User's Manua L: MV High-Speed Link Unit

ＭＶ高速リンクユニット
MV High-speed Link Unit
MV-L40
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ユーザーズマニュアル
ユーザーサポート専用ページ User's Manual
Please read this Manual before use.
Keep this Manual in a safe place for later reference.
0075-4 169011
Preface
MV-L40 is the unit for AC servo MV high-speed link system used specially for the KV-1000/700 CPU
unit from Keyence.
By combination with MV-L40, servo amplifier and servomotor, positioning control can be implemented.
This Manual describes the outline, specifications, settings, parameterization and programming of MV
high-speed link unit MV-L40 and teaching unit KV-HPD1. Be sure to thoroughly read and fully
understand this manual before installing.
Keep this Manual in a safe place for later reference.
Please handover this manual to the end-users who are going to use the KV-1000 Series.
■ MV-L40 Related User's Manuals

Read the following manuals when using MV-L40.
If you require these manuals, please contact your agent.
Type of Manual Description of Manual

MV LINK STUDIO
This manual describes how to install MV LINK STUDIO.
Installation Manual
This manual describes how to operate MV LINK STUDIO.

MV LINK STUDIO User's Manual
MV-L40 User's Manual This manual describes specifications, installation and parameters of this
product.
Ladder Support Software
KV STUDIO / KV BUILDER This manual describes how to install KV STUDIO and KV BUILDER .
Installation Manual
KV-1000 Series PLC This manual describes the specifications, integrated functions and
User's Manual operating method of the KV-1000 PLC.
This manual describes how to operate KV STUDIO.
KV STUDIO User's Manual
This manual describes the specifications, integrated functions and
KV-700 Series PLC User's Manual
operating method of the KV-700.
This manual describes how to operate KV BUILDER.
KV-H1W User's Manual
Safety Precautions
The safety-related important contents are highlighted in units and this Manual in order to prevent
personal injury or physical damage and enable safe operation.
Please understand the following symbols when read this Manual.
This also applies to the related machines and equipments.
■ Symbols
This document contains notices which you should observe to ensure your own personal safety, as well
as to protect the product and connected equipment.
DANGER Indicates that death or severe personal injury will result if proper precautions
are not taken.
WARNING
Indicates that death or severe personal injury can result if proper precautions
are not taken.
CAUTION Indicates that damage to property can result if proper precautions are not
taken.
Important
Indicates that an undesirable result or status can occur if the relevant notice is
ignored.
Note
Describes cautions for easily mistaken operations.
TIP Indicates useful information or information that aids understanding of text descriptions.
Indicates a reference item or page to be referred to in this manual and other manuals.
1
■ Model selection and operation of equipment
• The model selection for the system shall be done by a designer with professional knowledge and rich
experiences based on the specifications, operation condition, environment and application as well as
analysis and test as necessary.
• The target groups for the User Manual are persons with professional knowledge and rich experience
in servo system. For assembling/operation (including parameter setting and calibration), maintenance
and checking, only above persons are authorized ones.
• For assembling/operation (including parameter setting and calibration), maintenance and checking,
please conduct that only after reading the User Manual carefully and understanding thoroughly the
contents therein.
■ Caution
When using this device under the following conditions or operating environments, please consult with
your KEYENCE agents in addition to implementing safety measures such as product operation that
allows redundancy with respect to ratings and functions and use of failsafe provisions.
• Use of the product under conditions not described in this manual.
• Use of the product in nuclear power generation control, railroad facilities, aviation facilities, vehicles,
combustion devices, medical equipment, entertainment machinery, safety equipment, etc.
• Use in applications where a major influence to human life and property is anticipated, and where
safety in particular is required
2
Precaution Upon Use
DANGER
■ Application scope
• MV high-speed link system can't be used in any application directly relative with human body
protection e.g. life-maintaining device.
■ Installation
• The wiring can be done only by those with electricity knowledge. Otherwise, it may cause fire or electric shock.
• don't use it in explosive gas. Otherwise, it may cause fire or personal injury.
• Please don't damage cable, don't pull it by force, hang heavy object on cable or clamping tightly cable.
Otherwise, it may cause electric shock and equipment malfunction.
• Please first install servo amplifier, wire power and motor. Otherwise, it may cause electric shock or personal injury.
• Wiring can be done only 5min after turning off power and confirming that CHARGE indicator lamp in front of
servo amplifier is off. Otherwise, it may cause fire or electric shock.
• Please do connect the grounding line. Otherwise, it may cause fire or electric shock.
• Please connect power cable according to the connection diagram. Otherwise, it may cause fire or electric shock.
■ Maintenance, service and inspection

• Please authorize those with electricity knowledge to carry out maintenance/checking.
• Checking can be done only 5min after turning off power and confirming that CHARGE indicator lamp in
front of servo amplifier is off. Otherwise, it may cause electric shock.
• Please don't wear such metallic objects as watch, ring, etc. and use insulation tools at working.
Otherwise, it may cause electric shock or personal injury.
■ Operation, run
• Don't insert any electrically conductive objects e.g. screws, metallic chips and inflammable substances
e.g. oil or other foreign matters in servo amplifier. Otherwise, it may cause fire or personal injury.
• Never touch with hands the inside of servo amplifier. Otherwise, it may cause electric shock.
• It is absolutely forbidden to touch the rotating part of servomotor during operation. Otherwise, it may
result in personal injury.
• Before operation please do check MV-L40, servo amplifier and servomotor. don't use them if there
is any damage or missing component(s). Otherwise, it may cause fire, accident or personal injury.
■ Others
• Don't disassemble/modify it. Otherwise, it may cause electric shock, personal injury and fire.
• Don't operate the servo amplifier by wet hands. Otherwise, it may cause electric shock.
• Don't touch the terminal of servo amplifier when it is live. Otherwise, it may cause electric shock.
• Never disassemble the connector during operation. Otherwise, it may cause electric shock.
• When the servo amplifier is in fault, please turn off the power at side of servo amplifier side. If it has
high current continuously, fire may result in.
• If brake resistor is used, please use abnormal-signal-shielded power supply. Fault in servo amplifier
may result in abnormal overtemperature of resistance and may result in fire.
3
WARNING
■ Installation
• Don't collide the servo amplifier and servomotor vigorously. Otherwise, it may result in accident.
• Don't use damaged servo amplifier and servomotor. Otherwise, it may cause fire and personal injury.
• Please combine servo amplifier and servomotor as specified. Otherwise, it may cause fire and fault.
• Don't measure the insulation resistance and insulation withstand voltage. Otherwise it may damage the unit. If
you do need to measure that, please contact us.
• Never install it at a place with water splash, near any corrosive or inflammable gas and/or inflammables.
Otherwise, it may cause fire and fault.
• When using in any installation for which any fault in MV high-speed link system (MV-L40, servo amplifier,
servomotor) may result in major accident or loss, please do install safety protection unit.
• Don't install servo amplifier and brake resistor on or near any inflammables. Otherwise, it may result fire.
• Don't place any inflammables near servo amplifier and brake resistor. Otherwise, it may result fire.
• Please ensure that the installation space, direction and ambient temperature, etc. for MV-L40, servo amplifier
and servomotor meet standard. Otherwise, it may cause fire and accident.
• Please install servo amplifier at a place that can bear its dead weight. Otherwise, it may result in personal injury
and accident.
• Please do install non-fuse breaker. Otherwise, it may result fire.
• Please do tighten the screws of power terminal of main circuit and that of control circuit. Otherwise, it may result
in personal injury and accident.
• Please make correct connection when using brake resistance. Otherwise, it may result fire.
• Please check the object is consistent with the ordered product. If different product is installed, it may result in
personal injury and equipment damage.
• Please keep certain interval between servo amplifier and inside of control panel or other equipment
according to standard. Otherwise, it may cause fault in equipment.
• For servomotor, please run it only after fixing it. Otherwise, it may result in personal injury due to motor movement
at rapid acceleration/deceleration.
■ Operation, run
• Don't touch the brake resistance as its temperature may be very high. Otherwise, it may cause burnt.
• Please don's block the opening of servo amplifier and don's insert any foreign matter. Otherwise, it may result fire.
• The radiating fin, brake resistance and servomotor of servo amplifier are of high temperature under power on
and not long after power off, don't touch them. Otherwise, it may cause burnt.
• Please check carefully the operation speed and equipment performance, don't exceed their permitted range at
setting. Otherwise, it may result in personal injury.
• Please stop operation immediately when any abnormality happens. Otherwise, it may cause electric shock,
personal injury and fire.
• Extreme parameter change will result in unstable operation, please don't do like that. Otherwise, it may result in
personal injury.
• At test run, please first fix servomotor, cut off the mechanical system, confirm the equipment movement, mount
it to the machine. Otherwise, it may result in personal injury.
• When any alarm occurs, please first remedy the cause and reset the alarm while ensuring safety, restart.
Otherwise, it may result in personal injury.
4
CAUTION
■ Installation
• If applying commercial power to the whole servomotor, it will result in equipment damage.
• When handling servomotor, please first unload the cable line/shaft/encoder.
• When installing coupling at shaft end of servomotor, don't use hammer, etc. to knock. Otherwise, it may result in
fault in encoder.
• The load on servomotor shaft shall not exceed permitted value. Otherwise, it may result in shaft damage.
• Please check that the rated power voltage of servo amplifier is consistent with AC power voltage. Otherwise, it
may result in fault.
■ Operation, run
• Please don't operate/stop servomotor by turning ON/OFF main power supply. Otherwise, it may result in fault.
• Please don't turn on/off frequently commercial power supply. Otherwise, it may result in damage in servo
amplifier.
• Please don't apply static and high voltage, etc. on encoder cable line. Otherwise it may have fault.
• The noise in servo amplifier, servomotor and wiring, etc. may result in malfunction of equipment surrounding.
Please install noise filter, etc. so as to minimize the electromagnetic interference.
• Before operation please confirm and adjust each parameter. Different equipment may have unexpected
movements.
• Please keep them at a place that is free from direct sunshine, the ambient temperature and humidity shall meet
requirements.
■ Others
• When discarding it, please regard it as industry waste and observe the stipulation from local authorities.
5
MEMO
6
How This Manual Is Orgarized
This chapter describes contents of the package, combinations of
Chapter 1 PREPARATION servo amplifier and servo motor as well as the features and
configuration of MV high-speed system are described.
1
SPECIFICATIONS & This chapter describes the name and function of each part of the MV 2
Chapter 2 FUNCTIONS
high speed link system, Specificationss, CE mark and precautions
related to UL certification.
3
This chapter describes how to install MV-L40, servo amplifier, servo
Chapter 3 INSTALLING
motor and teaching unit.
4
WIRING AND
Chapter 4 SETTING OF SERVO
This chapter describes the wiring and setting of MV-L40, servo
amplifier and servo motor.
5
AMPLIFIER
This chapter describes how to maintain and inspect for MV-L40 and
6
Chapter 5 MAINTENANCE
7
servo amplifier, servomotor.
DETAILED I/O This chapter describes the functions of control I/O terminal of I/O
Chapter 6 FUNCTIONS connector. 8
Chapter 7 CONTROL MODE
This chapter describes the control modes used in MV high-speed link 9
system and how to change the control mode.
SETTING UP USING This chapter describes the procedures for setting MV-L40's unit setting
10
Chapter 8 UNIT EDITOR
information and transferring it via USB port or serial port to CPU by using
the Unit Editor.
11
12
This chapter describes the I/O relays and data memories (DMs)
Chapter 9 DEVICE ASSIGMENT
assigned in MV-L40.
13
Chapter 10 PARAMETER SETUP This chapter describes parameters used in MV high speed link system.
14
Chapter 11 ACCESS WINDOW This chapter describes operations in the access window.
15
OPERATIONS OF This chapter describes the functions and operation method of the KV- A
Chapter 12 TEACHING UNIT HPD1 teaching unit.
Chapter 13 UNIT MONITOR This chapter describes how to display and use Unit Monitor.
ABSOLUTE POSITION
Chapter 14 DETECTION SYSTEM This chapter describes the absolute position detection system.
EXAMPLES OF This Chapter will describe examples of various ladder program and
Chapter 15 BASIC OPERATION parameters.
This chapter descirbes control block diagram, various sequences, alarms

APPENDICES and troubleshootings, as well as difference from MV series, zero return
and system macros, etc.
7
Contents
Preface
Safety Precautions •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 1
Precaution Upon Use ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 3
How This Manual Is Orgarized ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 7
Contents •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 8
Conventions Used In This Manual •••••••••••••••••••••••••••••••••••••••••••••••••••• 16
Page Configuration and Symbols•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••16
Terminology •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 16
AC Servo Concept ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••17
Features of AC Servo Motor •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••17
Typical Examples of Positioning Control ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••17
Type of Moving Direction •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••19
Drive Type•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••20
Chapter 1 PREPARATION
1-1 Checking the Content of the Package••••••••••••••••••••••••••••••••••••••••••••••••1-2
MV High-speed Link Unit MV-L40 ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••1-2
Servo Amplifier ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••1-2
Servo Motor ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••1-4
1-2 Combination of Servo Amplifier and Servo Motor ••••••••••••••••••••••••••••••••1-6
1-3 Overview and Precaution on MV High-speed Link System•••••••••••••••••••••1-7
Features of MV High-speed Link System ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••1-7
Precautions on Using MV High-speed Link System •••••••••••••••••••••••••••••••••••••••••••••••1-8
Relationship Between Direction of Rotation of Motor and Coordinate System •••••••••••••••1-9
Data Flow Between MV-L40 and CPU•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 1-11
1-4 System Configuration •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 1-13
Configuration with External devices ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 1-13
Master Axis Unit and expansion unit •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 1-14
Option ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 1-18
1-5 Setting Procedure•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 1-21
Starting Procedures •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 1-21
Tuning••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 1-23
Chapter 2 SPECIFICATIONS & FUNCTIONS

