valid, invalid.

Setting present or absent of inertia estimate
function.
Valid setting generates a gain from real time
calculating estimate inertia ratio within actualmachine driving.
An invalid setting generates a gain from eachgain’s inertia ratio (item P223, P226).

▷ Gain 1
No.

Name & Setting function

P221

Value

Tuning level

1.0

Setting range
Value input: 1.0～10.0

0.0

Value input:－10.0～10.0

0.2 [ratio]

Value input: 0.0～30.0

Value
1.0

Setting range
Value input: 1.0～10.0

0.0

Value input:－10.0～10.0

0.2 [ratio]

Value input: 0.0～30.0

Setting a tuning strength by level at gain 1.
The bigger the setting figure, gain becomes
higher.

P222

Response level
Setting adjustment value of response time atgain 1. A fine tuning of response
characteristics can be done individually.

P223

Inertia ratio
Setting an inertia ratio at gain 1.
By a load inertia ratio to rotation inertia, it
becomes no load =0.0 [ratio].

▷ Gain 2
No.

Name & Setting function

P224

Tuning level
Setting tuning strength by level at gain 2.

P225

Response level
Setting adjustment value of a response time atgain 2.

P226

Inertia ratio
Setting a n inertia value at gain 2.

＜Related items＞
ParameterServoadjustment

Functionallocation

No.
P200
P210

Name
Tuning system
Adjustment function 1

P211

Adjustment function 2

P303

Gain selection- 58 -

Condition
Please select automatic.
A valid setting can be operated by a volume attuning level (item P221) at gain 1 and response
level (item P222).
A valid setting can be operated by a volume attuning level (item P224) at gain 2 and response
level (item P225).
Gain 1 is selected at time of shipment, you may
use by changing to gain 2 by turning ON afunction status.

Parameter
Manual tuning
A manual tuning can set a position and speed loop gain individually. Various gain canset 2 patterns. You may use by changing by function allocation input (item P303).

▷ Gain 1
No.

Name & Setting function

P242

Position feed forward

Value
0 [%]

Setting range
Value input: 0～100

30

Value input: 0～1000

300

Value input: 0～5000

150

Value input: 0～5000

Value
0 [%]

Setting range
Value input: 0～100

30

Value input: 0～1000

300

Value input: 0～5000

150

Value input: 0～5000

Setting a position loop’s feed forward gain atgain 1. If you increase this gain, operating
position deviation becomes less and follow up tocommand increases. But if you increase toomuch, it react too much to command and overshooting may happen.

P243

Position proportion
Setting a proportion gain of position loop at gain
1. If you increase this gain, position deviation
becomes less and accuracy of position setting
increases. However, if you increase too much,there is a possibility it may vibrate when
stopping.

P244

Speed proportion
Setting a proportion gain of speed loop at Gain
1. If you increase this gain, servo rigidity
becomes higher and speed variation to load
fluctuation becomes less. But if you increase toomuch, servo system becomes not stable andpossible to oscillate.

P245

Speed integral
Setting an integral gain of speed loop at Gain 1.
If you increase this gain, responsiveness to
speed command increase. But if you increase toomuch, it may easily cause a over shooting andhunting may happen. Please be careful if you
decrease extremely, speed variation remains
without fading away.

▷ Gain 2
No.

Name & Setting function

P248

Position feed forward
Setting a feed forward gain of position loop at
Gain 2.

P249

Position proportion
Setting a proportion gain of position loop at Gain
2.

P250

Speed proportion
Setting a proportion gain of speed loop at Gain 2.

P251

Speed integral
Setting an integral gain of speed loop at Gain 2.

＜Related items＞
ParameterServoadjustment

Functionallocation

No.
P200
P210

Name
Tuning system
Adjustment function 1

P211

Adjustment function 2

P303

Gain selection- 59 -

Condition
Please select a manual.
A valid setting can be operated by a volume at
speed proportion (item P244) at gain 1 and speed
integral (item P245).
A valid setting can be operated by a volume at
speed proportion (item P250) at gain 2 and speed
integral (item P251).
Gain 1 is selected at time of shipment, you may
use by changing to gain 2 by turning ON afunction status.

Parameter
Filter function
It adds a filter function to current command and speed command.

▷ Current command notch filter
No.

P260

Name & Setting function

Value

Function

Invalid

Setting range
Select from valid, invalid.

1000.0 [Hz]Value input:10.0～1500.0

0.7

Value input: 0.5～5.0

Setting present and absent of notch filter
insert to current command.

P261

Frequency
Setting frequency of notch filter.

P262

Q value
Setting a Q value (sharpness) of notch filter.
If a setting figure is bigger, a zone is narrow,notch filter becomes deeper.

◎By using notch filter, you can suppress motor vibration at mechanical resonance point.

▷ Current command low pass filter
No.

P263

Name & Setting function

Value

Function

Invalid

Setting range
Select from valid, invalid.

1000.0 [Hz]Value input:10.0～3000.0

Value
Invalid

Setting range
Select from valid, invalid.

1000.0 [Hz]Value input:10.0～3000.0

Setting a present and absent of low pass filter
insert to current command.

P264

Frequency
Setting a frequency of low pass filter.

▷ Speed command low pass filter
No.

P270

Name & Setting function

Function
Setting a present and absent of low pass filter
insert to speed command.

P271

Frequency
Setting a frequency of low pass filter.

- 60 -

Parameter
Details of function allocation parameter
Each function can be used by function status turning ON in driver.
Function allocation parameter can be a parameter group which allocates its function status
to in output (CN1) signal.

Function allocation of control input
Allocating a function status to input signal to control a driver from upper equipment.
Input numbers are maximum 8, you may set a multiple function status to same input
signal. Please refer 「2.3.4 Details of each control signal」about wiring specificationof input signal.
Input signal condition
Energization
Non-energization
Energization
Non-energization

Setting value logic
Positive logic

Function status
ON
OFF
OFF
ON

Negative logic▷ Input allocation
No.

P300

Name & Contents of function status

Servo ON
Motor can drive only after this function status
turns ON. You can interlock to a driver fromupper device so that motor should not move at
the time of system starts.

P301

Reset
At turning ON, any abnormality which can becancelled will be re set. (More than 30[ms])P302

Deviation counter clear
After turning ON, position deviation countervalue becomes clear “0”. (more than 30[ms])P303

Gain selection

Value
Input 1
(positive logic)

Input 2
(positive logic)
Input 2
(positive logic)

Setting range
Select from input 1～8(positive logic, negative
logic), always ON, always
OFF.
Possible to set multiple
function allocation to thesame input.

Always OFF

Changing the two patterns of gain setting.
If turning OFF, each Gain 1 will be selected.

P304
P305

Forward start
Reverse start
Selecting a rolling direction of motor to speed
and torque command.

P306
P307

Forward force stop
Reverse force stop
Once this function status turns ON, towards
rotation direction, fail safe works and motor
stops by force. For details please refer 「3.5.9
Process at the time of force stop」.
It is necessary to keep function status OFF attime of normal operation.

Input 3
Input 4
(positive logic)
Input 7
Input 8
(negative logic)▷ Extended input allocation
No.