2-1 Names and Functions of Parts •••••••••••••••••••••••••••••••••••••••••••••••••••••••••2-2
Name and Function of Each Part of the MV-L40 •••••••••••••••••••••••••••••••••••••••••••••••••••2-2
Name and Function of Each Part of the MV-B1•••••••••••••••••••••••••••••••••••••••••••••••••••••2-3
Name and Function of Each Part of the Servo Amplifier ••••••••••••••••••••••••••••••••••••••••••2-4
Name and Function of Each Part of the Servo Motor••••••••••••••••••••••••••••••••••••••••••••••2-6
2-2 SPECIFICATION ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••2-7
Specification of the MV-L40•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••2-7
Specification of the MV-B1 ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••2-9
Specification of the Servo Amplifier ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 2-10
Specification of the Servo Motor ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 2-16
Specification of the KV-HPD1 teaching unit ••••••••••••••••••••••••••••••••••••••••••••••••••••••• 2-18
Overall Dimension •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 2-18
8
2-3 Precautions on CE Marking (MV-L40/MV-B1)••••••••••••••••••••••••••••••••••••• 2-23
Precautions on EMC Directive (89/336/EEC) ••••••••••••••••••••••••••••••••••••••••••••••••••••• 2-23
2-4 Precautions on CE Marking (MV series servo amplifier/servo motor)••••• 2-24
Precautions on EMC Directive (89/336/EEC) ••••••••••••••••••••••••••••••••••••••••••••••••••••• 2-24
Precautions on Low Voltage Directive (73/23/EEC)•••••••••••••••••••••••••••••••••••••••••••••• 2-27
2-5 Precautions on UL Approval (MV-L40/MV-B1) ••••••••••••••••••••••••••••••••••• 2-28
2-6 Precautions on UL Approval (MV series servo amplifier/servo motor) ••• 2-29
Servo Amplifier •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 2-29
Servo Motor •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 2-31
2-7 How to Suppress High-order Harmonics •••••••••••••••••••••••••••••••••••••••••• 2-32
Chapter 3 INSTALLING
3-1 Installing MV-L40 •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••3-2
Installing Environment of MV-L40••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••3-2
Installation Precautions for MV-L40 •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••3-2
Connecting with CPU ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••3-3
3-2 Installing Servo Amplifier••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••3-4
Installation Precautions of Servo Amplifier•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••3-4
Installation Environment of Servo Amplifier••••••••••••••••••••••••••••••••••••••••••••••••••••••••••3-4
Mounting Direction and Space of the Servo Amplifier •••••••••••••••••••••••••••••••••••••••••••••3-5
3-3 Installing Servo Motor ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••3-7
Installation Precautions of Servo Motor ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••3-7
Installation Environment of Servo Motor •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••3-7
How to Install Servo Motor ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••3-7
Permissible Load of the Servo Motor Shaft•••••••••••••••••••••••••••••••••••••••••••••••••••••••• 3-10
3-4 Mounting Teaching Unit on Panel ••••••••••••••••••••••••••••••••••••••••••••••••••• 3-11
Mounting to Panel Surface of KV-HPD1 Teaching Unit ••••••••••••••••••••••••••••••••••••••••• 3-11
Chapter 4 AND SETTING OF SERVO AMPLIFIER

4-1 Wiring Overview••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••4-2
Wiring Precautions •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••4-2
Wiring Diagram and Setting of Servo Amplifier •••••••••••••••••••••••••••••••••••••••••••••••••••••4-3
Wiring Protective Ground Terminal ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••4-5
Wire Size to be Used•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••4-5
4-2 Wiring Between MV-L40 and Servo Amplifier ••••••••••••••••••••••••••••••••••••••4-6
Wiring Between MV-L40 and Servo Amplifier •••••••••••••••••••••••••••••••••••••••••••••••••••••••4-6
4-3 Wiring Master Axis Unit ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••4-9
Connecting External Device (Master Axis Unit)•••••••••••••••••••••••••••••••••••••••••••••••••••••4-9
Standard Wiring Diagram (Master Axis Unit) •••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-10
Wiring Power Terminal ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-14
Wiring Brake Resistor•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-15
4-4 Wiring Expansion Unit•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-17
Connecting External Unit (expansion unit)••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-17
Standard Wiring Diagram (Expansion Unit)•••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-18
9
4-5 Wiring Between Servo Amplifiers ••••••••••••••••••••••••••••••••••••••••••••••••••• 4-22
Wiring the Power Cable of Expansion Unit •••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-22
Wiring Bus Connection Cable •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-23
4-6 Wiring Servo Amplifier and Servomotor••••••••••••••••••••••••••••••••••••••••••• 4-24
Wiring Diagram Between Servo Amplifier and Servomotor••••••••••••••••••••••••••••••••••••• 4-24
Wiring Motor Power Cable •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-25
Wiring EncoderCable •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-25
Wiring Electromagnetic brake Cable •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-26
4-7 Wiring I/O Connector•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-27
Wiring the Terminal Block of I/O Connector ••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-27
Wiring I/O Connector Cable •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-29
I/O Connector's Pin Arrangement ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-30
Wiring Pulse Input •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-32
4-8 Making Connection Cable ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-33
Encoder/Motor Power Connector Kit•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-33
Making Encoder Cable •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-34
Making Motor Power Cable ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-35
Making Electromagnetic brake Cable••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-36
4-9 Wiring Teaching Unit •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-37
Wiring Procedure for Teaching Unit ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-37
4-10 Wiring CPU-CPU Unit ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-38
Wiring CPU-CPU Unit•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 4-38
Chapter 5 MAINTENANCE
5-1 Maintenance •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••5-2
Inspecting MV-L40••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••5-2
Inspecting Servo Amplifier and Servomotor •••••••••••••••••••••••••••••••••••••••••••••••••••••••••5-3
Chapter 6 DETAILED I/O FUNCTIONS

6-1 Detailed I/O Functions ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••6-2
Emergency Stop "EMG"(pin No.1)•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••6-2
CCW Limit Switch (CCW-LS) (pin no. 2) CW Limit Switch (CCW-LS) (pin no. 3) ••••••••••••6-3
Alarm Reset (RESET) (pin No.4)/Alarm (pin No. 24) ••••••••••••••••••••••••••••••••••••••••••••••6-3
Servo ON (SVON) (Pin No.5)/READY (RDY) (Pin No.34) ••••••••••••••••••••••••••••••••••••••••6-4
Run Start Command/Deviation Clearing(START/CLR)(pin No. 6)•••••••••••••••••••••••••••••••6-5
Zero Return Command (ORG) (Pin No.7) •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••6-6
JOG Command (JOG) (Pin No.8) •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••6-6
TEACH command (TEACH) (pin No.9)•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••6-7
GAIN (pin No.10) •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••6-7
Data 0 to 4 (DT0 to 4) (pin No.11 to 15) ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••6-8
Proportion Control Shifting (PCN) (pin No.11) ••••••••••••••••••••••••••••••••••••••••••••••••••••••6-9
M Code ON (MOFF) (pin No.16) M code 0 to 4 (M0 to M4) (pin No. 28 to 32) ••••••••••••• 6-10
Origin Sensor (ORGS) (pin No. 17) ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 6-11
Stop Sensor (STOP) (pin No. 18)•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 6-11
Standby Release Command (RESUM) (pin No. 19) ••••••••••••••••••••••••••••••••••••••••••••• 6-12
10
External brake Resistance Over Hot (BOH) (pin No. 20) ••••••••••••••••••••••••••••••••••••••• 6-12
Positioning Finishes/ends (FIN/INPOS) (pin No. 25) •••••••••••••••••••••••••••••••••••••••••••• 6-13
Moving (MOVE) (pin No. 26) ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 6-13
M Code Outputting/Torque Limiting (MCODE/TLM) (pin No. 27)•••••••••••••••••••••••••••••• 6-14
At Electromagnetic Brake (BRAKE) (pin No. 33) ••••••••••••••••••••••••••••••••••••••••••••••••• 6-14
Pulse Input (CW+/CW-/CCW+/CCW-) (pin No. 37 to 40) ••••••••••••••••••••••••••••••••••••••• 6-15
Chapter 7 CONTROL MODE

7-1 Control Mode••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••7-2
Type of Control Mode ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••7-2
Changing Control Modes ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••7-2
Position Control Mode •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••7-4
Speed Control Mode •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••7-4
Torque Control Mode•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••7-5
Manual Pulse Mode ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••7-7
Chapter 8 WIRING SETTING UP USING UNIT EDITOR

8-1 Setting up by Using Unit Editor ••••••••••••••••••••••••••••••••••••••••••••••••••••••••8-2
How to Set upUsing Unit Editor ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••8-2
Data Transfer to CPU ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••8-4
Chapter 9 DEVICE ASSIGMENT

9-1 Device Assignment Overview ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••9-2
Relay Assignment Overview••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••9-2
Data Memory Assignment Overview ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••9-3
9-2 List Of Input Relays •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••9-4
Input Relay (MV-L40PLC) List••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••9-4
9-3 List of Output Relays ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-15
Output Relay (PLCMV-L40) List ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-15
9-4 DM List •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-25
Normal Read Area•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-25
Normal Communication Area••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-30
Indirect Parameter Area •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-32
Point Parameter Area •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-33
System Parameter Area ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-41
Speed Parameter Area •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-47
Servo Parameter Area ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-50
Common Set Parameter Area ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-57
Other (alarm log, operation point log, etc.)••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-57
9-5 DM/Relay Function •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-62
DM/Relay Function Table ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-62
Operation Enable/Servo ON •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-63
Start Operation •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-64
Emergency Stop •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-66
Deceleration Stop/Restart Operation•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-68
11
Standby Release •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-71
M code •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-72
Cycle Interruption ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-73
JOG Operation •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-76
Teaching •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-79
Zero Return •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-81
Move to Home Position •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-83
Changing Current Coordinate •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-85
Changing Speed •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-87
Write Flash ROM•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-90
Read/Write Parameters (change parameters) •••••••••••••••••••••••••••••••••••••••••••••••••••• 9-91
AT Parameter Reflection •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-99
Changing Control Modes •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••9-101
Restart Servo Amplifier •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••9-103
Alarm/alarm Reset•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••9-105
Read/Clear Alarm Log ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••9-107
Read Operating Point Log ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-110
Verify whether in process of operation••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-112
Verify whether in return to operation ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-112
Verify Whether in Progress of Dwell ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-113
Verify Cycle Operation Times ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-113
Verify Completion of Point Operation •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-114
Verify Point No. in Process of Operation •••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-114
Verify Current Coordinate •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-115
Verify Current Speed •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-115
Verify I/O••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-116
Verify the State of Teaching Unit (KV-HPD1) ••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-117
Verify Control Mode ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-117
Alarm ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-118
Verify Set time of Positioning •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-118
Chapter 10 PARAMETER SETUP

10-1 Parameter Type ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-2
Parameter Type ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-2
10-2 Parameter Setup Method •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-3
Parameter Setup Method ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-3
10-3 Parameter List •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-4
Servo Parameter List••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-4
Point Parameter Table ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-14
System Parameter List •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-16
Speed Parameter List •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-24
Common Set Parameters List •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-24
10-4 Servo Parameter ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-26
Servo Parameter Structure•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-26
Electronic Gear•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-27
Tuning••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-30
12
Tuning gain 2 •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-38
Manual Pulse •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-39
Speed ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-41
Torque••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-44
Brake/Stop ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-45
Others ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-47
10-5 Point Parameter •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-53
Operation Mode ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-53
Target Coordinate •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-58
Speed No. •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-59
Stop Sensor Set••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-59
Movement after Stop Sensor Input •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-60
Dwell Time ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-60
Continuous Operation Mode•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-62
Next Point No. ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-65
Cyclic Incremental Movement •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-66
repeat counts •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-66
M Code Mode ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-67
M-code No.••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-71
Remarks •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-71
10-6 System Parameter ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-72
System Parameters Structure •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-72
Unit •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-73
Running Speed •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-76
JOG Speed••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-80
Zero Return •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-82
Input Signal •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-87
Others ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-88
10-7 Speed Parameter ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-96
Speed Parameter ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-96
10-8 Common Set Parameters •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-97
KV-HPD1 ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-97
Others ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••10-98
10-9 Indirect Parameter Specification•••••••••••••••••••••••••••••••••••••••••••••••••• 10-100
Parameter Indirect Specification •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-100
10-10 Vibration Control And Instruction Tracking Control •••••••••••••••••••••••• 10-104
Vibration Control ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-104
Instruction Tracking Control•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-105
Chapter 11 ACCESS WINDOW

11-1 Access Window(CPU unit)•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 11-2
Operation Method••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 11-2
Menu Structure •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 11-3
11-2 Access Window(servo amplifier) •••••••••••••••••••••••••••••••••••••••••••••••••••• 11-7
Name and Function of Each Part of the Access Window ••••••••••••••••••••••••••••••••••••••• 11-7
Modes of the Access Window (servo amplifier)••••••••••••••••••••••••••••••••••••••••••••••••••• 11-8
13
Menu Structure ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 11-10
Operation Method•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 11-15
Chapter 12 OPERATIONS OF TEACHING UNIT

12-1 KV-HPD1 Overview •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 12-2
Name and Function of Each Part •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 12-2
Specification of the KV-HPD1 Teaching Unit •••••••••••••••••••••••••••••••••••••••••••••••••••••• 12-2
Cabling of the Teaching Unit•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 12-2
Panel Mounting of the Teaching Unit ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 12-2
About The Menu •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 12-3
12-2 Detailed Menu Content of the KV-HPD1•••••••••••••••••••••••••••••••••••••••••• 12-12
Monitoring •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••12-12
Parameters••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••12-13
Teaching/HP-JOG •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••12-14
Demonstration Operation ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••12-15
Options•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••12-16
Alarm Display •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••12-17
Chapter 13 UNIT MONITOR

13-1 About the Unit Monitor ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 13-2
Unit Monitor Introduction •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 13-2
Unit Monitor Display •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 13-2
MV High-Speed Link Unit Monitor •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 13-3
Chapter 14 ABSOLUTE POSITION DETECTION SYSTEM

14-1 Absolute Position Detection System ••••••••••••••••••••••••••••••••••••••••••••••• 14-2
Overview of the Absolute Position Detection System ••••••••••••••••••••••••••••••••••••••••••• 14-2
Specification of the Absolute Position Detection System ••••••••••••••••••••••••••••••••••••••• 14-3
Installing Method of the Lithium Battery Used for the Position Detection System•••••••••• 14-3
Starting Steps of the Absolute Position Detection System •••••••••••••••••••••••••••••••••••••• 14-4
Notices of the Absolute Position Detection System •••••••••••••••••••••••••••••••••••••••••••••• 14-4
Chapter 15 EXAMPLES OF BASIC OPERATION