P320
P321

Name & Contents of function status

Forward JOG
Reverse JOG
A function status for trial run. At the time ofservo ON, Forward start (item P304) andreverse start (item P305) can be used whileboth are OFF situation timing. Details, pleaserefer 「trial run from 4.2 control signal」.
- 61 -

Value
Input 5
Input 6
(positive logic)

Setting range

Parameter

No.

P322
P323

Name & Contents of function status

Command selection 1
Command selection 2

Value
Always OFF
Always OFF

At the time of speed and torque control, you
can select a command applied to this function
status.

At time of torque control
1
2
Selected command
OFF
OFF
Analog torque input (TC)ON
OFFInternal torque 1 (item P450)
OFFONInternal torque 2 (item P451)
ON
ON
Internal torque 3 (item P452)

Control value selection 1
Control value selection 2

Always OFF
Always OFF

When control value selection function (item
P400) is valid, it selects a control value whichapplies with this function status.
In case it is lower than speed control value(item P171), torque control value (item P172)
it is controlled by this value.
At time of torque control
1
2
Selected control value
OFFOFF
Analog speed input (VC)
ON
OFF
Internal speed 1 (item P430)
OFF
ON
Internal speed 2 (item P434)
ON
ONInternal speed 3 (itemP438)
At time of position, speed control
1
2
Selected control value
OFFOFF
Analog torque input (TC)ON
OFFInternal torque 1 (item P450)
OFFONInternal torque 2 (item P451)
ON
ON
Internal torque 3 (item P452)

P326

Control mode selection

Always OFF

When extension control mode (item P401) is
selected, by this function status, control modecan be changed during driving.
－
OFF
ON

Selected control mode
Control mode (item P100) setting
Extension control mode (item P401)
setting- 62 -

Select from input 1～8(positive logic, negative
logic), always ON, always
OFF.
Possible to set multiple
function allocation to thesame input.

At time of speed control
1
2
Selected command
OFF
OFF
Analog speed input (VC)
ON
OFF
Internal speed 1 (item P430)
OFF
ON
Internal speed 2 (item P434)
ON
ONInternal speed 3 (item P438)

P324
P325

Setting range

Parameter
Function allocation of control output
It allocates function status to an output signal from driver.
Output numbers are maximum 4. As for wiring specification of output signal, pleaserefer 「2.3.4 Details of each control signal」.
Function status

Setting value logic

Output signal condition

ON
Short circuit
Positive logic
OFF
open
ON
open
Negative logic
OFF
Short circuit※At time of control power supply turn ON, output signal condition till normal
start will be all open.

▷ Output allocation
No.

P350

Name & Contents of function status

Ready

Value
No allocation

After control power supply turned ON, function
status turns ON by normal start. It is used as a
reception permittance signal to upper devices.

P351

Servo being ON

No allocation

While servo turned ON, function status also turns
ON.

P352

Positioning completed
When position deviation enters positioning
completed determination value (item P182)
function states turns ON.

P353

Speed reachedOutput 1(positive logic)

No allocation

Regardless rotation direction, when speed
feedback becomes bigger than speed reachdetermination value (item P183), function status
turns ON.

P354

Zero speed
Regardless rotation direction, when speed
feedback becomes lower than zero speed
determination value (item P184), function status
turns ON.

P355

Brake open
This is a function to make brake control to a
motor equipped with retention brake. Function
status turns ON in connection with servo ON.
Please refer 「2.2.3 Holding brake」.

P356

Control ON

Output 2(positive logic)

Output 3(positive logic)

No allocation

Like speed control or torque control, while action
is controlled during motor operation, function
status turns ON.

P357

Abnormal happen
When abnormality happens, function status turns
ON. As for contents of abnormality, please refer「6.1 Abnormality」.

P360

Reverse ON

Output 4(negative logic)

No allocation

When motor axis reverses against driver control
forward direction (item P101) and exceeds zero
speed determination value (item P184), function
status turns ON.

- 63 -

Setting range
Select from output
1～4 （positive logic,
negative logic）, no
allocation.
You cannot set
multiple function
allocation to a same
output.

Parameter▷ Extended output allocation
No.

P370

Name & Contents of function status

Specified item abnormality

Value
No allocation

While a specified item abnormality selection (itemP402) occurs, function status turns ON.

P371

Specified item warning

No allocation

When a specified warning is happening during
specified item warning selection (item P404),
function status turns ON.

- 64 -

Setting range
Select from output
1～4 （positive logic,
negative logic）, no
allocation.
You cannot set
multiple function
allocation to a same
output.

Parameter
Details of extension setting parameter
Extension setting parameter is a group of parameters assembled by additional function like,internal command and warning output.

Selection of control value
It can be used to set a control value, except for speed control value (item P171) andtorque control value (item P172) of fundamental setting parameter.
If you use this item, torque control will be added at position control and speed control
time, and speed control will be added at torque control value. Motor drive would be
restricted at the lowest control value.
No.

Name & Setting function

P400

Control value selection function

Value
Invalid

Setting range
Select from valid, invalid.

Setting present or absent of control value
selection function.
Added contents of control value can beselected by function status of control value
selection 1,2 (item P324, P325).

＜Related items＞
Parameter
Functionallocation

No.
P324
P325

Name
Control value selection 1
Control value selection 2

Fundamental
setting

P120
P121
P122

Command factor
Command dead zone
Input voltage offset

Extension
setting

P430
P434
P438

Internal speed 1
Internal speed 2Internal speed 3

Fundamental
setting

P130
P131
P132

Command factor
Command dead zone
Input voltage offset

Extension
setting

P450
P451
P452

Internal torque 1
Internal torque 2Internal torque 3- 65 -

Condition
When you turn above selection (item P400)
into valid by using function status, you canselect adding control value.
When the function status is OFF, extension
setting value will be added as control value by
external analog input and other selection.
Please use by allocating to input signal.
At time of torque control, you can use analog
speed input (VC) as control value.
Regarding voltage input of negative polarity(－), it will be processed as speed 0 [min-1].
At time of torque control, you can use internal
speed 1~3 as control value.
As for figure input of negative polarity (－), it
will be processed as speed 0 [min-1].
At time of position and speed control, you can
use analog torque input (TC) as control value.
Regarding voltage input of negative polarity(－) it will be processed as torque 0 [%].
At time of position and speed control, you canuse internal torque 1~3 as a control value.
Regarding figure input of negative polarity(－), it will be processed as torque 0 [%].

Parameter
Selection of extension control mode
Except for the case of control mode (item P100) of fundamental setting parameter,
it can be used to set a compound control.
By selection signals allocated input, control mode can be switched to real time, if youchange while driving, it may influence to change an action of motor.
Please be sure to use under the condition of without input command (rotation stop).
No.

P401

Name & Setting function

Value

Extension control mode

None

Setting an extension control mode.
A switching over to control mode should bedone by function status of control mode
selection (item P326).

Setting range
Select from none,
position, speed, torque.

＜Related items＞
Parameter
Fundamental
settingFunctionallocation

No.
P100

Name
Control mode

Condition
Please select fundamental control mode.

P326

Control mode selection

You can exchange control mode by function
status. Please use by allocation to input signal.

Selection of specified abnormality function
It can set an output of abnormality like separation of abnormality and a light failure,detecting a specified abnormality.
Please use specified item abnormality (item P370) of function allocation parameter by
allocating to output signal.
Regarding a contents of abnormality of a target, please refer 「6.1 Abnormality」.
No.

P402

Name & Setting function

Value
None

Specified abnormality function
You can select a desired abnormality items as
you wish.
When a selected items abnormality happens, afunction status in specified item abnormality(item P370) will be turned ON.

Setting range
Select from none,
abnormality selectiongroup※1※1：Abnormality selection group.
・Light failure：Software charging not completed, Main power supply shortage voltage(only GPX2‐16～8), Position feedback too much, Over speed, Over load, Mechanicallock, Communication input time out.
・Temperature：Transistor over heat, Generate register over heat, Cooling fun action(only GPX2‐80, 60), Over heat detection circuit (only GPX2‐16～8), Regeneration
absorption circuit (only GPX2‐16～8).
・Control power supply shortage voltage.
・Motor position sensor.
・Main power supply over voltage.
・Over current.
・Systems abnormality＜Related items＞
Parameter
Functionallocation

No.
P357

Name
Abnormal happen

P370

Specified item abnormal- 66 -

Condition
When all kind of abnormality happens, function
status turns ON.
When a specified abnormality, selected by aspecified item abnormality selection (item P402)
happens, function status turns ON.

Parameter
Selection of specified warning function
You can set a symptom of abnormality like overload or overheat as warning output.
Please use by allocating a function allocation parameter’s specified item warning(item P371) to output signal.
As for subjected contents of warning, please refer 「6.2 Warning」.
No.

P403

Name & Setting function

Value

Specified warning function

None

You can select your output desired warning
item as you like.
When your selected item reaches to warning
value, function status of a specified item
warning (item P371) will be turned ON.

Setting range
Select from none,
warning selectiongroup※1※1：Warning selection group.
・Main power supply bus voltage rise (only GPX2‐16～8)・Main power supply bus voltage decline (only GPX2‐16～8)・Transistor temperature (only GPX2‐16～8)
・Regenerate resistor temperature (only GPX2‐16～8)
・Position deviation
・Over speed
・Effective torque・Forced stop・Output overlapping＜Related items＞
Parameter
Functionallocation

No.
P371

Name
Specified item warning- 67 -

Condition
By specified warning contents which is selected
at a specified item warning selection (item P403)
function status turns ON.

Parameter
Designate a warning determination value
Setting a determination value to do a warning output. Please set it by a figure less thanabnormality designation value.

▷ Warning judgement value
No.

Name & Setting function

P410

Value

Main power supply bus voltage rise※2

380 [V]

Setting range
Value input: 1～999

220 [V]

Value input: 1～999

70 [℃]

Value input: 1～999

30 [K]

Value input: 1～999

9000 [pulse]

Value input: 1～99999

3200 [min-1](2200 [min-1])

Value input: 1～99999

Setting a voltage which outputs a warning at timeof driver main power supply (internal bus voltage)rising.
・Abnormal determination value of main power
supply over voltage: DC430 [V]P411

Main power supply bus voltage decline ※2
Setting a voltage which outputs a warning when adriver main voltage (internal bus voltage) declines.
・Abnormal determination value of main power
supply voltage shortage: DC180 [V]P412

Transistor temperature ※2
When a cooling heat sink temperature of power
element increases, it sets warning output
temperature.
・Abnormal determination value of transistor overheat: 80 [℃]

P413

Regenerate resistor temperature ※2
When a resistor temperature of regenerate voltage
protection function rises、it sets a temperaturerising value to out put a warning.
・Abnormal determination value of regenerate
resistor over heat: 35 [K]P414

Position deviation
When a position deviation rises, it sets a warning
output deviation pulse value.
・Abnormality determination value of excessive
position deviation (item P170) contents.

P415

Over speed ※1
It sets a speed to out put a warning when a motor
rolling speed rises.
・Abnormality determination value of over speed(item P171) contents.

P416

Value input: 1～999
80 [%]
Effective torque
When a work volume rises, it sets an effective
torque value to out put a warning. Effective torqueis set a motor rating torque (rating current)
continuous work volume 100 [%]. If over 100 [%]situation continues, there is a possibility over load
abnormality may happen.
※1：In case of combination of motors more that 1 [kW] motor, excluding BNRⅡ100C, shipment
setting value shown in ( ) is applied.
※2：GPX2‐80～24 cannot be used.

＜Related items＞
Parameter
Functionallocation

No.
P371

Name
specified item warning

Function
Extension

P403

Specified warning
function- 68 -

Condition
Function status turns ON following a specified
warning contents selected by a specified item
warning selection (item P403).
Please use by allocating to output signal.
You can select warning contents to output.

Parameter
JOG Drive
This is used for trial run when there is no upper command. Please refer ｢4.2 Trial run
from control signal｣ for details.

▷ JOG
No.

P420

Name & Setting function

Value

Speed

100 [min-1]

Setting range
Value input: 1～99999

500 [ms]

Value input: 0～99999∞ [pulse]

Value input: 1～∞(infinite feed)

Setting a motor rotation speed used by trial run.

P421

Acceleration and deceleration time
Adding an acceleration and deceleration slope
for trial run. Value is set by the time it reaches
the speed (item P420).

P422

Inching amount of movement
Only at time of position control, inching(standard size) feed is possible.
Setting a motor amount of movement per one
pulse line input unit. In the case of setting value
is finite, by using forward JOG (item P320) andreverse JOG (item P321)’s function status, we
can make a position determination action ofrelative value drive.
When an action is completed, by function status
ON’s re-start, next relative drive can be started.

＜Related items＞
Parameter
Fundamental
settingFunctionallocation

No.
P100

Name
Control mode

Condition
Please select a position or speed.

P300

Servo ON

P304
P305

Forward start
Reverse start

P306
P307

Forward force stop
Reverse force stop

P320
P321

Forward JOG
Reverse JOG

Servo becomes ON by function status becomes
ON. At shipment setting, it functions by turning
ON the input signal (IN1).
Please switch OFF a function status.
At shipment setting, please switch OFF input
signal (IN3,4).
While function status is ON, fail safe works andnormal processing cannot be done. Please use by
input signal (IN7,8) turning ON, as it is allocatedto negative logic input.
By switching function status ON, motor rolls to
the targeted direction at shipment setting, it
functions by turning ON one of input signals(IN5 or 6).

◎Following is a command pattern of JOG speed when an acceleration and deceleration
time (item P421) is set.

- 69 -

Parameter
Internal speed
You can set a speed command or speed control value by three patterns without using
an analog input. Because it sets parameter values as speed command (control value),
you do not need to worry about noise like analog input. When you input a value of speed
setting. Torque setting by negative polarity (－), it is processed as reverse rolling torqueat the time of command, Torque 0 [%] at the time of torque control.

▷ Internal speed 1
No.

P430

Name & Setting function

Value

Speed

1000 [min-1]

You can set as a speed command or control
value.

P431
P432
P433

Acceleration time
Deceleration time
S shaped acc/dec time

100 [ms]
100 [ms]
100 [ms]

As far as you use as a speed command value,
acceleration and deceleration slope will be add
to a speed (item P430).

Setting range
Value input:－99999～99999
Value input: 0～99999
Please set P433 by smaller
value than (item P431)
and (item P432).