15-1 Single Point Operation ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 15-2
15-2 When Running Several Points Continuously••••••••••••••••••••••••••••••••••••• 15-4
15-3 Changing Speed In Positioning-control Process ••••••••••••••••••••••••••••••• 15-6
15-4 Changing Speed In Position Type Speed-control Process ••••••••••••••••••• 15-8
15-5 Parameter Indirect Specification••••••••••••••••••••••••••••••••••••••••••••••••••• 15-10
15-6 Pitch Feeding ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 15-12
15-7 Palletization ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 15-13
15-8 Inching Feed Of Position Control Type •••••••••••••••••••••••••••••••••••••••••• 15-14
15-9 Inching Feed Of Position Type Speed Control ••••••••••••••••••••••••••••••••• 15-15
15-10 Other Control After Operation (M Code) ••••••••••••••••••••••••••••••••••••••••• 15-16
14
15-11 To Run By Linear Interpolation••••••••••••••••••••••••••••••••••••••••••••••••••••• 15-19
15-12 When Running Several Points Continuously••••••••••••••••••••••••••••••••••• 15-21
15-13 Changing Control Mode (position control to speed control) •••••••••••••• 15-23
Position Control toSpeed Control Switch••••••••••••••••••••••••••••••••••••••••••••••••••••••••••15-23
15-14 Changing Control Mode (speed control to position control) •••••••••••••• 15-27
Speed Control to Position Control Switch •••••••••••••••••••••••••••••••••••••••••••••••••••••••••15-27
15-15 Changing Control Mode (position control to manual pulse) ••••••••••••••• 15-31
Position Control to Manual Pulse Switch••••••••••••••••••••••••••••••••••••••••••••••••••••••••••15-31
15-16 Changing Control Mode (position control to manual pulse) ••••••••••••••• 15-35
Manual Pulse to Position Control Switch••••••••••••••••••••••••••••••••••••••••••••••••••••••••••15-35
15-17 Changing Control Mode (position control to torque control) •••••••••••••• 15-39
Position Control to Torque Control Switch ••••••••••••••••••••••••••••••••••••••••••••••••••••••••15-39
15-18 Changing Control Mode (torque control to position control) •••••••••••••• 15-43
Torque Control to Position Control Switch ••••••••••••••••••••••••••••••••••••••••••••••••••••••••15-43
APPENDICES
1 Control Block Diagram •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-2
2 Zero Return ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-4
Zero Return ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-4
About Zero Return Path •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-4
3 Operation Sequence at Power Up •••••••••••••••••••••••••••••••••••••••••••••••••••A-24
Power ON/Stop Sequence •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-24
4 Alarm and Remedy ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••A-33
Alarm List••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-33
5 Troubleshooting••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••A-47
When Judged to be in Error •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-47
Causes for Error Relay to be ON •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-50
6 Difference for using MV series and MV-L40 ••••••••••••••••••••••••••••••••••••••A-52
Difference •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-52
Added Function ••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-54
7 System Macro for MV-L40 •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••A-55
Macro List •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-55
ORG1-L40•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-56
ORG2-L40•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-66
PLS-L40 •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-71
VADJ-L40 •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-75
PADJ-L40 •••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-80
15
Conventions Used In This Manual
This chapter describes the components, symbols and terminologies used in this manual.
Page Configuration and Symbols
Indicates the main

content of the chapter.
Installing Servo Motor
The following points must be followed when installing servomotor.
Installation Precautions of Servo Motor Mid-heading

Thumbnail index.
Indicates the chapter.
Mounting Sub-heading
INSTALLING

Chapter title
Operation
illustration
Operation method
Each CPU can connect up to 18 MV-L40s. Product name
Indicates the page or manual
to refer to. The page or manual
KV-1000 User's Manual and KV-700 User 'sManual
containing the related information
is indicated here.
If expansion unit KV-EB1S/KV-EB1R is used, then MV-140 can't be installed at 3rd section.
Operation keys of the

Sequence program Press "M" key access window
Menu display.
Operation buttons
Note
Setup screen
Describes cautions
for easily mistaken Note
operations.
Be sure to read carefully.
CAUTION Please note: Failure to

Servo motor is not allowed to disassemble. Otherwise, it may result
in performance reduction and machine damaged. follow these
instructions may lead
The servomotor is not allowed to impact with hammer, etc. Otherwise,
to damage in property.
theencoder will be damaged and the motor can not be controlled.
* This page was made for the purpose of explaining page components, and differs from an actual page.
Terminology
This manual uses the following terminologies excluding some instances.

Terminology Description
KV-1000/700 KV-1000/700 series PLC products produced by Keyence Ltd.
This refers to the overall system including basic unit, CPU, programmable logic
PLC
controller with different units. Indicates complete system.
PC Stands for personal computer.
KV STUDIO KV STUDIO Ladder Support Software
KV BUILDER KV BUILDER Ladder Support Software
Ladder program Program written by using KV STUDIO/KV BUILDER Ladder Support Software.
MV-L40 MV-L40 high-speed link unit produced by Keyence Ltd.
MV LINK STUDIO MV LINK STUDIO Parameter Setup/Monitor Software
16
AC Servo Concept
Features of AC Servo Motor
Compared with other motors, AC servo motor is featured by the following.

• High precision positioning control combined with positioning function.
• High precision speed control by extending speed control range.
• Sharp acceleration/deceleration and high-frequency positioning control.
• Without mechanical connection part, and maintenance free.
Typical Examples of Positioning Control
By "Positioning control" it means to move an object from a position to target position.

Positioning Control can be classified as follows. The following describes the typical positioning control
of AC servo motor.
■ Inching feed control

The object such as thin steel sheet only can be cut
after being fed specified size. For example, to
convey and cut in specified size the thin steel sheet
as shown in left figure. Thin steel sheet must be
conveyed correctly.
■ Palletization
By "Palletization", it means to place and stack a lot
of products or parts in sequence at specified
position. In the left figure, it is to move from feeder
and pack the product.
TIP Stacking is the repeating of same action,

so stacking parameter such as repeat
counts, cyclic incremental movement
etc. can be set.
"10-3 Parameter List" (P10-4)
17
■ Rotary angle control
Divide the index table into specified angles, and
move to each division point. To carry out nearest
rotary angle control. Drill hole in workpiece on index
table as shown in figure.
■ Multi-speed positioning
To change speed into a speed segment and move
the object.In left figure, the drill is moved from origin
at high speed near to workpiece, drill hole at low
speed in workpiece, after that the drill returns origin
at high speed. After drilling, the drill returns origin at
high speed.
高速低速
■ 2-axis control
To move object in plane by using X and Y axis. In
left figure, 2 axes are used to move drill to the
specified position and drill hole. If using linear
interpolation function, moving time of drill can be
shortened and drilling will be highly efficient.
18
Type of Moving Direction
The moving direction of positioning control can be classified into the following 3 types.
■ Horizontal (linear positioning)

It uses ball screw, rack and pinion, corueyor belt,
Index table
etc., and is for worktable conveying and handling for
Servo motor
various machines.
Ball screw
Gearbox
■ Vertical direction (lifting load)

It is for the lifting shaft of handler and up-and-down
Ball screw shaft of robot. Generally it is equipped with counter
weight for balancing the load, or electromagnetic
brake motor for preventing dropping at power
Ball screw
shutdown.
Counter weight
Gearbox
Servo motor Electromagnetic brake
■ Rotation (index table)

The worktable rotates in certain angle.To decelerate
the load shaft by gear or timing belt.
Worm gear
Servo motor
Bevel gear
Servo motor
Timing belt
19
Drive Type
The driving way of positioning control can be classified into the following 6 types.
■ Screw
A way that carries out high-accuracy positioning in
Lead (pitch)
short moving distance. The lower the lead (pitch) of
ball screw, the higher the accuracy and the lower
Index table the conveying speed will be.
Servo motor
Ball screw
Gear box
■ Gear/rack
A way for long-distance positioning. Generally it is
Support
fixed at pinion end and rack moves.
Pinion
Gearbox
■ Timing belt
Widely used in fields from large handlers to
Timing belt
Dulley precision instruments, etc. As it conveys by
Gearbox the engagement of belt pulley and conveyor
belt, it is free from slide error as that with V-
shaped and horizontal conveyor belt.
Depending on materials of conveyor belt, it
may become worn or aged due to long use
and result in decrease in accuracy, hence it
needs maintenance.
■ Chain
Mostly is used in large handler. It is applicable for
Chain Sprocket
long-distance transportation at high speed.
Reduction gear
20
■ Roller feeding
Rotary feeding roll. It's a way for transportationring
workpiece by friction. Typically used for inching
Workpiece (Material) feed, and feeding film and paper, etc. in roll feeder
Transfer roller for presses.
Gearbox
21
MEMO
22
1
PREPARATION
This chapter describes contents of the package, combinations of servo
amplifier and servo motor as well as the features and configuration of MV
high-speed system are described.
1-1 Checking the Content of the Package •••••••••••••••••••• 1-2

1-2 Combination of Servo Amplifier and Servo Motor •••••• 1-6
1-3 Overview and Precaution on MV High-speed Link System
1-7
1-4 System Configuration •••••••••••••••••••••••••••••••••••••• 1-13
1-5 Setting Procedures ••••••••••••••••••••••••••••••••••••••••• 1-21
1-1
1-1 Checking the Content of the Package
1 The package contains the following items. Before using, make sure that the package contains
everything that it is supposed to contain.
PREPARATION
MV High-speed Link Unit MV-L40
MV-L40
MV-B1
Use's Manual
Unit (MV-L40) User's Manual
Servo Amplifier
Note
The servo amplifier, which can be connected MV high-speed link system, is marked
with "KV-L40 Compliant" on its nameplate.
■ Contents of Package of Servo Amplifier Master Axis Unit
Wiring rod for connector

(connected with motor connector and
brake resistor connector)
motor connector
User's Manual
brake resistor connector User's Manual

Unit
■ Contents of Package of Servo Amplifier Expansion Unit
Wiring rod for connector

(connected with motor connector)
motor connector
User's Manual
User's Manual
Unit connecting cable for expansion unit
cable length 150mm
1-2
■ Type of Servo Amplifier 1

• Please check the servo amplifier against the order specification.
PREPARATION
• Please check the nameplate and model. There are 3 type of nameplates for supply voltage and unit.
• Please check the rated nameplate against the ordered product. The product supporting MV-L40 is
Master axis unit (200V) Master axis unit (100V)
KEYENCE CORPORATION KEYENCE CORPORATION
MODEL MV-72 MODEL MV-41

INPUT M 3 200-230V A C 50/ 60H z 9.8A INPUT M 1 100-120 V A C 50/ 60H z 11A
INPUT M 1 200-230V A C 50/ 60H z 1 3A INPUT C 1 100-120 V A C 50/ 60H z 1 . 0 A
INPUT C 1 200-230 V A C 50/ 60Hz 0.6A
OUTPUT M 3 0-326V PWM 15. 6KH z 4. 5A OUTPUT M 3 0-326V PWM 15. 6KH z 2.9A
OUTPUT EM 2 8 2-326V DC 7.3 A OUTPUT EM 2 8 2-326V DC 2.1 A
OUTPUT EC 2 8 2-326V DC 0.7 A OUTPUT EC 1 4 1-170V DC 1.0 A
SER. N o. 12 3 4 5 6 7 8 SER. N o. 12 3 4 5 6 7 8
MV-L40 Compliant MV-L40 Compliant
54KB 54KB
POWER POWER
CONVERSION CONVERSION
EQUIPMENT MADE IN JAPAN EQUIPMENT MADE IN JAPAN
00488847B 00488847B
marked with "KV-L40 Compliant".

Expansion unit
Legends
KEYENCE CORPORATION
Item Description
MODEL MV-2 0
INPUT M 2 8 2-326V D C 1.1A MODEL Model
INPUT C 2 8 2-326V D C 0.1A
INPUT C 1 4 1-170V D C 0.2A INPUT M power input of main circuit
OUTPUT M 3 0-326V PWM 15. 6KH z 1.5A INPUT C power input of control circuit
OUTPUT M motor output
SER. N o. 12 3 4 5 6 7 8 power input of main circuit of expansion
MV-L40 Compliant
OUTPUT EM
54KB
unit (DC)
POWER
CONVERSION power input of control circuit of expansion
EQUIPMENT MADE IN JAPAN
OUTPUT EC
00488847B unit (DC)
MV-L40
Support MV-L40
Compliant
Types of servo amplifier are shown as follows.
Rated Output Type of servo amplifier

2㧦200W 0㧦Expansion unit
4㧦400W 1: master axis unit, power supply AC100 to 120V
7㧦750W 2: master axis unit, power supply AC200 to 230V
Product Name Model Remarks

3-phase or 1-phase, AC200 to 230V,
MV-22
Motor, 50W/100W/200W 50/60Hz
MV-21 1-phase, AC100 to 120V, 50/60Hz
Master axis unit MV-42
Motor, 400W 50/60Hz
MV-41 1-phase, AC100 to 120V, 50/60Hz
MV-72 Motor, 750W
50/60Hz
1-3
Product Name Model Remarks

1 MV-20
MV-40
Motor, 50W/100W/200W
Supplied through master axis unit.
Attached with power cables to connect
Expansion unit Motor, 400W
PREPARATION
master axis unit and expansion unit

MV-70 Motor, 750W
(Cable length: 150mm)
Servo Motor
■ Contents of Package of Servo Motor
User's Manual
Unit User’s Manual
■ Type of Servo Motor

• Please check the servo motor against the order specification.
• Please check the nameplate and model.
• Please check the rated nameplate against the ordered product.
Model
Rated Output Induction voltage

Rated torque
Rated rotation
1-4
Types of servo motor are shown as follows.

1
PREPARATION
Type of servo motor Axis shape
M Standard motor Rated Output
B Electromagnetic brake motor None Direct axis
0550W D Quadrature axis (up to 100W)
10100W K Keyway axis (200W or more)
20200W
40400W
75750W
Product Name Model Capacity Remarks

MV-M05 Direct axis
50W
MV-M05D Quadrature axis
MV-M10 Direct axis
100W
MV-M10D Quadrature axis
MV-M20 Direct axis
Standard motor 200W
MV-M20K Keyway axis
MV-M40 Direct axis
400W
MV-M40K Keyway axis
MV-M75 Direct axis
750W
MV-M75K Keyway axis
MV-B05 Direct axis
50W
MV-B05D Quadrature axis
MV-B10 Direct axis
100W
MV-B10D Quadrature axis
Magnetic brake MV-B20 Direct axis
200W
motor MV-B20K Keyway axis
MV-B40 Direct axis
400W
MV-B40K Keyway axis
MV-B75 Direct axis
750W
MV-B75K Keyway axis
1-5
1-2 Combination of Servo Amplifier and Servo Motor
1 Combinations of servo amplifier and servo motor are predetermined. Please use them according to the
following combination table.
PREPARATION
Servo amplifier Servo motor

Rated
Model Supply Voltage Model
Output
MV-M05(D)
50W
MV-B05(D)
3-phase or 1-phase, AC MV-M10(D)
MV-22 100W
200 to 230V, 50/60Hz MV-B10(D)
MV-M20(K)
200W
MV-B20(K)
3-phase or 1-phase, AC MV-M40(K)
MV-42 400W
200 to 230V, 50/60Hz MV-B40(K)
3-phase or 1-phase, AC MV-M75(K)
Master axis unit MV-72 750W
200 to 230V, 50/60Hz MV-B75(K)
MV-M05(D)
50W
MV-B05(D)
1-phase, AC MV-M10(D)
MV-21 100W
100 to 120V, 50/60Hz MV-B10(D)
MV-M20(K)
200W
MV-B20(K)
1-phase, AC MV-M40(K)
MV-41 400W
100 to 120V, 50/60Hz MV-B40(K)
MV-M05(D)
50W
MV-B05(D)
MV-M10(D)
MV-20 (Supplied by master axis unit) 100W
MV-B10(D)
MV-M20(K)
Expansion unit 200W
MV-B20(K)
MV-M40(K)
MV-B40(K)
MV-M75(K)
MV-B75(K)
1-6
This section provides a general overview and precaution when using MV high-speed link system.
1
PREPARATION
Features of MV High-speed Link System
CPU unit + MV-L40
KV-HPD1
teaching unit
Servo amplifier
X1 axis Y1 axis X2 axis Y2 axis
MV-B1
Master axis Expansion Expansion Expansion
unit unit unit unit
PC
(MV LINK STUDIO)
Servo motor
• The high-speed communication bus is used to connect MV high-speed link unit MV-L40 with MV
series servo amplifier, avoiding complex wiring. Reading and writing parameters can also be
performed via high-speed communication bus, faster than conventional communication. The current
position, speed and torque of servo motor can be verified at any time.
• One MV-L40 can manage amplifiers of up to 4 axes.
Up to 18 MV-L40 units can be connected to a single CPU unit. The system with up to 72 axes can be
built.
• 1 to 4 axes can be controlled independently, 2 to 4 axes can be interpolated linearly.
• There are 4 types of control modes that can be used by switching:
• Position control mode
• Speed control mode
• Torque control mode
• Manual pulse mode
• With special software MV LINK STUDIO with monitoring and teaching functions, not only parameters
can be set up and edited, MV high-speed link system can also be configured conveniently.
1-7
1 Precautions on Using MV High-speed Link System

PREPARATION
■ Precautions on Servo Amplifier

The servo amplifier, which can be connected MV high-speed link system, is marked with "KV-L40
Compliant" on its nameplate.
"1-1 Checking the Content of the Package" ( Page 1-2)
■ Precautions on Power Supply

• Please first turn the servo amplifier on, MV-L40 when powering on.
• Please first turn the MV-L40 off, servo amplifier when powering off.
■ Precautions on Parameter Settings

Parameter setting, which is transferred from MV-L40 with MV LINK STUDIO, is stored in SRAM of MV-
L40. When parameter setting is edited through the access window of servo amplifier or KV-HPD1, it can
also be stored in SRAM of MV-L40.
The backup time of SRAM is about 2 months (@+25°C). If power is off for long time after writing
parameters, you have to write parameters in flash memory.
Please write parameter settings into flash ROM by the following methods:
• Power on again after MV-L40 is powered off
• Through ladder program
"9-5 DM/Relay Function" ( Page 9-62)
• Write flash ROM
MV LINK STUDIO User's Manual, "7-3 Writing Unit"
■ Precautions for CE Marking

For CE Marking and UL certificate, please see . "SPECIFICATIONS & FUNCTIONS" (Page 2-1)
■ Precautions on installation
For Precautions on installation such as MV-L40, servo amplifier, servo motor installaiton etc., please
see "INSTALLING" (P3-1).
■ Precautions on wiring
Risks, such as electrical shock, may result when wiring.
For Precautions on wiring, please see "WIRING AND SETTING OF SERVO AMPLIFIER" (P4-1).
1-8
Relationship Between Direction of Rotation of Motor and Coordinate System 1
PREPARATION
Relationship between motor rotation direction and coordinate in MV high speed link system are shown as follows.
When performing parameter setting and sensor etc. wiring or current coordinate monitoring, it can be as reference.
Example
In the system parameter "Coordinate increase direction", set CCW or

CW as the increase direction of current coordinate. In this figure, CCW
is [+] direction (coordinate increase direction).
ĕ>@direction >@direction ė
Software
Software limit Software limit
Motor
ĕCW direction CCW directionė
Ball screw (RH)
CW limit switch CCW limit switch
Machine
CW_LS CCW_LS
(pin No.3) (pin No.2)
With the system parameter "Switch the limit switch", the

wiring of CCW/CW limit switch can be switched by
software.
CCW CW
CCW : motor axis rotates counterclockwise

CW : motor axis rotates clockwise
Note
CCW, CW is determined by machine.
1-9
1 ■ Motor rotation direction and coordinate setting

The coordinate system could be not easy to understand since it is related to the current coordinate
PREPARATION
increase/decrease direction and wiring of limit switch when combining CCW/CW direction and
coordinate system.
In MV high-speed link system, the direction that the current coordinate increases is defined as [+]
direction, and the direction that the current coordinate decreases is defined as [-] direction. The
parameter name is also expressed with [+]/[-].
(1)Firstly, The motor rotation direction (CCW/CW) of current coordinate increase direction is
determined by system parameter "coordinate increase direction" setting.
Later, coordinate system is determined by current coordinate increase/decrease direction ([+]/[-]
direction).
(2)[+]/[-] in parameter name, relay names indicate current coordinate increase/decrease direction.
E.g: Soft limit [+] side coordinate [-] side torque limit
JOG [+] relay JOG [-] relay
(3)Wiring of CW limit switch and CCW limit switch

In the example on page 1-9, CCW limit switch is set in CCW direction, which is connected to
CCW_LS (Pin No.2) of I/O connector.
After wiring limit switch, it can be changed by modifying the software (“Limit switch change”system
parameter).
1-10
Data Flow Between MV-L40 and CPU 1
PREPARATION
MV-L40 control motor according to parameter value saved in MV-L40 internal memory through servo
amplifier.
Parameters can be set in the access window of MV LINK STUDIO, teaching unit KV-HPD1 and servo
amplifier. In addition, the parameter set value can be transferred to the MV LINK STUDIO or memory
card.
The data flow for controlling MV-L40 is as follows.
CPU unit MV-L40
(1)
Input relay
MV high-speed link
Ladder program
(2) system for CPU

Output relay
(3) Memory (SRAM)

Servo parameter (7)
Data memory
Flash ROM
Point parameter
(4)
System parameter
(5) (8)
Memory card Speed Parameter
Common set parameter
(6)
(10)
(9)
Servo amplifier
KV-HPD1
Access window teaching unit
PC
MV LINK STUDIO
Servo motor
1-11
1 (1) Operating Monitor

Motion state at moving, zero returning, in error, etc. will be checked by input relay assigned by MV-
L40.
PREPARATION
"9-2 List Of Input Relays" ( Page 9-4)
(2) Operation Instruction

When MV-L40 performs Start Operation, Zero Return or Alarm Reset, the output relay will be
controlled via ladder program of CPU unit.
"9-3 List of Output Relays" ( Page 9-15)
(3) Read parameter from ladder diagram

MV-L40 parameter set value read from ladder diagram can be transferred to CPU unit as required.
"9-4 DM List" ( Page 9-25)
"Read/Write Parameters (change parameters)"( page 9-91 )
(4) Change parameter from ladder diagram

MV-L40 parameter set value can be changed from ladder diagram as required.
"9-4 DM List" ( Page 9-25)
"Read/Write Parameters (change parameters)"( page 9-91 )
(5) Memory card

The parameter set value can be transferred from memory card inserted in CPU unit to MV-L40.
MV LINK STUDIO User Manual, "2-2 File management of memory card"
(6) Parameter setup

Parameter set value set in MV LINK STUDIO can be written to MV-L40 internal memory (SRAM),
other than CPU unit.
MV LINK STUDIO User Manual, "6-2 Parameter setup"
(7) Copy parameter set value from flash ROM to SRAM

When exceeding the backup time or the SRAM parameter set value has been lost, instead, the saved
parameter in Flash ROM will be copied to SRAM.
(8) Write parameter to flash ROM

Parameter set value transferred from MV LINK STUDIO to access window MV-L40, or servo
amplifier, or is edited in KV-HPD1, can be saved in SRAM of MV-L40.
The backup time of SRAM is about 2 months (@+25 °C). If it is OFF for a long time, write in flash
ROM in advance.
"Precautions on Parameter Settings"( page 1-8 )
(9) Carry out parameter setup from access window

Parameter can be set in servo amplifier access window.
"■ Parameter display/setting" ( Page 11-17)
(10) Carry out parameter setup from KV-HPD1

Parameter can be set in teaching unit KV-HPD1.
" Demonstration operation" ( Page 12-15)
1-12
1-4 System Configuration
1
Configuration with External Devices
PREPARATION
In MV high-speed link system it is possible to connect the following external devicess.
KV-HPD1
Parameter Setup/Monitor MV-L40 teaching unit
Software PC
MV LINK STUDIO(CD-ROM) communication cable Teaching unit
connecting cable
MV-B1
I/O connector
terminal block
I/O connector terminal

block cable Bus connection cable
Bus connection cable Master axis unit

MV-21/22/41/42/72 MV-21/22/41/42/72
Expansion unit
I/O connector cable power cable
Electromagnetic brake cable Encoder cable Motor power cable
Standard motor
MV-M05(D)/M10(D)/M20(K)/M40(K)/M75(K)
D: quadrature-axis, K: Keyway axis
Electromagnetic brake motor

MV-B05(D)/B10(D)/B20(K)/B40(K)/B75(K)
Servo motor D: quadrature-axis, K: keyway axis
1-13
1 Master Axis Unit and Expansion Unit

PREPARATION
In MV high-speed link system it is possible to expand servo amplifier.

On MV-L40 it is possible to connect one master axis unit + up to 3 expansion units.
If the total motor capacity of expansion units is not more than the converter capacity of master axis unit,
it is possible to connect expansion unit. Converter capacity of master axis unit is as follows:
■ Converter capacity of master axis unit

Master axis unit (200V Type)
Model MV-22 MV-42 MV-72
Voltage of main circuit 3-phase or 1-phase AC200-230V
Standard MV-M75(K)
MV-M05(D) MV-M10(D) MV-M20(K) MV-M40(K)
motor
Applicable servo Model
Electromagneti
motor MV-B05(D) MV-B10(D) MV-B20(K) MV-B40(K) MV-B75(K)
c brake motor
Output 50W 100W 200W 400W 750W
Converter capacity
1200W 1600W 2000W
Values in "( )" are data when the voltage of main
（800W）（1000W）（1300W）
circuit is 1-phase AC200-230V.
Master axis unit (100V Type)

Model MV-21 MV-41
Voltage of main circuit 1-phase AC100 to 120V
Standard
MV-M05(D) MV-M10(D) MV-M20(K) MV-M40(K)
motor
Applicable servo Model
Electromagneti
motor MV-B05(D) MV-B10(D) MV-B20(K) MV-B40(K)
c brake motor
Output 50W 100W 200W 400W
Converter capacity 600W
■ Calculating capacity of expansion unit

The relationship between converter capacity of master axis unit and expansion unit connectable is as
follows.
(Converter capacity of master axis unit) ≧ (Total rated motor output of servomotor connected to
the master axis unit and expansion unit)
Use the following servo system as example to describe the calculating way.
Master axis unit: 400W Servo motor
expansion unit: 400W servomotor×1 unit, 200W servomotor×2 units
(Total rated output of servo motor) =(Master axis unit) +(expansion unit)
(400W) + (400W×1 unit+200W×2units)
= 1200W
So the master axis unit must be with 1200W above converter capacity.
1-14
Note
• The amplifier No.2 must be set as master axis unit.
1
PREPARATION
• After turning on the main power of master axis unit, MV-L40 will automatically identify
the capacity of all servo amplifiers connected. If the total converter capacity of master
axis unit is not enough, it will give alarm in progress (401 Insufficient converter
capacity).
• The converter capacity of master axis unit is calculated on basis of rated motor output of
expansion unit of amplifier No. set in master axis unit.
• If model is selected via "unit editor", it will automatically calculated the total rated output of
servomotor connected on master axis unit and expansion unit.
As for Unit Editor, please refer to Chapter 8 "SETTING UP USING UNIT
EDITOR"(P8-1).
The following will describe the three cases when main power supply is 3-phase AC200 to 230V, 1-
phase AC200 to 230V and 1-phase AC100 to 120V.
● When the main power supply is 3-phase AC200 to 230V

3-phase AC200 to 230V power and the following contents are selected.
Amplifier No.2 Amplifier No.3 Amplifier No.4 Amplifier No.5

MV-42 MV-40 MV-20 MV-20
Master axis unit Expansion unit Expansion unit Expansion unit
Capacity of
MV-B1 converter:
1600W
3-phase, AC200 to 230V

Servo motor Servo motor Servo motor Servo motor
400W 400W 200W 200W
Amplifier Converter
Unit Servo motor capacity
No. capacity
2 Master axis unit MV-42 1600W 400W
3 Expansion unit MV-40 - 400W
Total 1200W
Converter capacity of master axis unit is 1600W, the total rated motor output of servomotor connected
to the master axis unit and expansion unit is 1200W. As 1600W>1200W, so it is ok.
1-15
1 ● When the main power supply is 1-phase AC200 to 230V

PREPARATION
Master axis unit used

as a expansion unit

MV-42 MV-40 MV-22 MV-20
˄Master axis unit˅
Capacity of Capacity of
MV-B1 converter: converter:
1000W 800W
Single phase, AC 200 to 230V Single phase, AC 200 to 230V

400W 400W 200W 200W
Amplifier Converter
No. capacity
Expansion unit Total 1200W
4 MV-22 800W 200W
(Master axis unit)
If selecting MV-42 in master axis unit (converter capacity for 1-phase AC200 to 230V: 1000W), in
relative to the total rated output of servomotor 1200W, the converter capacity of master axis unit is
insufficient. In this case, the master axis unit is used as expansion unit so as to supplement the
insufficiency in converter capacity.
Note
If the amplifier No. switch of master axis unit is set as 3 above, it is recognized as
expansion unit.
CAUTION When the master axis unit is used as an expansion unit, it must be powered from
main circuit terminal.
Don't supply power to the power connector OUT of expansion unit. Otherwise it may
damage the unit.
1-16
● When the main power supply is 1-phase AC100 to 120V