▷ Internal speed 2
No.

P434

Name & Setting function

Value

Speed

2000 [min-1]

You can set as a speed command or control
value.

P435
P436
P437

Acceleration time
Deceleration time
S shaped acc/dec time

100 [ms]
100 [ms]
100 [ms]

As far as you use as a speed command value,
acceleration and deceleration slope will be add
to a speed (item P434).

Setting range
Value input:－99999～99999
Value input: 0～99999
Please set P437 by smaller
value than (item P435)
and (item P436).

▷ Internal speed 3
No.

P438

Name & Setting function

Speed

Value

※1

You can set as a speed command or control
value.

P439
P440
P441

Acceleration time
Deceleration time
S shaped acc/dec time3000 [min-1](2000 [min-1])
100 [ms]
100 [ms]
100 [ms]

Setting range
Value input:－99999～99999
Value input: 0～99999
Please set P441 by smaller
value than (item P439)
and (item P440).

As far as you use as a speed command value,
acceleration and deceleration slope will be add
to a speed (item P438).
※1：In case of combination of motors more that 1 [kW] motor, excluding BNRⅡ100C, shipment
setting value shown in ( ) is applied.

◎In internal speed (1~3) there are settings of an acceleration time, deceleration time and S
shaped accelerating and decelerating time. If you use those, acceleration and deceleration
will be added by the following contents, to a command pattern of internal speed.

- 70 -

Parameter＜Items related to internal speed command＞
Parameter
Fundamental
settingFunctionallocation

No.
P100

Name
Control mode

P101

Forward direction

P300

Servo ON

P304
P305

Forward start
Reverse start

P306
P307

Forward force stop
Reverse force stop

P322
P323

Command selection 1
Command selection 2

Condition
When you use an internal speed as a “command”,
please select a speed.
Setting a motor rolling direction to figure inputof positive polarity (+). CCW is selected at ashipment selection.
Servo becomes ON by function status becomes
ON. At shipment setting, it functions by turning
ON the input signal (IN1).
By function status turns ON, rolling direction
facing to command will be selected. At setting,either input signals (IN3,4) should be kept
turning ON.
While function status is ON, fail safe works andnormal processing cannot be done. Please use by
input signal (IN7,8) turning ON, as it is allocatedto negative logic input.
By function status, you can select an objected
speed command.
Please use it by allocating to an input signal.

＜Items related to an internal speed control＞
Parameter
Fundamental
settingFunctionallocation
Extension
setting

No.
P100

Name
Control mode

P171
P324
P325

Speed control value
Control value selection 1
Control value selection 2

P400

Control value selection
function- 71 -

Condition
In case you use an internal speed as a “control
value”, please select a torque.
It is controlled by a lower value.
You can select an adding speed control value
by a function status.
Please use it by allocation input signal.
In case you use internal speed as “control
value”, please select a valid.

Parameter
Internal torqueYou can set a torque command or torque control value by three patterns without using
analog input. Because we use a parameter value as torque command (control value), it is
not necessary to worry noise like analog input.
If you figure input a torque setting by negative polarity (－), it is processed as reverse
torque at the time of command, torque 0 [%] at the time of torque control.
No.

Name & Setting function

P450
P451
P452

Value
50 [%]
100 [%]
150 [%]

Internal torque 1
Internal torque 2Internal torque 3

Setting range
Value input:－99999～99999

You can set as a torque command or a control
value.

＜Items related to an internal torque command＞
Parameter
Fundamental
settingFunctionallocation

No.
P100

Name
Control mode

P101

Forward direction

P300

Servo ON

P304
P305

Forward start
Reverse start

P306
P307

Forward force stop
Reverse force stop

P322
P323

Command selection 1
Command selection 2

Condition
In case you use an internal torque as a“command”, please select a torque.
Setting a generating torque direction to a figure
input of positive polarity (+).
At shipment setting, CCW is selected.
A servo turns ON by a function status turns ON.
At shipment setting, it functions by turning ON
an input signal (IN1).
When a function status turns ON, it generates a
torque (motor rotation) by selected torquecommand. At a shipment setting, please turneither input signal (IN3,4) ON.
When a function status turns ON, a fail-safe
works and normal drive cannot be done. At
shipment setting, it is allocated to negative logic
input. Please use it by turning input signal ON(IN 7,8).
You can select an objected torque command byfunction setting.
Please use it by allocating to input signal.

＜Items related to an internal torque control＞
Parameter
Fundamental
settingFunctionallocation
Extension
setting

No.
P100

Name
Control mode

P172
P324
P325

Torque control value
Control value selection 1
Control value selection 2

P400

Control value selection
function- 72 -

Condition
In case you use an internal torque as a “control
value”, please select a position or a speed.
It is controlled by a lower value.
You can select an adding torque control value by
a function status. Please use by allocating to an
input signal.
In case you use an internal torque as a “control
value”, please select a valid.

Parameter
Process at the time of force stop
While forward or reverse force stop function status turned ON, it will process a force stop
to an objected rolling direction. This item set a process method at the time of stop.
・Torque zero：

Setting a torque command zero to an object rolling
direction. (No loading a torque)

・Speed/torquezero：

An instant stop by setting a speed command zero.
After that, facing to the rolling direction of the object, weturn a torque command to zero.

・Speed zero：

An instant stop turning a speed command zero to theobjects rolling direction.
(As a torque command is generated, it is valid as limiting
switch of the direction of gravity or an inter lock of single
direction rolling.)

No.

P472

Name & Setting function

Value

Force stop process

Torque zero

Setting a process method at the time of force
stop of a forward force stop (item P306) orreverse force stop (item P307) function status
turns ON.

Setting range
Select from a torque zero,
speed/torque zero or
speed zero.

＜Related items＞
Parameter
Functionallocation

No.
P306
P307

Name
Forward force stop
Reverse force stop

Condition
When a function status turns ON, a process (itemP472) at the time of force stop works and a normal
drive cannot be done.
At the time of shipment setting, it is allocated toa negative logic input, please use it by turning ON
an input signals (IN 7 and 8).

- 73 -

Parameter
Details of communication setting parameter
A communication setting parameter is an assembled parameter group of communication
specification to connect tool software.

RS-232C Communication
You can set 2 systems of RS-232C communication baudrate. By using tool software,
multiple situation display can be done and by using tool, in case of communication load
happens, or it can be used when a communication time out happens frequently.
Please refer 「2.4 Connection of communication」 about wiring specification.

▷ RS-232C-1 (COM1)
No.

Name & Setting function

P500

Baudrate

Value
38400 [bps]Setting range
Select from 9600, 19200,
38400, 57600, 115200

Value

Setting range
Select from 9600, 19200,
38400, 57600, 115200

You can set COM 1 communication baudrate.

▷ RS-232C-2 (COM2)
No.

Name & Setting function

P510

Baudrate

38400 [bps]You can set COM 2 communication baudrate.

◎There is a fundamental communication change function at upper side of Driver (GPX‐40~8)
Dip-SW. By turning ON Dip-SW3, a communication specification of connector CN3 and CN4
of RS-232C communication specification can be fixed per below contents.
Please use it after changing parameter setting, when it cannot be connected to tool software.
RS-232C communication specification
Baudrate
38400
Paritynothing
Data bit length8
Stop bit1※A function of changing fundamental communication by Dip-SW becomes.
Valid by power supply re-closing.