1
PREPARATION
Master axis unit used
as a expansion unit

MV-41 MV-41 MV-20 MV-41
(Master axis unit) (Master axis unit)
Capacity of Capacity of Capacity of
MV-B1 converter: converter: converter:
600W 600W 600W
Single phase, AC100 to 120V Single phase, AC100 to 120V Single phase, AC100 to 120V
400W 400W 200W 400W
Amplifier Converter
No. capacity
Expansion unit
3 MV-41 600W 400W
(Master axis unit)
Total 1400W
Expansion unit
4 MV-20 - 200W
(Master axis unit)
5 Expansion unit MV-21 200W 400W
If it is 1-phase AC100 to 120V power, select MV-41 for master axis unit (converter capacity: 600W),
however, in relative to the total rated output of servomotor 1400W, it is insufficient. In this case, the
master axis unit is used as expansion unit so as to supplement the insufficiency in converter capacity.
Note
If the amplifier No. switch of master axis unit is set as 3 above, it is recognized as
expansion unit.
CAUTION When the master axis unit is used as an expansion unit, it must be powered from
main circuit terminal.
Don't supply power to the power connector OUT of expansion unit. Otherwise it may
damage the unit.
1-17
1 Option
PREPARATION
DANGER
When connecting options and External devicess, installation can be done only 5min
after turning off power and confirming that CHARGE indicator lamp in front of servo
amplifier is off. Otherwise it may result in electric shock.
CAUTION Please use specified External devices or options. Otherwise it may result in fault
and fire, etc.
■ Option list
Category Name Model Remarks
MV-E3 Cable length 3m
Encoder cable flexible cable
MV-C3 Cable length 3m
Motor power cable flexible cable
Servo motor
MV-D3 Cable length 3m
Electromagnetic brake MV-D5 Cable length 5m Electromagnetic brake
cable MV-D10 Cable length 10m motor flexible cable
MV-D20 Cable length 20m
Encoder /motor power Such terminator as encoder connector, motor power
OP-51416
Terminator connector, electromagnetic brake connector, etc.
MV-W1 Cable length 1m
I/O connector cable Single-end cable
MV-W3 Cable length 3m
I/O connection of I/O connector terminal block OP-51417 I/O connector junction terminal block unit
servo amplifiers I/O connector terminal
KV-HC4 Cable length 1m
block cable
I/O connector 50P OP-51419 I/O connector Only connector
Adaptor 1
Servo amplifier Installing tool for Used in bus connection
Bus for MV-L40
MV-L40 MV-B1 communication Cable 5m between servo amplifier
Link adapter
connection Bus connection cable 1 (X1 axis) and MV-L40
Bolt 2 pieces
For Absolute Position
OP-51422 For absolute Position Inspection System
Servo amplifier Inspection System Li battery
Others For master axis unit (common for all master axis
Brake resistor OP-51418
units)
1-18
Category Name Model

OP-42380 Cable length 1m
Remarks 1
PREPARATION
Teaching unit connecting OP-42381 Cable length 3m
Teaching unit
cable OP-42382 Cable length 5m
OP-42383 Cable length 10m
D-sub 9-pole adapter
OP-26486
connector
Cable length 2.5 m Used in communication
Softwair cable/connector OP-26487
(straight) with CPU
Cable length 3m
OP-35331
(USB cable)
1-19
1 Encoder cable
Motor power cable
Encoder /motor power terminator
OP-51416
MV-E5 Cable length 5 m MV-C5 Cable length 5 m
PREPARATION

Electromagnetic brake cable I/O connector terminal block I/O connector cable
MV-D3 Cable length 3m OP-51417 MV-W1 Cable length 1 m
MV-D5 Cable length 5 m MV-W3 Cable length 3 m
MV-D10 Cable length 10 m
MV-D20 Cable length 20 m
I/O connector terminal block cable MV-L40 bus link adaptor

KV-HC4 MV-B1
Adaptor 1 Installation tool 1 Installation screw 2
Communication cable 5m Bus connection cable 1
I/O connector 50P USB cable OP-35331 Li battery for Absolute Position
OP-51419 PC connection cable/connector Inspection System
OP-26486 OP-51422
OP-26487
Brake resistor Teaching unit Teaching unit connecting cable

OP-51418 KV-HPD1 OP-42380 Cable length 1.5 m
OP-42381 Cable length 3 m
1-20
1-5 Setting Procedures
1
Starting Procedures
PREPARATION
Here it is to describe the basic starting procedures for MV hi-speed link system.
(1) Mounting MV-L40, servo amplifier and servo motor.

Chapter 3 "INSTALLING" (P3-1)
(2) Setting up the wiring and servo amplifier

࡮Wiring between MV-L40 and servo amplifier
࡮Wiring master axis unit
࡮Wiring expansion unit
࡮Wiring between servo amplifiers
࡮Wiring between servo amplifier and servomotor
࡮Wiring I/O connector
࡮Wiring KV-HPD1
࡮Wiring between PC and CPU unit
࡮Setting of servo amplifier (amplifier No. switch, terminator)
Chapter 4 "WIRING AND SETTING OF SERVO AMPLIFIER" (P4-1)
(3) Installing software

Install KV STUDIO/KV BUILDER. Install USB driver.
Install MV LINK STUDIO.
KV STUDIO User's Manual, KV BUILDER User's Manual
MV LINK STUDIO User Manual
(4) Setting up by using Unit Editor

(4) Setting up by using Unit Editor.
Create the ladder program (only for END and ENDH) and transfer to CPU Unit.
KV STUDIO User's Manual, KV BUILDER User's Manual
Chapter 8 "SETTING UP USING UNIT EDITOR" (P8-1)
(5) Setting up parameters

Set up parameters by using MV LINK STUDIO and transfer.
Chapter 10 "PARAMETER SETUP" (P10-1)
1-21
1 ‫(ޓ‬6) Trial operation

PREPARATION
Start the trial operation from access window of servo amplifier as required.
Ensure the motor running properly.
Chapter 11 "ACCESS WINDOW" (P11-1)
‫(ޓ‬7) Checking I/O

By the access window of servo amplifier or MV LINK STUDIO, ensure the external
I/O functioning properly.
Chapter 11 "ACCESS WINDOW" (P11-1)
Chapter 8 Monitor
"9-3 I/O Forced Output"
‫(ޓ‬8) Making ladder program

Make and transfer a ladder program using KV STUDIO/KVBUILDER.
KV STUDIO User Manual, KV BUILDER User's Manual
Chapter 15 "EXAMPLES OF BASIC OPERATION" (P15-1)
‫(ޓ‬9) Verifying the operation in a real machine

Set to Auto Tuning and calculate the servo parameter gains meeting the machine
characteristic automatically.
"Auto tuning"(P1-23)
(10) Tuning
Tune gains manually when improving the response characteristic.
"Manual tuning"(P1-25)
1-22
Tuning 1
PREPARATION
To be adaptive to the controlling machine, you have to tune the gain of servo parameter depending on
feature of the machine. The tuning is classified as automatic tuning which is to tune gain automatically and
manual tuning which is to set parameters manually. Please set it as "auto tuning" in normal case.
■ Auto tuning
The function to evaluate the feature of machine in real time and set proper parameters automatically
during the operation depending on machine feature is called "automatic tuning".
The following 5 servo parameters can be set automatically in auto tuning mode:
• Position gain
• Speed gain
• Integral time constant
• Torque command LPF
• Ratio of load moment of inertia
● procedures for automatic tuning
1 The "tune mode" of servo parameter is set as "auto tuning".

• To use access window of servo amplifier
"Set up tuning"(P11-16)
• To use tuning function of MV LINK STUDIO
MV LINK STUDIO User Manual, "9-2 Tuning"
• Using KV-HPD1
"Parameters"(P12-13)
2 Run it.
If auto tuning is used, it will automatically adjust the gain into proper one during operation.
If it is impossible to get good control outcoming in operation, please adjust the response feature for automatic tuning of step 3.
3 Adjust the "Response characteristic for auto tuning" for servo parameter.
When controlling machine, you have to take into account the rigidity and resonance of the machine. Depending
on "Response characteristic for auto tuning" for servo parameter, it is possible to get the optimal gain.
Machine Resonance frequency of
Driving system Set value
rigidity machine (Hz)
Low 22 1
26 2
30 3
Chain 34 4
Driving 39 5
45 6
52 7
Belt
60 8
Driving 68 9
79 10
90 11
Ball screw
109 12
Driving
136 13
164 14
High 204 15
1-23
1 After adjusting the "response characteristic for auto tuning", run it again.
After that just by repeating step 2 and 3, it is possible to adjust to the optimal gain.
PREPARATION
As for tuning, the following way can be used.
4 Write RAM of MV-L40 the gain results of automatic tuning.

During the automatic tuning, the gain adjustment is not written into SRAM of MV-L40.
If not writing SRAM, when turning on power next time, the value set in parameter will be taken as
default for gain adjusting, therefore it is impossible to have optimal operation when starting operation.
Way for writing SRAM of MV-L40 (AT parameter mapping)

Access window of servo amplifier
Tuning function of MV LINK STUDIO
Using PLC device
"AT Parameter Reflection"(P9-99)
5 Then writing flash ROM of MV-L40

During automatic tuning, by AT parameter mapping it will write gain adjustment into SRAM of MV-L40
but not in flash ROM.
After AT parameter mapping, if MV-L40 is not ON for long time, you have to also write gain adjustment
in advance in flash ROM.
Way for writing flash ROM

• Turn off and on again MV-L40
• Using PLC device
"Write Flash ROM"(P9-90)
• Using KV-HPD1
"Options"(P12-16)
TIP Under the following case maybe the automatic tuning can't go smoothly.
• Acceleration/deceleration is less than 0.5 (r/min)/ms.
• Sharp disturbing torque is added during acceleration/deceleration.
• Load moment of inertia ratio is more than 30.
1-24
■ Manual tuning 1
When auto tuning can't go smoothly, or when it is necessary to improve response feature, you can
PREPARATION
adjust the gain of servo parameter manually. Here it is to describe the manual adjusting way for manual
gain tuning.
Note
In manual tuning, it is recommended to calculate the target for parameter in automatic
tuning, carry out ATparameter mapping, and tune gain after that.
● Parameters for manual tuning

The parameters for manual tuning are basically classified into the following 3 types.
• Position Gain
• Speed gain
• Integral time constant
● procedures for manual tuning

The gain tuning of servo parameter is done in the following procedures.
1 The "tune mode" of servo parameter is set as "manual tune".

As for tuning, the following way can be used.
• Using the Tune menu of access window

• Tuning function of MV LINK STUDIO
• Using KV-HPD1
"Parameters"(P12-13)
2 Set speed gain

The value got in auto tuning will be reduced 10-20%.
3 Set position gain

The value got by auto tuning will be increased in range that is free from vibration and abnormal sound.
If vibration or abnormal sound occurs, it will be reduced slightly.
4 Set speed gain

The value got by step 2 will be increased in range that is free from vibration and abnormal sound. If
vibration or abnormal sound occurs, it will be reduced slightly.
5 Set integral time constant

The value got by auto tuning will be increased in range that is free from vibration and abnormal sound.
If vibration or abnormal sound occurs, it will be reduced slightly.
6 Set position gain

The value got by step 3 will be increased in range that is free from vibration and abnormal sound. If
vibration or abnormal sound occurs, it will be reduced slightly.
1-25
1 7 Check control results
TIP
PREPARATION
• You must adjust parameters one by one. If you adjust several parameters one time, it is
impossible to know the influence from which parameter has changed the control
outcoming.
• Depending on machines, if there is any overshoot, the time to target position may be
quicker.
As for "Positioning Adjusting Time/Alarm No., DM", please refer to "Normal Read Area"(9-25)。
1-26
2
SPECIFICATIONS &
FUNCTIONS
This chapter describes the name and function of each part of the MV high
speed link system, Specificationss, CE mark and precautions related to UL
certification.
2-1 Names and Functions of Parts ••••••••••••••••••••••••••• 2-2

2-2 SPECIFICATION •••••••••••••••••••••••••••••••••••••••••••• 2-7
2-3 Precautions on CE Marking (MV-L40/MV-B1)
•••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••••• 2-23
2-4 Precautions on CE Marking (MV series servo amplifier/
servo motor) •••••••••••••••••••••••••••••••••••••••••••• 2-24
2-5 Precautions on UL Approval (MV-L40/MV-B1) •••••• 2-28
2-6 Precautions on UL Approval (MV series servo amplifier/
servo motor)••••••••••••••••••••••••••••••••••••••••••••• 2-29
2-7 How to Suppress High-order Harmonics ••••••••••••• 2-32
2-1
2-1 Names and Functions of Parts
Name and Function of Each Part of the MV-L40

2
Front view Side view
SPECIFICATIONS & FUNCTIONS
(6) Lock lever

(1) Direct access switch
(2) Communication status indicator (RD)
(3) Communication status indicator (SD)
(4) Teaching unit connector
(5) Communication terminal block
(6) Lock lever
No. Description Function

When this switch is pressed, the status of the MV-L40 can be
monitored in the access window of the CPU unit.
In addition, you can also know the status of the MV-L40 by the
color of the switch.
Green LED lit: Normal operation (excluding some exceptions*1)
(1) Direct access switch Green LED blinking: When the switch is pressed in a green lit state,
and the unit is selected.
Red LED lit: When a unit error has occurred (excluding some
exceptions*2)
Red LED blinking: When the switch is pressed in a red lit state, and
the unit is selected.
Communication status indicator
(2) The orange color LED turns on when receiving data or responding.
LED (RD)
Communication status indicator
(3) The orange color LED turns on when sending data or responding.
LED (SD)
(4) Teaching unit connector Connects the teaching unit KV-HPD1.
Connects the MV-B1 with communication cables. (M3 screws)
(5) Communication terminal block
SA: signal A SB: signal B SG: signal grounding wire
(6) Lock lever Locks the connection of the unit.
*1: This LED (green) lights even if operation is not normal in the following instances.
(1) When the number of connected units differs from the unit information on the CPU Unit when the power
is turned ON.
(2) When the model type connected differs from the unit information on the CPU Unit when the power is
turned ON.
*2: This LED lights (red) in the following instance even if the state is not a unit error state: (an error message
will be displayed in the access window.)
(1) When the power is turned on, and the CPU unit information becomes the configuration with single CPU
2-2
Name and Function of Each Part of the MV-B1
2
Front Side