RS-485 Communication
When you connect a driver multi axis to daisy chain, you can set an internal axis
communication.

▷ RS-485
No.

P520

Name & Setting function

Axis number

Value
0

※1

Setting range
Value input: 0～7

You can set an axis number.

P521

Baudrate

38400 [bps]Select from 9600, 19200,
38400, 57600, 115200

Invalid

Select from valid, invalid.

You can set a communication baudrate
number between axis’s.

P525

Terminator ※2
You can set a presence and absence of aterminator.

P526

Value input: 0～999
1 [ms]
Response waiting time
You can set a time from receipt of single till
start (delay) of sending signal.
※1：Please set an axis number so that it should not double with other numbers.
※2：Please set a terminator at the end of driver (both side) which are the most far.
- 74 -

Trial run

Trial runTo adjust an equipment (mechanical) and to prevent an accident during driving, pleasebe sure to perform a trial run.
Following is a peripheral configuration necessary at time of a trial run.

LED Display
To confirm driver’s situation, two color LED has been allocated at 3 places on front panel.
Please confirm when you switch ON control power supply.
Front panel
LED 1

LED 2
LED 3

Color
Green

Abbreviation
RDY

Red
Green
Red
Green

AC1
SRV
AC2
ATN

Red

AC3

Condition
After switch ON control power supply, a driver lights up by
normal start.
It lights up when abnormal happens by alarm code. ※1 ※2
It lights up while servo ON.
It lights up when abnormal happens by alarm code. ※1 ※2
It flashes while inertia estimating and light out at estimation
complete.
It lights up when abnormal happens by alarm code. ※1 ※2※1：At the time of control power supply switches ON (CPU starts) all LED lights up Red.
※2：About abnormal classification (alarm code) while it is happening. Please refer 「6.1 Abnormality」.

- 75 -

Trial run
Trial run from control signal
By utilizing JOG drive function which is allocated to in output (CN1), we do motor trial run by
three points switch operation.
Please start and proceed by undermentioned contents.
1) Please confirm wiring of TB1,2 and CN1~3.
2) By switching ON a control power supply (1φAC200V), please confirm it starts
normal operation by LED 1 display (green).
3) Please confirm a communication connection of tool software.
4) Please switch ON a power supply (DC24V) to a control signal.
5) Please switch ON a main power supply (3φAC200V).
6) Please switch ON a servo ON signal.
In this case a motor does not become servo condition if a forward force stop (IN7)
and a reverse force stop (IN8) have been wired as switching ON condition.
Please pay attention.
7) Please confirm a servo ON situation by LED 2 display (green). In this case if
motor axis vibrates, please decrease a gain a little. As for a gain adjusting method,
please refer 「5 Gain adjustment」.
8) Please switch ON a forward and a reverse JOG signal by a switch ON operation.
Motor rolls to a designated direction by a JOG speed and stops by a switch OFF
operation. Please do a trial run of motor by using a JOG drive function.
9) In case you need to increase a rolling speed, please change a JOG speed(item P420).
10) If you change a control mode (item P100) a shipment setting value from “speed”
to “position”, you can use an inching (feed sizing). To change a control mode, a control
power supply must be switched ON again.
11) When you finish work, please switch OFF a power supply after switching OFF a
forward JOG/reverse JOG/servo signal switch OFF.

＜Warning＞
At the time of trial run, please be always prepared to shut down a power supply
any time you feel an abnormality or danger.

- 76 -

Trial run

Trial run from a tool software
Please start a trial run by operating a tool software, without using a wiring of in output (CN1).
Please start and proceed by undermentioned contents.
1) Please confirm a wiring of TB1,2 and CN2,3.
2) Please switch ON a control power supply (1φAC200V) and confirm a normal startby LED 1 display (green).
3) Please confirm a communication connection of a tool software
4) Please switch ON a main power supply (3φAC200V).
5) Please select a 「trial run tool」 from menu bar of tool soft ware 「tool」.
6) Please switch ON a servo following to a operation guide on screen.
7) Please confirm a servo ON situation by LED 2 display (green). In this case if motor
axis vibrates, please decrease a gain a little. As for a gain control method, please refer「5 Gain adjustment」.
8) Following to an operation guide on screen, please start a trial run by JOG button.
9) When finished, please shut down a power supply after servo OFF operation.
＜Warning＞
At the time of trial run, please be always prepared to shut down a power supply
any time you feel an abnormality or danger.
- 77 -

Gain adjustment

Gain adjustment
In order to facilitate a motor servo control and use a machine by the maximum ability,
a gain adjustment is necessary.
Please select from an automatic tuning which automatically generates a gain incompliance with inertia ratio, a manual tuning which sets a gain individually.

Automatic tuning
An automatic tuning generates automatically a fundamental gain in compliance with aninertia ratio. If you use a gain volume on display panel surface, you can adjust a tuning level
and a response level. A gain adjustment is mainly done by tuning level only.
Please use a response level only to fine tune a command response ability.
・Normal use item
No.

Parameter of a gain 1

Gain volume adjustment function 1 (item P210)
Valid
Invalid

P221
P222
P223

Tuning level
Response level
Inertia ratio

Adjust by VR1
Adjust by VR2
Set by tool software

Set by tool software
Set by tool software

・Items while a gain selection (item P303) ON
No.

Parameter of gain 2

Gain volume adjustment function 2 (item P211)
Valid
Invalid

P224
P225
P226

Tuning level
Response level
Inertia ratio

Adjust by VR1
Adjust by VR2
Set by tool software- 78 -

Set by tool software
Set by tool software

Gain adjustment◎Tuning level
You can adjust by a tuning level, matching to a gain which is generated from inertia
ratio to a mechanical system.
Please seta level 5.0 as a standard value, and you can modify within a level 1.0~10.0.
Low（level 1.0）←
Small ←
Slow ←
Big machine, low rigility and big
inertia ratio.

Tuning level
Resilience to disturbanceResponse to a command
Applied mechanical system→

High（level 10.0）→ Big→ Quick
Small machine, high rigid andinertia ratio low.

◎Response level
When you want to control by increasing a responsibility speed and restrict an overshooting without changing a fundamental tuning level, you can adjust by a response
level. You should set a level 0.0 as a standard value, and change a level within ±10.0
range.
Low（level －10.0）←

Response level→High（level ＋10.0）

No change ←Resilience to disturbance→ No change
Slow ←
Response to a command→ Quick
Small ←
Over shooting→ Big※an adjustment range by a gain volume (VR2) is 0.0～10.0. as for a setting lower than 0 Pleaseuse a tool software.

◎Estimation of inertia
When a function (item P220) is valid, without using each gain’s inertia ratio (itemP223, P226) contents, you can generate a gain from estimation inertia ratio whichcalculates real time in actual machine drive.
A calculation of estimated inertia ratio takes some time till estimation completion
because at each control power supply switch ON, it starts from no loading situation(inertia ratio = 0.0 [ratio]).
We recommend you to use by making this function invalid, in case a loading inertia
is stable, input an estimated inertia ratio (item M143) value which is displayed on
driving situation monitor of tool software (TelGPX2) to a servo adjustment parameterof an inertia ratio of (item P223, P226).

- 79 -

Gain adjustment
Manual tuning
Manual tuning method sets a gain of position and speed loop individually. If you use again volume on paned surface, you can adjust a speed loop gain.
We recommend to adjust a gain either by connecting an oscilloscope to an inspection
terminal (TP1,2) or on wave display at tool software, while monitoring a feedback speed.
・Normal use item
No.
P242
P243
P244
P245

Parameter of a gain 1
Position feed forward
Position proportion
Speed proportion
Speed integral

Gain volume adjustment function 1 (item P210)
Valid
Invalid
Set by tool software
Set by tool software
Adjust by VR1
Set by tool software
Adjust by VR2
Set by tool software

・Items while a gain selection (item P303) ON
No.
P248
P249
P250
P251

Parameter of a gain 2
Position feed forward
Position proportion
Speed proportion
Speed integral

Gain volume adjustment function 2 (item P211)
Valid
Invalid
Set by tool software
Set by tool software
Adjust by VR1
Set by tool software
Adjust by VR2
Set by tool software◎Adjustment of speed loop gain
A gain adjustment is mainly done by a speed proportion gain and a speed integral gain.
A speed proportion gain changes at all frequency zone, its responsiveness. When you
increase a gain, totally recovery power increases and servo rigidity become high and a
speed variation to a load becomes less.
A speed integral gain varies its responsiveness at low frequency zone, if you increase again, servo lock and low rotation area’s recovery power. Increases and it becomes persistent.

At first adjusting a speed proportional gain.
If there is any vibration at servo lock situation, decrease a little, otherwise. Increase
within a range which a vibration does not occur. After that fine tune a transientcharacteristics by a speed integral gain.
But depends upon a combined mechanical system, a motor may vibrate at high frequency
area. In such case, please also use a currency command filter (item P260～264) and adjust.

- 80 -

Gain adjustment＜An example of speed loop adjustment at the time motor vibrates＞◎Adjustment of position loop gain
Generally, please do this after adjusting a speed loop gain.
A gain adjustment will be done by a position proportion gain and a position feed forward
gain. A position proportion gain controls a stored volume of a position deviation. If you
increase a gain, position deviation becomes less and position setting accuracy becomes
higher.
A position forward gain changes a responsiveness to a command. If you increase a gain,
operating position deviation becomes less but transient characteristics appears evidently.

At first position setting drive should be done repeatedly and a position proportion gain
should be increased within a range of no vibration at time of stop.
If a combined mechanical system ‘s rigidity is low, a vibration may easily happen andthere is a possibility a position proportion gain cannot be increased.
In that case a position feed forward gain should be increased little by little and adjust
allowable position deviation value.

- 81 -

Protection function

Protection function
A driver has many protection functions and consisted by an abnormality and awarning.

Abnormality
When an abnormality happens, servo should be OFF, a motor should be a free condition
and following action should be taken.
・Front panel：

LED displays (3points) lights ON by red color as
abnormality classification.

・Control signal：(CN1)

A relay contacts at alarm output (ALM-NC) opens.
An output signal which is set a function allocation
coordinates. At shipment setting, FET contact between abrake opens (OUT3) and abnormality happens (OUT4)
opens.

・Others：

An abnormality contents will be history preserved in a flash
memory.
Dynamic brake function works.

An abnormal situation cannot be released until an input operation by reset function(item P301) or re-input of a control current. After removing an abnormal factor, pleasekeep a security and release.

No.

Abnormal class(Reset function)LED
display

Abnormal contents

Cause

Soft charge notcompleted
Main power supply
voltage shortage

Input a servo signal at no main power
supply situation.
Driver main power supply (internal
bus voltage) fall less than DC180 [V]during motor drive.
A position deviation excesses a position
deviation excess determination value(item P170).
A situation which a feedback speedexcesses a speed control value (itemP171) continues more than 1 [sec].
Detects an excess load situation byelectronics thermal system. Misswiring by power line (TB1, 2) or sensor(CN2).
In the zero-speed determination value(item P184) of feedback speed, thelowest torque control situation
continues more than 0.2 [sec].
while motor trial run is done, from tool
software by communication, an
abnormal communication continues
more than 2.5 [sec].
A cooling heat sink temperatureexcesses 80 [℃]. Detect an internal
protection of power element.
Detecting an abnormality at over heat
detecting electric circuit.

Position deviation
excessExcess speed

1

Minor fault(Reset: Possible)

Excess load

Mechanical lockCommunication
input time out

2Temperature(Reset: Possible)

Transistor overheat
Over heat detection
circuit- 82 -

Protection functionNo.

2

Abnormal class(Reset function)

Temperature(Reset: Possible)LED
display

Abnormal contents

Cause

Cooling fan action

Detect an abnormality of a fan.
（only GPX2‐60～80）
To detect an over heat of internal
regenerate resistor by thermal signal
or resistor temperature rise 35 [K].
To detect an abnormality of electric
circuit which does a regenerate
absorption.
Input voltage of a driver control power
supply falls less than AC80 [V].
(increasing a case of instant power
break down)
Wiring abnormality like sensor (CN2)disconnection and short circuit. Sensor
system of a combined motors does notmatch. A logic of sensor signals andfrequency abnormal situation
By regenerate energy, a driver main
power supply (internal bus) rises morethan DC430 [V].
A shortage of regenerate absorption
capacity.
To detect an excess current of driver
output stage by short circuit of motor
power and ground fault.

Regenerate resistor
over heat
Regenerate
absorption circuit

3

Control power supply
voltage shortage(Reset: Possible)

4

Motor position sensor(Reset: Not possible)

5

Main power supply
excess voltage(Reset: Not possible)

6

Excess current(Reset: Not possible)

Control power
supply voltage
shortage
Motor position
sensorMain power supply
excess voltage

Excess current

System abnormal

7

System abnormal(Reset: Not possible)※LED display shows from up side AC1・AC2・AC3.

To detect an abnormality at parameterzone (data contents) of memory.
To detect a CPU mal function and anabnormality of control circuit by excess
noise.

(light on) and(light off) shows a situation.

◎Excess load abnormality
A driver detects excess load by electronics thermal system and make it as an abnormality.
Motor current and detection time is shown characteristics drawing. Regarding an excess
load detection level of a characteristics drawing, there is a variation of ±10 [%].
Please take note.

- 83 -

Protection function
Warning
Unlike to an abnormality, motor does not stop even a warning is issued. Only a flag situationof a warning status changes.
Please use it when an upper device receives abnormality omen like an excess load and overheat as a warning signal and to avoid an abnormality by driver control.

Contents of warning
Main power supply bus
voltage rise ※1
Main power supply bus
voltage decline ※1

Cause
When a driver main power supply (internal bus voltage) increases, reach to awarning determination value (item P410), a warning statue will be turned ON.
When a driver main power supply (internal bus voltage) fall sand lowers awarning determination value (item P411), a warning status will be turned ON.

Position deviation

When a cooling heat sink temperature of power elements rises and reaches toa warning determination value, (item P412) a warning status will be switchedON.
When an internal regeneration resistor temperature rises and reaches to awarning determination value (item P413), a warning status will be switchedON.
When a position deviation increases and reaches to a warning determination
value (item P414), a warning status will be switched ON.