(1) Communication terminal
(2) bus connection cable connector
Not used
No. Description Function

Connects the MV-L40 with communication cables. (M3 screws)
（1） Communication terminal
SA: signal A SB: signal B SG: signal grounding wire
Use the bus connection cable to Use the bus connection cable supplied with the MV-B1 to connect
（2）
connect connectors. the MV-B1 to the servo amplifier.
2-3
Name and Function of Each Part of the Servo Amplifier
2 ■ Master axis unit

˄1˅ ˄6˅
˄7˅
˄8˅
˄9˅
(14)
˄2˅ ˄10˅
(18)
˄3˅
˄11˅ (15)
(16)
˄4˅
˄12˅
˄5˅
(17)
˄13˅ (19)
No. Name Function

There is no termination resistor inside the MV-L40, so the selector switch
(1) Terminator selector switch of the servo amplifier at other end of the bus connection must be set to
ON.
(2) Operation keys in the access window Used for operation of the access window.
Lithium battery connector Lithium battery for connecting the absolute position detection system
(3)
for the absolute position detection system (OP-51422)
Main circuit/control circuit power
(4) Connects to the power supply.
terminal (M4)
(5) Heat sink Used to dissipate heat in the servo amplifier.
(6) Bus connector Used to perform bus communication between two units.
Performs parameter setup and monitoring display of the servo amplifier.
(7) Access window Green: normal operation
Red: alarm
Displays the alarm that has occurred and the communication status
(8) Indicator light
between two units. °
(9) Amplifier No. switch Sets the No. of the amplifier.
(10) PC/CONSOLE connector This connector is not used for the MV high speed link system.
Connects the emergency stop input, origin sensor, limit switch, alarm
(11) I/O connector
output, etc.
(12) PLC serial connector This connector is not used for the MV high speed link system.
The red LED will turn on when power is applied to the main circuit
(13) CHARGE indicator LED
power terminal.
Supplies power to the servo motor. Connects to the motor
(14) Motor power connector
connector (supplied with the unit) through a motor power cable.
(15) Expansion unit power connector OUT Connects an expansion unit through an expansion unit power cable.
(16) brake resistor connector Connects the brake resistor connector (supplied with the unit).
Protective grounding terminal (2
(17) Connects the grounding wire. (fixed by M4 screws)
places)
(18) Encoder connector Connects the encoder cable.
(19) Mounting hole (3 places) Mounts the amplifier onto the control panel etc.
* For the status of the indicator LEDs, refer to "Expansion unit"(Page 2-5).
2-4
■ Expansion unit
˄1˅ ˄5˅
˄6˅ 2
˄7˅

˄8˅
˄9˅ ˄˅
˄2˅
˄˅
˄3˅
˄10˅ ˄˅
˄˅
˄4˅
˄˅
˄11˅ ˄˅
No. Name Function
There is no termination resistor inside the MV-L40, so the selector
(1) Terminator selector switch switch of the servo amplifier at other end of the bus connection must be set
to ON.
(2) Operation keys of the access window Used for operation of the access window.
Lithium battery connector Lithium battery for connecting the absolute position detection system
(3)
for the absolute position detection system (OP-51422)
(4) Heat sink Used to dissipate heat in the servo amplifier.
(5) Bus connector Used to perform bus communication between two units.
Performs parameter setup and monitoring display of the servo amplifier.
(6)
Access window Green: normal operation
Red: alarm
Displays the alarm that has occurred and the communication status
(7) Indicator light
between two units. *
(8) Amplifier No. switch Sets the No. of the amplifier.
(9) Pc connector This connector is not used for the MV high speed link system.
Connects the emergency stop input, origin sensor, limit switch, alarm
(10) I/O connector
output, etc.
The red LED will turn on when power is applied to the main circuit
(11) CHARGE indicator LED
power terminal.
Supplies power to the servo motor. Connects to the motor connector
(12) Motor power connector
(supplied with the unit) through the motor power cable.
(13) Expansion unit power connector OUT Connects an expansion unit through an expansion unit power cable.
(14) Expansion unit power connector IN Supplied through the main unit or other expansion units.
(15) Protective grounding terminal (2 places) Connects the grounding wire. (fixed by M4 screws)
(16) Encoder connector Connects the encoder cable.
(17) Mounting hole (3 places) Mounts the amplifier onto the control panel etc.
* The status and content of the indicator LEDs are as follows:
Item Name State Content
light ON An alarm occurs
ERROR Error LED (red)
light OFF No alarm occurs
light ON Servo ON state
SV ON Servo ON LED (green)
light OFF Servo OFF state
light ON Bus communication is in progress (send)
BUS SD BUS SD LED (orange)
light OFF No bus communication is in progress (send)
light ON Bus communication is in progress (receive)
BUS RD BUS RD LED (orange)
light OFF No bus communication is in progress (receive)
2-5
Name and Function of Each Part of the Servo Motor
2 The shape of the servo motor varies with the motor capacity or whether it has an electromagnetic brake.
Without electromagnetic brake Electromagnetic brake
˄4˅ ˄4˅
˄5˅
˄5˅
˄1˅ ˄1˅
˄2˅ ˄2˅
˄6˅ ˄6˅
˄3˅ ˄3˅
˄7˅ ˄7˅
No. Name Function

Connects to the motor power connector of the servo amplifier.
Motor cable (no brake)
"DC24V" will be imprinted on the name plate of the brake cable if it
(1) Motor/brake cable
is fitted with a brake, which can be used for the electromagnetic
(only with brake)
brake.
(2) Flange The surface on the machine that is used to mount a servo motor.
The rotating axis of the servo motor. Besides direct-axis, there are
(3) Output axis
also quadrature-axis and keyway axis, etc.
(4) Encoder cable Connects to the encoder connector of the servo amplifier.
(5) Encoder Built-in 17 bit absolute encoder.
(6) Support Supports the output axes of the servo motor.
(7) Mounting hole (4 places) Used to mount the servo motor.
Note
The motor cable and encoder cable can not be connected to the amplifier directly.
Please connect through the optional motor power cable and encoder cable.
"4-6 Wiring servo amplifier and servomotor" (Page 4-24)
2-6
2-2 SPECIFICATION
Specifications of the MV-L40

2
■ General specification

Item Specification
Power supply Supplied by KV-1000/700 (DC 24V, Class2)
Current consumption 120mA (190mA when the KV-HPD1 is connected)
Operating temperature 0 to +50 °C (no icing)
Storage temperature -20 to 70°C
Operating humidity 35 to 85% RH (no condensation)
1500Vp-p pulse width 1μ50ns (based on noise simulator)
Noise immunity
Conforms to IEC standard (IEC61000-4-2/3/4/6)
AC 1500V for 1 min (between power terminal and I/O terminals, and between all
Withstand voltage
terminals and housing)
Transient interruption time 2ms (based on the CPU unit)
Number of
Intermittent vibration
sweeps
Frequency Acceleration Amplitude
JIS B 3502 10 to 57 Hz - 0.075mm 10 cycles for
Vibration resistance IEC61131-2 57 to 150 Hz 9.8 m/s2 - X/Y/Z
compliant Continuous vibration direction
Frequency Acceleration Amplitude respectively
10 to 57 Hz - 0.035mm (80 minutes)
57 to 150 Hz 4.9m/s2 -
50M above (measured by a DC500V megger, between the power terminal of the
Insulation impedance CPU unit and I/O terminals,
and between all external terminals and housing)
Environment less dust and corrosive gases
Weight approx 180g
Dimensions 90(H) x 35(W) x 80(D)
2-7
2-2 SPECIFICATION
■ Performance specification
Item Specification
2 Model MV-L40
Number of axes that can be controlled 2 to 4 axes simultaneously (linear interpolation), 4 axes independently
Possible to connect the CPU unit KV-1000/KV-700
18 (72 axes) *when the number exceeds 16, an extension unit is

required.
Maximal number of connected devices
However, it is not possible to connect to the third segment when using
the extension unit.
Occupied device (4 axes) relay 512 points, data memory 1200 words
Control mode Position / speed / torque / manual pulse
Memory points 100 points (each axis)
[mm], deg (angle), PLS (number of pulses), decimal point position 0 to 7
Position setting unit
digit
Position setting range -99999999 to +99999999
Electronic gear A/B A=1 to 65535, B=1 to 65535
Accumulated address -2147483648 to +2147483647 pulses
1 operation address -2147483648 to +2147483647 pulses
Absolute positioning, incremental positioning, position type speed
Operation mode control, position contro →inching positioning, position type speed
control→inching positioning, 2 to 4 axes linear interpolation positioning
Number of speeds that
16 (each axis)
can be set
Speed setting range 1 to 99999999
Acceleration/
Linear, sine
Position deceleration curve
control Acceleration/
deceleration setting 1 to 65000
range
Acceleration/
2ms
deceleration control unit
Standby after deceleration, immediate start after deceleration,
Continuous operation
continuous acceleration/deceleration without deceleration
Palletization Relative movement accumulated cycle/return function
High speed origin return method without using the sensor before origin
• [ - ] limit switch and origin sensor common mode
• If there is AND condition of the encoder Z phase and the origin sensor.
Origin return method
• Medium point of the origin sensor
• Edge detection of the origin sensor
Selectable
M-code output No.1 to 255, WITH/AFTER mode selectable
Other Backlash calibration, software limit
Speed command value 0 to 5000 (x 1r/min unit)
Acceleration time
Speed 0 to 24000ms
constant
control
Deceleration time
0 to 24000ms
constant
Torque
Torque command value 0 to5000 (x0.1%)
control
Electronic gear A/B A=1 to 65535, B=1 to 65535 Command override: 1 to 63
The value in the case of line drive input
Max. 500kHz (1 pulse input and 2 pulses input)
Input pulse frequency Max. 450kHz (A phase, B phase pulse input)
Manual The value in the case of open connector input
pulse Max. 200kHz, no matter what input pulse method it is.
• 1 pulse input (pulse train input + direction command input)
• 2 pulses input (clockwise rotation pulse train input + counter-clockwise
Input pulse method
pulse train input)
• A phase/B phase pulse input
2-8
2-2 SPECIFICATION
Item Specification
The flash ROM can be rewritten 100,000 times (write at next power-on)
* write time: typical 40s
Data backup
The following data can be maintained in the super capacitor for 2
months (+25°C)
2
• Parameter settings

• Alarm log
• The screen information when the KV-HPD1 is last turned OFF
Teaching current coordinates through JOG movement
• Teaching through a PLC device
Teaching
• Teaching through the MV LINK STUDIO
• Teaching through external inputs
Alarm display The alarms will be displayed on the KV-HPD1 and CPU unit
Transient interruption detection Will stop when transient interruption of power is detected
Diagnosis can be performed according to various parameter alarms,
Self-diagnosis function
alarm No. and messages
• Parameters can set through the KV-HPD1 or the MV LINK STUDIO
Parameter setting • Parameters can set through the data memory settingand relay control
• Parameters of each axis can be set through respective servo amplifier
■ Communication specification
Item Specification
Symbol mode f, f/2 symbolization
Control mode Distributed token bus control
Communication voltage below 5V
Baud rate 5Mbit/s
Communication cycle time 2ms
Communication medium Special cable 2 core shielded twisted pair
Error control Vertical parity, check sum, dual sampling, pulse noise detection
Denotation SD, RD
Specification of the MV-B1
■ General specification
Item Specification
Operating temperature 0 to +50°C (no icing)
approx 35g (bus connection cable: approx 30g communication cable 5M:
Weight
440g)
Overall dimension 67.5(H) x 15(W) x36.5(D)
■ Communication specification
Item Specification
Symbol mode f, f/2
Control mode Distributed token bus control
Communication voltage below 5V
Baud rate 5Mbit/s
Communication cycle time 2ms
Communication medium Special cable 2 core shielded twisted pair
Error control Vertical parity, check sum, dual sampling, pulse noise detection
Denotation SD, RD
2-9
2-2 SPECIFICATION
Specification of the Servo Amplifier
2 ■ General specification
● Master axis unit 200V type

Item Specification
Type Master axis unit
Model MV-22 MV-42 MV-72
Standard motor MV-M05(D) MV-M10(D) MV-M20(K) MV-M40(K) MV-M75(K)
Applicable Model*1 Electromagnetic brake
MV-B05(D) MV-B10(D) MV-B20(K) MV-B40(K) MV-B75(K)
servo motor motor
Output 50W 100W 200W 400W 750W
Number of servo amplifiers connected in the MV high speed
Max. 3*2
link system
Main circuit Three phase or single phase AC 200 to 230V
voltage
Control circuit Single phase AC 200 to 230V
Allowable voltage
Main circuit/control circuit AC 170 to 253V
variation
Frequency Main circuit/control circuit 50/60Hz
Input supply Allowable
frequency Main circuit/control circuit within ±3Hz
variation
Main circuit 2.5kVA 3.0kVA 3.5kVA
Power capacity
Control circuit 0.25kVA
Allowable transient
Control circuit below 30ms
interruption time
*3 1200W 1600W 2000W
Capacity of the frequency converter
(800W) (1000W) (1300W)
Output control mode IGBT sine wave PWM current control
Feedback 17 bit absolute encoder
When load changes ±0.01% below for load change 0 to 100% (at max. number of rotations)
Speed rate of
When the main circuit voltage changes ±0.01% below for voltage change 0 to 100% (at max. number of rotations)
change
When ambient temperature changes ±0.01% below at 0 to 55°„C working temperature (at max. number of rotations)
Speed control range 1:5000
500Hz (JL=JM JL: motor axis conversion load inertia torque, JM: motor inertia
Frequency response
torque)
Load inertia torque Below 30 times of the motor inertia torque
Protective structure Open, self-cooling
Operating temperature 0 to + 50 °C (no icing)
Operating humidity below 90% RH (no condensation)
Storage temperature -20 to + 65°C (no icing)
Storage humidity below 90% RH (no condensation)
Environment Indoors (no corrosive gases, flammable gases, oil mist and dust)
Mounting altitude below 1000m over sea level
Conforms to JIS C0040, 10 to 55Hz repeated vibration amplitude 1.5mm, 5.9m/s2
Vibration resistance
(0.6 G) 2 hours in the X/Y/Z direction respectively
Shock resistance Conforms to JIS C0041, 19.6m/s2 ( 2G ) 3 cycles in the X/Y/Z direction respectively
10 MΩ above (measured by a DC500V megger; between primary side -
Insulation impedance
second side, primary side - grounding wire, second side - grounding wire)
DC 1500V above (between primary side - second side, primary side - grounding
Withstand voltage
wire, second side - grounding wire)
1500Vp-p above, pulse width 1μs, 50ns (generated by the noise simulator),
Noise immunity
conforms to EN61000-4-2/-3/-4/-6
Overvoltage category III
Degree of pollution 2
Weight approx. 1200g approx. 1400g approx .1600g
*1 Meaning of the end character of the model number: a number (for example MV-M05) denotes a direct-axis, "D" (for
example MV-B05D) denotes a quadrature-axis, and "K" (for example MV-M20K) denotes a keyway axis.
*2 If the total rated output of the servo motor that are connected to the master axis unit and the extension
unit exceeds the frequency converter capacity of master axis unit, it can not be connected.
*3 The data in "( )" are the data when the voltage of the main circuit is single AC 200 to 230V.
For information approx the frequency converter capacity, refer to"Master Axis Unit and Expansion
Unit" ( Page 1-14).
2-10
2-2 SPECIFICATION
● Master axis unit 100V type