Over speed

When a motor rolling speed rises and reaches to a warning determination
value (item P415), a warning status will be switched ON.

Effective torque

When a motor continuous working volume increases and reaches to a warning
determination value (item P416), a warning status will be switched ON.

Transistor temperature ※1
Regenerate resistancetemperature ※1

A forward force stop (item P306) and reverse force stop (item P307) works
only when both function status OFF because of fail safe.
Force stop
By this reason a warning status switches ON when drive (Servo ON) does
not switch ON.
You cannot allocate multiple functions to an output signal 1~4.
It switches ON a warning status when a setting is overlapped by mistake.
Output overlapping
Output signal in this situation, by smaller number of function status of
output allocation (item P350～) it becomes valid.
※1：GPX2‐80～24 cannot be used.

- 84 -

Protection function
Troubles shooting
Trouble factors happen at a driver starting time and its solution is written below.

◎Case 1：An abnormality happens at time of control power supply switches ON
FactorMinor failure (Soft charge notcompleted) abnormality
happens.

Solution・At the situation of main power supply is notswitched ON, if Servo ON (item P300) function
status is ON, an abnormality happens.
Please confirm at a function monitor of tool software.

Temperature (Transistor overheat, Regenerate resistor overheat) abnormality happens.

・Internally driver is over heated. Please wait somemoments and try again.

Control power supply voltage
short abnormality happens.

・Please confirm if a specified voltage is applied toterminal table. (L1C, L2C)

Monitor position abnormality
happens.

・Please confirm a combined motor model number.
・Please confirm CN2 sensor connector’s connection.
・If you produce a sensor cable by yourself, pleaseconfirm a wiring of position sensor signal.

◎Case 2：Servo ON ( Thrust is generated on motor axis ) does not work
FactorMain power supply is notswitched ON.

Solution・Please confirm a specified voltage has been applied
to a terminal table. (L1, L2, L3)

A motor power cable is notconnected.

・Please confirm a motor power cable is connected to aterminal table. (U, V, W, FG)

There is no servo ON input.

・Please confirm a servo ON (item P300) function
status is ON by function monitor of tool software.
At shipment setting, it works by an input signal(IN1) turns ON.

There is no forward andreverse force stop input.

・Please confirm at tool software ‘s function monitor,
forward force stop (item P306) and reverse force stop
(item P307) function status is OFF.
At shipment setting, function is released by turning
input signal (IN 7,8) ON.

- 85 -

Protection function◎Case 3：Monitor axis does not follow even a command is input
FactorControl mode is not
appropriate.

Solution・By tool software driving condition monitor,
please check current control mode’s contents and set
a control mode (item P100) correctly.

Position command pulse is not
appropriate. (position control)・By tool software’s driving situation monitor,
please confirm a contents of position command[pulse], please set a pulse line input format (item
P110) correctly.
In case driver does not recognize even a setting value
and to connector CN1 correctly connected, there is acase that situation improves if you change a line
driver connection polarity to upper device or if you
reverse a logic.

Analog speed command is not
appropriate. (speed control)・Please confirm a speed analog input [V] contents
by tool software driving situation monitor, and please
set a speed command factor (item P120) correctly.

Analog torque command is not
appropriate. (torque control)・Please confirm a contents of torque analog input [V]by tool software driving situation monitor, and please
set a torque command factor (item P130) correctly.

There is no input of forward orreverse start.
(speed control, torque control)・By a function monitor of tool software, please confirm
either forward start (item P304) or a reverse start(item P305) function status is ON.
At shipment setting, please switch ON either one of
input signals (IN 3 or 4).

By motor axis’s lock, runaway
or abnormal it stops.

・Please confirm a motor power cable is wired sequentcorrectly to a terminal table. (U, V, W)

Motor’s rolling speed does notrise.

・Please adjust a gain.
・A Load is heavy and motor capacity shortage is apossibility. Please separate a mechanism and lighter
the load and try again. There is a possibility aretention brake is not open.
・Please confirm a specified voltage is applied to abrake wire. (only brake option product)

A motor vibrates.

・Please make an gain adjustment.
・Please confirm a voltage variation of main power
supply is not more than ±10 [%].
・Please confirm aground wiring of terminal table.
(PE, FG)・In case you produce a sensor cable by yourself, pleaseconfirm position sensor each pair signal combination.
By a twist pair, noise reception influence varies.
・Please check there is no looseness of mechanism.

- 86 -

Other functions

Other functions
Dynamic brake function
A Driver involves a dynamic brake internally and this system works when servo is OFF.
A dynamic brake is to control a motor at the time of black out and an abnormality happens.
A rating is for short time only and if you use continuous control or repeating control there
is a possibility a driver breakage.
Please be careful to the following points.
◎If a dynamic brake works at time of high speed rolling, please keep about 3 minutes
pause.
◎Please do not start or stop of rolling activity by servo ON signal while a command is
input.
◎If you use a direction of gravity load, a dynamic brake may become a continuous control.
By using retention brake, please fix within 3 second mechanically.
◎In case if you use in combination with decelerator (high decelerator), if you drive a main
axis by external power motor axis will be accelerated and may become a continuous
control.
Please exclude motor power cable (TB1 or TB2) and process your job.

Inrush current reduction function
A driver uses a rectifier circuit of condenser input system. A control current controls aninrush current by series resistor, a main power supply built in an inrush current reduction
function because a condenser capacity is big.
An inrush current reduction function of a main power supply charges a smoothing capacitor
gently by 0.5 seconds.
Please be careful as it does not accept a servo ON within a charging time after turn ON amain power supply. Please do not repeat an action power supply turn ON and OFF within ashort time.
GPX2‐80，GPX2‐60- 87 -

Other functions

GPX2‐40，GPX2‐24

GPX2‐16，GPX2‐12，GPX2‐8- 88 -

Other functions
Regenerate voltage protection function
When a servo motor becomes a regenerate situation, an occurred regenerate energy charges
a smooth capacitor of a main circuit and absorbed.
In this moment, as main power supply voltage rises in accordance with a smooth capacitor capacity
and regenerate energy volume, in order not to exceed an inner circuit breakdown voltage by anabnormal determination voltage, detecting an excess voltage abnormal stops a regenerating action.
A driver built in a regenerate voltage protection function, it suppresses a charging of main power
supply voltage by a regenerate energy, using a consumption of a regenerate resistance.

◎As a standard of a continuous operation, following is a graph of relation between total
inertia (including rotor inertia) and cycle time. A driver built in a regeneration resistancebut its regenerate absorption capability is limited.
In case a direction of gravity load’s operation, sudden start of excess load inertia and stop,
please refer its operation cycle.