Item Specification
2
Type Master axis unit
Model MV-21 MV-41
Standard motor MV-M05(D) MV-M10(D) MV-M20(K) MV-M40(K)

Applicable servo Model*1 Electromagnetic brake
MV-B05(D) MV-B10(D) MV-B20(K) MV-B40(K)
motor motor
Output 50W 100W 200W 400W
Number of servo amplifiers connected in the MV high speed *2
Max. 3
link system
Main circuit Single AC 100 to 120V
voltage
Control circuit Single AC 100 to 120V
Allowable
voltage Main circuit/control circuit AC 85 to 127V
variation
Frequency Main circuit/control circuit 50/60Hz
Allowable
Input supply frequency Main circuit/control circuit within ±3Hz
variation
Power Main circuit 10.5kVA
capacity Control circuit 0.2kVA
Allowable
transient
Control circuit below 30ms
interruption
time
Capacity of the frequency converter 600W
Speed rate of
When the main circuit voltage changes ±0.01% below for voltage change 0 to 100% (at max. number of rotations)
change
When ambient temperature changes ±0.01% below at 0 to 55°C working temperature (at max. number of rotations)
500Hz (JL=JM JL: motor axis conversion load inertia torque, JM: motor
Frequency response
inertia torque)
Operating temperature 0 to ±50 °C (no icing)
Storage temperature -20 to +65°C (no icing)
Conforms to JIS C0040, 10 to 55Hz, repeated vibration amplitude 1.5mm, 5.9m/s2
Shock resistance Conforms to JIS C0041, 19.6m/s2 (2G) 3 cycles in the X/Y/Z direction respectively
10MΩ above (measured by a DC500V megger; between primary side -
second side, primary side - grounding wire, second side - grounding wire)
Withstand voltage
1500Vp-p above, pulse width 1μs, 50ns (generated by the noise simulator),
Noise immunity
conforms to EN61000-4-2/-3/-4/-6
Weight approx 1200g approx 1400g
*1 Meaning of the end character of the model number: a number (for example MV-M05) denotes a direct-
axis, "D" (for example MV-B05D) denotes a quadrature-axis, and "K" (for example MV-M20K) denotes a
keyway axis.
*2 If the total rated output of the servo motor that are connected to the master axis unit and the extension
unit exceeds the frequency converter capacity of master axis unit, it can not be connected.
For information approx the frequency converter capacity, refer to" Master Axis Unit and Expansion Unit"
(Page 1-14).
2-11
2-2 SPECIFICATION
● Extension unit
Item Specification
2 Type
Model MV-20
Extension unit
MV-40 MV-70
Applicable servo Model*1 Electromagnetic

motor brake motor
Output 50W 100W 200W 400W 750W
Main circuit
voltage
Control circuit
Allowable
Main circuit/control
voltage
circuit
variation
Frequency
circuit
Input supply Allowable Supplied through the master axis unit
frequency
circuit
variation
Power Main circuit
capacity Control circuit
Allowable
transient
Control circuit
interruption
time
When the main circuit voltage ±0.01% below for voltage change 0 to 100% (at max. number of
Speed rate of
changes rotations)
change
When ambient temperature ±0.01% below at 0 to 55°„C working temperature (at max. number of
changes rotations)
500Hz (JL=JM JL: motor axis conversion load inertia torque, JM: motor
Frequency response
inertia torque)
Operating temperature 0 to £´50°„C (no icing)
Storage temperature -20 to +65°„C (no icing)
Conforms to JIS C0040, 10 to 55Hz, repeated vibration amplitude 1.5mm, 5.9m/s2
Shock resistance Conforms to JIS C0041, 19.6m/s2 (2G) 3 cycles in the X/Y/Z direction respectively
10MΩ above (measured by a DC500V megger; between primary side -
Insulation impedance second side, primary side - grounding wire, second side - grounding
wire)
Withstand voltage
Noise immunity 1500Vp-p above, pulse width 1μs, 50ns (generated by the noise
simulator), conforms to EN61000-4-2/-3/-4/-6
approx approx
Weight approx 1000g
1200g 1400g
*1 Meaning of the end character of the model number: a number (for example MV-M05) denotes a direct-axis, "D" (for
example MV-B05D) denotes a quadrature-axis, and "K" (for example MV-M20K) denotes a keyway axis.
For information approx the frequency converter capacity, refer to" Master Axis Unit and Expansion Unit"
(Page 1-14).
2-12
2-2 SPECIFICATION
Item Specification
Parameter setting
• To set through the MV LINK STUDIO
• To set through the access window
2

• To set through the KV-HPD1
Position control mode
Speed control mode Please refer to "Performance specification" ( Page 2-8) of the MV-
Torque control mode L40.
Manual pulse mode
Dynamic brake Built-in (operates when the main circuit power is OFF, servo is OFF ±*1)
Brake (regenerative) resistance Built-in (external brake resistance can be connected)
over-current, regenerative overvoltage, brake resistance overheating,
main circuit power overvoltage,
Functions of protection main circuit voltage reduction, control circuit power voltage abnormal,
encoder abnormal,
output element abnormal, position deviation too large, overspeed, etc.
real-time auto tuning, absolute position detection, speed limit,
Other functions torque limit, vibration control, command tracking control, gain switching,
proportional control I switching
*1 Can be set through parameter
TIP The above content is the performance specification of the servo amplifier used in the MV
high speed link system.
For the performance specification of the servo amplifier used in the MV series, refer to
"MV User's Manual".
2-13
2-2 SPECIFICATION
■ I/O specification
Item Specification
2 Emergency stop, CW limit switch,
CCW limit switch, alarm reset,
servo ON, operation start command, origin return
command,
Position control mode JOG operation command, teaching command, gain
switching,
data 0 to 4, M-code ON command, origin sensor,
stop sensor, standby cancel command, brake
resistance overheating*1
Emergency stop, CW limit switch,
Input signal Speed control mode servo ON, teaching command, gain switching,
proportional control switching, brake resistance
overheating*1
Input
(except pulse Torque control mode
servo ON, teaching command, gain switching,
input)
brake resistance overheating*1
Manual pulse mode servo ON, bias clear, teaching command,
gain switching, proportional control switching,
brake resistance overheating*1
Maximal rated input DC 26.4V
Input voltage except pin No.17, 18 DC 24V (5.3mA)
(current) Pin No.17, 18 DC 24V (7.6mA)
Min. ON voltage 19V
Max. OFF current 1.5mA
Input time except pin No.17, 18 selectable from 3/5/10ms
constant Pin No.17, 18 selectable from 250μs/1ms/2ms/5ms
Input format Line drive input (open connector input can be used)
Pulse input Input rating DC 5V±10% 10mA
Input time constant selectable from 0.5/1/2/4/8μs
Alarm, positioning complete, movement in progress,
M-code output in progress,
M-code 0 to 4, electromagnetic brake timing,
operation ready complete
Alarm, movement in progress, torque limiting in
progress,
Speed control mode
electromagnetic brake timing, operation ready
Output signal complete
Alarm, movement in progress, torque limiting in
progress,
Output Torque control mode
electromagnetic brake timing, operation ready
complete
Alarm, positioning complete, movement in progress,
Manual pulse mode torque limiting in progress, electromagnetic brake
timing, operation ready complete
Output mode NPN open collector output
Rated load DC 30V 30mA max
Max. OFF voltage 30 VDC
Residual ON voltage below 1.2V
*1 Only for master axis unit
TIP For specific pin arrangement of the I/O connector, refer to "I/O Connector's Pin Arrangement" (4-30).
2-14
2-2 SPECIFICATION
● Input circuit
1~20 (1) 2
internal circuit

(2)
21(COM+)
opto-isolation
Input power supply (1) 3.0kΩ (2) 560Ω[17:ORGS(Origin Sensor)

18:STOP(Stop sensor)]
(1) 4.3kΩ (2) 510Ω [17,18 outside]
● Input supply
38㧦CW-
internal circuit
100pF 4.7kǡ
37㧦CW+
220ǡ
40㧦CCW-
internal circuit
100pF 4.7kǡ
39㧦CCW+
220ǡ
TIP For wiring of the pulse input terminals, refer to "Wiring Pulse Input" (4-32).
● Output circuit
24~34
internal circuit load

35㧔COM㧕
2-15
2-2 SPECIFICATION
Specification of the Servo Motor
Item Specification

Model*1 Electromagnetic brake
motor
Three phase or
single phase
Master MV-22 MV-42 MV-72
AC 200 to 230V
Applicable servo axis
input
amplifier unit
Single phase AC
MV-21 MV-41 -
100 to 120V input
Extension unit MV-20 MV-40 MV-70
Continuous Rated output [W]*2 50 100 200 400 750
operation ratings Rated torque [N·m]*2 0.159 0.318 0.637 1.27 2.38
Transient maximal torque [N·m]*2 0.477 0.955 1.91 3.82 7.16
Rated rotation speed [r/min]*2 3000
Maximal rotation speed [r/min]*2 5000
Rated current [Arms]*2 0.8 1 1.5 2.9 4.5
Transient maximal current [Arms]*2 2.9 3.6 5.8 10.5 15
Torque constant [N·m/Arms]*3 0.23±10% 0.36±10% 0.49±10% 0.51±10% 0.61±10%
Rated power [kW/s] 18.8 43.4 28.7 65.3 89.6
0.0134 0.0233 0.141 0.247 0.636
Rotor inertia torque [x10 - 4 kg m2]*4
(0.0212) (0.0311) (0.201) (0.307) (0.881)
Recommended load inertia torque ratio of the
below 30 times
servo motor
Encoder for position/speed detection 17 bit (131072) pulses/rotation
Protective structure Fully closed, self-cooling, IP67
Storage temperature -20 to +65°C (no icing)
Storage humidity 20 to 90% RH (no condensation)
Vibration class V15
Vibration resistance 2.5G, up and down/right and left/front and back direction respectively
Shock resistance Up and down shock acceleration 10G
Insulation class Class F
10MΩ above (measured through a DC500V megger; between
UVW - grounding wire)
Withstand voltage AC 1500V 1 minute (between UVW - grounding wire)
approx 500g approx 600g approx 1400g approx 1900g approx 3100g
Weight*4 (approx (approx (approx (approx (approx
700g) 800g) 1700g) 2200g) 3500g)
*1 Meaning of the end character of the model number: a number (for example MV-M05) denotes a direct-
axis, "D" (for example MV-B05D) denotes a quadrature-axis, and "K" (for example MV-M20K) denotes a
keyway axis.
*2 Saturation current when the temperature rises.
*3 The value when the temperature of the coil is 20°C.
*4 The value in the "( )" is the value of the electromagnetic brake motor.
2-16
2-2 SPECIFICATION
■ Specification of the electromagnetic brake motor

2
Item Specification

Model MV-B05(D) MV-B10(D) MV-B20(K) MV-B40(K) MV-B75(K)
Mode Electromagnetic brake without excitation operation
Rated voltage*1 DC 24V±10%
Rated current [A]*1 0.26 0.3 0.32
Coil impedance [Ω] 91.9±10% 79±10% 75.5±10%
Power consumption [W] 6.3 7.3 7.6
Static friction torque [N·m]*2 0.159 0.318 0.637 1.27 2.38
Release delay time [ms] below 25 below 30 below 25
Brake delay time with rheostat below 15 below 20 below 15
[ms] with diode below 100 below 120 below 100
Allowable brake each time 4.7 46.3 133
load [J] Every one hour 4.7 463 1330
20000
20000 20000
Allowable number of brake cycles (1 brake cycle
(1 brake cycle = below 0.9J) (1 brake cycle = below 46.3J)
= below 133J)
*1 The value when the temperature of the coil is 20°C.
*2 Saturation value when the temperature rises.
■ Torque characteristic
05/ 05 curve of the servo
0/ 0motor 0/ 0
0.5 1 2
0.4 0.8 Short-time operation area
Torque
Torque
Torque
Short-time operation area Short-time operation area

1.5
0.3 0.6
0.2 0.4 1
㧔N࡮m㧕0.1 㧔N࡮m㧕0.2 Continuous operation area 0.5
㧔N࡮m㧕
Continuous operation area Continuous operation area
0 0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Rotation speed [r/min] Rotation speed [r/min] Rotation speed [r/min]
MV-M40/B40㧖1 MV-M75/B75㧖2
4 8
Torque
3 6
Torque
Short-time operation area

Short-time operation area
2 4
1 2
㧔N࡮m㧕 Continuous operation area 㧔N࡮m㧕 Continuous operation area
0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Rotation speed [r/min] Rotation speed [r/min]
㧖1 The solid line in short-time operation area indicates when the main circuit voltage is 3- or
1- phase AC200 to 230V, the break line indicates 1-phase AC100 to 120V.
㧖2 The solid line in short-time operation area indicates when the main circuit voltage is 3-phase
AC200 to 230V, the break line indicates 1-phase AC200 to 230V.
2-17
2-2 SPECIFICATION
Specification of the KV-HPD1 teaching unit
Item Specification
Power Supplied through the MV-L40 (DC5V)

Current consumption approx 200mA
Operating temperature 0 to +50° C (no icing)
35 to 85％ RH (no condensation) but conforms to the absolute humidity at
Operating humidity
40° C when the temperature is above +40° C
Vibration resistance Conforms to that of the MV-L40
Environment less dust and corrosive gases
Weight approx 120g
Item Specification
Model KV-HPD1 teaching unit
Applicable unit MV-L40
16-digit 4-line LCD display, 2 colors (green, red), with backlight, can display
Display function
Japanese (Chinese characters)/English
Overall Dimension
■ MV-L40
2.8
27.3
90 35.4
3.5 80
9 35 3
104.6
(130) 4.4
2-18
2-2 SPECIFICATION
■ Servo amplifier
MV-20/21/22
50 㧔70㧕 150 6
Ǿ6
Dimensions of
2
6 mounting hole