- 89 -

Specification

Specification
Series standard
Driver model
Max peak current
Continuous rated current
Control power supply
Main power supply

GPX2‐80
GPX2‐60
GPX2‐4080.0 [A]60.0 [A]40.0 [A]18.8 [A(rms)]
14.1 [A(rms)]
9.4 [A(rms)]
Single phase AC200～240 [V] ±10[%] (50/60Hz)
Three phases AC200～240 [V] ±10[%] (50/60Hz)

Combined motor
Motor control
Carrier frequency
Combined sensor
Encoder specification

Our AC Servo motor, capacity 0.75～3.0 [kW]Three phases PWM control
10 [kHz]
Shipment by encored specification or resolver specification.
Optical incremental encoder
With UVW line driver model, resolution depends on a combined motor.
BRX model brushless resolver
Amplitude and a phase cable length automatic adjust circuit andsynchronous detection method.
Resolution 4096 [ppr], Carrier frequency 10 [kHz]Resolver specification

Control mode
Position command
Speed command/control
Torque command/control
Encoder pulse output
Monitor output
Control input
Control output
Alarm output
Communication function

Situation display
Gain setting
Protection function
Abnormality record
Other function
External dimension(excluding connector andprotrusion)
Mounting dimension
Weight (approximately)
Operation environment

GPX2‐2424.0 [A]
5.6 [A(rms)]

Position control, Speed control, Torque control
Pulse line input 1 [Mpps] Max. (high speed coupler DC5V)
pulse form 2 pulse, 1 pulse, select by parameter from 2 phase systems.
Analog speed input ±10 [V] (resolution 25V/12bit)
Or select from internal parameter setting value (3 points)
Analog torque input ±10 [V] (resolution 25V/12bit)
Or select from internal parameter setting value (3 points)
Line driver output phase A, B and Z (26LS31 equivalent)
Analog voltage output ±10 [V] (resolution 25V/12bit)
Monitor 2ch contents to be selected by a parameter.
Max. 8 points (common, bi directional photo coupler input DC24V)
Select an allocation of input function by a parameter.
Max. 4 points (common, photo MOSFET output 50mA)
Select an allocation of output function by a parameter.
1 point (relay C contact output 0.5A), fix a function to an abnormal output.
Possible to change parameter setting value on tool software and total displayof abnormal record.
Communication system is RS-232C (2ch), select from RS-485 by a parameter.
LED 3points
Displays a start, a servo situation and an alarm code by two color LED switch.
Select an automatic tuning system or manual tuning system by a parameter.
Possible to adjust by 2 points of panel surface volume.
Consisted by abnormality 14 points
Consisted by abnormality 13 points
and warning 5 points.
and warning 5 points.
Store an abnormality record to flash memory.
(1024 times from the latest information)
Dynamic brake function, Inrush current reduction function, Regenerate voltage
protection function
H: 292 [mm]
H: 292 [mm]
H: 272 [mm]
D: 215 [mm]
D: 215 [mm]D: 161 [mm]
W: 165 [mm]
W: 165 [mm]
W: 129 [mm]
H: 280 [mm]
H: 280 [mm]
H: 262 [mm]
W: 120 [mm]
W: 120 [mm]
W: 50 [mm]7.0 [kg]
7.0 [kg]
3.6 [kg]
0～50 [℃], less than 85 [％RH] (no condensation, dust)- 90 -

H: 272 [mm]D: 161 [mm]
W: 119 [mm]
H: 262 [mm]
W: 50 [mm]3.0 [kg]

Specification

Driver model
Max peak current
Continuous rated current
Control power supply
Main power supply

GPX2‐16
GPX2‐12GPX2‐816.0 [A]12.0 [A]
8.0 [A]
3.8 [A(rms)]
2.4 [A(rms)]
1.5 [A(rms)]
Single phase AC100～240 [V] ±10[%] (50/60Hz)
Three phases AC200～240 [V] ±10[%] (50/60Hz)

Combined motor
Motor control
Carrier frequency
Combined sensor
Encoder specification

Our AC Servo motor, capacity 60～750 [W]
Three phases PWM control
10 [kHz]
Shipment by encoder specification or resolver specification.
Optical incremental encoder
With UVW line driver model, resolution depends on a combined motor.
BRX model brushless resolver
Amplitude and a phase cable length automatic adjust circuit andsynchronous detection method.
Resolution 4096 [ppr], Carrier frequency 10 [kHz]Resolver specification

Control mode
Position command
Speed command/control
Torque command/control
Encoder pulse output
Monitor output
Control input
Control output
Alarm output
Communication function

Situation display
Gain setting
Protection function
Abnormality record
Other function
External dimension(excluding connector andprotrusion)
Mounting dimension
Weight (approximately)
Operation environment

Position control, Speed control, Torque control
Pulse line input 1 [Mpps] Max. (high speed coupler DC5V)
pulse form 2 pulse, 1 pulse, select by parameter from 2 phase systems.
Analog speed input ±10 [V] (resolution 25V/12bit)
Or select from internal parameter setting value (3 points)
Analog torque input ±10 [V] (resolution 25V/12bit)
Or select from internal parameter setting value (3 points)
Line driver output phase A, B and Z (26LS31 equivalent)
Analog voltage output ±10 [V] (resolution 25V/12bit)
Monitor 2ch contents to be selected by a parameter.
Max. 8 points (common, bi directional photo coupler input DC24V)
Select an allocation of input function by a parameter.
Max. 4 points (common, photo MOSFET output 50mA)
Select an allocation of output function by a parameter.
1 point (relay C contact output 0.5A), fix a function to an abnormal output.
Possible to change parameter setting value on tool software and total displayof abnormal record.
Communication system is RS-232C (2ch), select from RS-485 by a parameter.
LED 3points
Displays a start, a servo situation and an alarm code by two color LED switch.
Select an automatic tuning system or manual tuning system by a parameter.
Possible to adjust by 2 points of panel surface volume.
Consisted by abnormality 16 points and warning 9 points.
Store an abnormality record to flash memory.
(1024 times from the latest information)
Dynamic brake function, Inrush current reduction function, Regenerate voltage
protection function
H: 200 [mm]
H: 200 [mm]
H: 200 [mm]D: 150 [mm]D: 150 [mm]D: 150 [mm]
W: 80 [mm]
W: 73 [mm]
W: 73 [mm]
H: 194 [mm]
H: 194 [mm]
H: 194 [mm]
W: 35 [mm]
W: 35 [mm]
W: 35 [mm]1.7 [kg]
1.6 [kg]
1.6 [kg]
0～50 [℃], less than 85 [％RH] (no condensation, dust)- 91 -

Specification

After service
This driver has been shipped after a strict inspection.
As for initial stage troubles, please check again by reading this manual again
if there is any mistake of wiring or usage method.
In case of contacting us, please inform following contents.
We are sorry for bothering you but it is needed to make an appropriate response.
①
②
③
④
⑤
⑥
⑦

Driver model (TYPE)
Serial number (SER. No.)
Production year and month (DATE)
Motor model
Contents of control, simply
Driving system combined to a motor
Contents of trouble(Above ①～③ are written on a name plate of driver side sheet metal.)

Contact from telephone and facsimile
TEL +81 45 502 4441

FAX +81 45 502 8624

Contact from WEBSITE
URL http://www.wacogiken.co.jp/

Waco Giken Co., Ltd.
Head office〒230‐0045
1‐1‐50, Suehiro cho, Tsurumi ku,
Yokohama city, Kanagawa
TEL：045‐502‐4441

ALL SPECIFICATION IS SUBJECT TO CHANGE FOR IMPROVEMENT WITHOUTPRIOR INFORMATION.
D0502008- 92 -