159 168 156 156
R3 R3 3-Ǿ6
㧔50㧕 4
6 6 38
38 6
MV-40/41/42
60
Ǿ6
50 㧔70㧕 150 6 Dimensions of
6 mounting hole
159 168 156 156
R3 R3 3-Ǿ6
㧔50㧕 4
6 6 48
48 6
MV-70/72
70
Ǿ6
50 㧔70㧕 150 6 Dimensions of
6 mounting hole
159 168 156 156
R3 R3 3-Ǿ6
㧔50㧕 4 6 6 58
58 6
2-19
2-2 SPECIFICATION
■ Servo motor
MV-M05(D) / M10(D) / M20(K) / M40(K) / M75(K)
2 A
B
F
G H
L A
C
I S
D O
4-E
J K M N
Ǿ7.5 Ǿ5 P
Motor cable: 0.3m Encoder cable: 0.3m
Motor connector Encoder connector
Plug 172167-1 (AMP) Plug 172169-1 (AMP)
Socket 170362-1 (AMP) Socket 770834-3 (AMP)
Model MV-M05 (D) MV-M10 (D) MV-M20 (K) MV-M40 (K) MV-M75 (K)
A □40 □60 □76
B ф46 ф70 ф90
C - M5 x 0.8 depth 12
D ф54 ф81 ф100
E ф4.5 ф5.5
F 25 30 40
G 2.5 3
H 5 6 8
I ф30h7 ф30h7 ф30h7
J 23.3 42.3 45.5 74.5 87
K 28 30 29.5
L 87.3 106.3 116 145 163.6
M 15.5 19.5 26.1
N 19.5 20 20
O 30 41 50
P 20.4 26.6 39
S ф8h6 ф14h6 ф16h6
MV-B05(D) / B10(D) / B20(K) / B40(K) / B75(K)

A F L A
B G H
C
I S
D O
4-E
J K M N
Ǿ7.5 Ǿ5 P
Motor cable: 0.3m
Encoder cable: 0.3m
Motor connector Brake connector Encoder connector

Plug 172167-1 (AMP) Plug 172165-1 (AMP) Plug 172169-1 (AMP)
Socket 170362-1 (AMP) Socket 170361-1 (AMP) Socket 770834-3 (AMP)
Model MV-B05 (D) MV-B10 (D) MV-B20 (K) MV-B40 (K) MV-B75 (K)
A □40 □60 □76
B ф46 ф70 ф90
C - M5 x 0.8 depth 12
D ф54 ф81 ф100
E ф4.5 ф5.5
F 25 30 40
G 2.5 3
H 5 6 8
I ф30h7 ф30h7 ф30h7
J 23.3 42.3 45 74 87
K 28 30 29.5
L 131.3 150.3 145 174 187
M 59.5 49 49.5
N 19.5 20 20
O 30 41 50
P 20.4 26.6 39
S ф8h6 ф14h6 ф16h6
2-20
2-2 SPECIFICATION
■ Shape of the shaft end of the servo motor

MV-M05D/B05D/M10D/B10D MV-M20K/B20K/M40K/B40K MV-M75K/B75K
A-A
7.5
A
15 A-A 2
A
20 A-A
5
4
A
25
2
5

7.5
A A A
2 2
5 5
■ I/O connector terminal block
OP-51417
200
2-¶4.5(Mounting hole)
160 20
14
40
7.62
1.27
6.35
㧔54㧕
36
11
35.2
■ MV-B1
2-(4.43.4)
20.25
27
67.5
15 15 28.5
2-¶3.4(Mounting hole)
36.5 18
1.6 5
4 15 44 inside mount kit
■ Brake resistor
OP-51418
230 315
4.3 220 5 Brake resistor wire (black)
¶ 4.3
(Mounting hole) 200 (Mounting hole)
6
60 6
270
20 Thermostat output wire (white)
1.2
2-21
2-2 SPECIFICATION
■ Teaching unit
2 KV-HPD1
28.3 When mounting on control panel
75 16.5
111
12.4
23.2 14.8
45
2.3 㧔70㧕
㧔22㧕
㧔8㧕
Dimensions of control panel When using mount kit

58.5
41.5
12.5
5
16.5
Ǿ30
100
11.5
25
4-Ǿ3.5
50
(Housing screw M3 X 5mm)
2-22
2-3 Precautions on CE Marking (MV-L40/MV-B1)
In the case that following conditions are met, we can evaluate the suitability according to the
requirement of the EU directive, and verify that this product meet the requirement of it.
Therefore, when this product is used in countries within Europe, the following conditions must be met.
2

Precautions on EMC Directive (89/336/EEC)
• Applicable standard (EMI) EN55011 Class A

• Applicable (EMS) EN61131-2
• Please install the KV-1000KV-1000/700 series into a conductive enclosure (e.g. control panel).
• If the KV-U7 power supply made by our company is used for the KV-1000/700 series, please wind 2
turns of the ferrite cores on the power cable.
• When power is connected using the DC power input terminal of the KV-1000/700 series, please wind
2 turns of ferrite core on the cable.
• The communication cable supplied with the MV-B1 must be used to connect the MV-L40 and MV-B1,
and the supplied cores must be mounted on both ends of the cable.
2-23
2-4 Precautions on CE Marking (MV series servo amplifier/servo motor)
On condition that the following conditions are met, we can evaluate the suitability according to the
requirement of the EU directive, and verify that the MV series meets the requirement of it.
2 Therefore, when the MV series is used in countries within Europe, the following conditions must be met.
Precautions on EMC Directive (89/336/EEC)
The MV series conforms the following EN standards, and has been confirmed by a third certifying
authority (T U V) to meet the requirement of the EMC directive.
• Applicable standard (EMI) EN55011 Class A
• Applicable standards (EMS)EN61000-6-2, EN61800-3
For the MV series, the following verification test will be implemented based on the above standards.
Item Test name Test standard
Terminal interference voltage EN 55011
Emission
Electromagnetic radiated interference EN 55011
Immunity of electrostatic discharge EN 61000-4-2
Immunity of radiated electromagnetic field EN 61000-4-3
Immunity of electrical fast transient interrupt/shock EN 61000-4-4
Immunity of conducted interference EN 61000-4-6
Immunity Immunity of surge EN 61000-4-5
Immunity of voltage drop/variation EN 61000-4-11
Voltage variation test EN 61000-2-4
Voltage imbalance test EN 61000-2-4
Frequency variation test EN 61000-2-4
■ Precaution when mounting the MV series

The MV series must be installed into the control panel that meets the following requirement.
1. The body and door of the control panel should be made of metal material.
2. The junction surface of the top panel and side panel is not painted, and has been welded together.
3. If fixed through screws, the connecting part should undergo weld treatment.
4. When fixed using screws or connected through spot welding, the connection interval must be within
10cm.
5. No gap should be left between the door and the body of the control panel, if any, it should be filled
with EMI materials.
6. The EMI fillings must be filled evenly into the contact part between the door and the body of the
control panel.
7. Treatment should be performed to ensure that the EMI fillings, door and the body of the control
panel are conductive.
2-24
■ Precautions when wiring the MV series

The following points must followed when wiring the MV series.
1. The primary side of the noise filter must be wound with 3 turns of zero phase reactor. 2
2. The cable length between second side of the filter and the servo amplifier should be as short as

possible.
3. The cable of the primary side and the cable of the secondary side of the noise filter must be
separated.
4. The encoder cable between the amplifier end and the motor end must be wound with 1 turn of
ferrite core.
5. The motor power cable at the amplifier end must be wound with 4 turns of ferrite core.
6. The encoder cable at the amplifier end must fixed and grounded.
7. The motor power cable and the encoder cable must be separated.
8. The teaching unit connection cable at the amplifier end must be fixed and grounded.
EMC products are recommended

Noise filter HF3020C-TM made by Shuang xin Motor Co. Ltd.
Zero phase reactor RZR-6020N from TOKIN Ltd.
Ferrite core (encoder cable) SFC-8 from KITAGAWA Industries Ltd.
Ferrite core (motor power cable) TR-40-27-15 from KITAGAWA Industries Ltd.
Servo amplifier for

master axis unit
Zero
phase reactor Noise filter
L1 L1 R MC L1
MC
L2 L2 S MC L2
L3 L3 T L3
PE L11
L12
2-25
■ Precautions when grounding MV series

The protective grounding terminal below the heat sink of the MV series ( ) must be grounded.
2 1. The frame of the noise filter must be grounded to the control panel.
2. The place in the control panel where the noise filter is grounded must be painted after being
masked.
3. Each unit of the servo amplifier must be grounded.
4. The place in the control panel where the servo amplifier is grounded must be painted after being
masked.
5. Conductive metal P clamp or U clamp must be used as the fixing tool, and grounding should be
done with metal screws.
The shielded power must be tinned, but should not be grounded.
Ground with U or P clamp Solder ground
6. The protective grounding terminals must be connected one by one ( ), and can not be grouped
together.
2-26
Precautions on Low Voltage Directive (73/23/EEC)
■ Servo amplifier 2
The MV series servo amplifier conforms the following EN standards, and has been confirmed by a third

Φ
certifying authority (TΥ V) to meet the requirement of the low voltage directive.
• Applicable standard EN50178

• Overvoltage category Ⅲ
• Degree of pollution 2
• The MV series has been certified as an open

type equipment, so it must be installed at a suitable place (control panel of IP54 or above).
• The power cable between two units when extending the MV series must adopt the power cable for
extending the unit that is made by our company (supplied).
• Optional lithium battery can be installed in the MV series. If a lithium battery is to be used, the lithium
battery made by our company (OP-51422) must be used. Using other lithium battery may cause
dangers, such as explosion.
• The MV series is designed to the a Class Ⅰ machine, so the protective grounding terminal below the
heat sink of the MV series ( ) must be connected to the protective grounding wire of the building.
When an extension unit is connected to the master axis unit of the MV series, the protective
grounding terminal installed on each MV series product ( ) must be connected to protective
grounding wire of the building.
■ External equipment
The fuseless circuit breaker, electromagnetic contactor that are used must conform to the EN/IEC
standard.
■ Servo motor
The MV series servo motor conforms the following EN standards, and has been confirmed by a third
Φ
certifying authority (TΥ V) to meet the requirement of the low voltage directive.
• Applicable standards°°EN60034-1, EN60034-5
• IP 67
The MV servo motor is a special product for the MV series servo amplifier. For combination of the servo
motor and the servo amplifier, refer to "1-2 Combination of Servo Amplifier and Servo Motor"(
Page 1-6).
2-27
2-5 Precautions on UL Approval (MV-L40/MV-B1)
■ Precautions related to UL certification

The MV-L40 and MV-B1 conform the following standards, and have passed through the UL certification.
2 • Applicable standardsUL508 Industrial Control Equipment
CAN/CSA C22.2 No.14 Industrial Control Equipment
• UL File No. E207185

• UL category NRAQ/NRAQ7
15JN
Industrial Control Equipment
● KV-1000/700 series compatible power supply

• The special power supply made by Keyence and a UL Listing power supply that meets the
Class 2 output standard specified by US KV-U70 (NEC: National Electrical Code) must be
used as the power supply of the KV-1000/700 series PLC.
• When the KV-U7 power supply is used for the KV-1000/700 series, since the KV-U7 is designed to be
a class I machine, so the protective conductor terminal installed on the power terminal must be
connected to the protective grounding wire of the building.
• The wire that is connected to the KV-U7 terminal block should have a wire gauge of AWG #14-#22,
and a rated temperature of 105°C above. The tightening torque when wiring is 0.6Nm (6kg·cm).
● MV-L40
• The MV-L40 has passed the certification for the open type equipment, so it must be installed at a
place with IP54 degree of protection or above (in control panel, etc.).
• The wire for connecting the MV-L40 terminal block should be a copper twisted wire that has a wire
gauge of AWG #20-#14, and should have a rated temperature of +60°C or +75°C. The tightening
torque when wiring is 0.5Nm (5kgcm).
● MV-B1
• The MV-B1 has passed the certification for the open type equipment, so it must be installed at a
place with IP54 degree of protection or above (in control panel, etc.).
• The wire for connecting the MV-B1 terminal block should be a copper twisted wire that has a wire
gauge of AWG#18, and should have a rated temperature of +60°C or +75°C. The tightening torque
when wiring is 0.6Nm (6kg·cm).
• The MV-B1 must be used together with the MV-L40.
2-28
2-6 Precautions on UL Approval (MV series servo amplifier/servo motor)
The MV series meets the following UL standards, and has passed the UL certification.
Servo Amplifier 2

• Applicable standardsUL508C, Power Conversion Equipment
CAN/CSA-C22.2 No. 14-M91, Industrial Control Equipment
• UL category NMMS, NMMS7
54KB
Power Conversion Equipment
■ Precaution
• The MV series has passed the certification for the open type equipment, so it must be installed at a place
with IP54 degree of protection or above (in control panel, etc.).
• The power cable between two units when extending the MV series must adopt the power cable for
extending the unit that is made by our company (supplied).
• Optional lithium battery can be installed in the MV series. If a lithium battery is to be used, the lithium
battery made by our company (OP-51422) must be used. Using other lithium battery may cause
dangers, such as explosion.
• The wire that is used to connect the power terminal block must meet the following ratings or
structure. (certified as Field Wiring Terminal. )
Wire gauge: AWG #22－14
Wire type : twisted wire only
Wire material : copper wire only
Rated temperature: 60°Cor above
• The tightening torque when wiring is 0.6 Nm.
• The MV series is designed to the a Class I machine, so the protective grounding terminal below the
heat sink of the MV series ( ) must be connected to the protective grounding wire of the building.
When an extension unit is connected to the master axis unit of the MV series, the protective
grounding terminal installed on each MV series product ( ) must be connected to protective
grounding wire of the building respectively.
• The MV series meets the overvoltage III and pollution degree 2 standard.
• The MV series must be used in an AC circuit with the peak current lower than 5000A.
2-29
• About the overload protective functions

The MV series has built-in overload protection functions. The protective functions of each model are
2 shown as follows.
1. MV-M/B05 (D) 2. MV-M/B10 (D)

10000 10000
1000 1000
Time
Time
100 100
㧔S㧕㧔S㧕
10 10
1 1
0 50 100 150 200 250 300 350 400 0 50 100 150 200 250 300 350 400
Current load ratio (%) Current load ratio (%)
3. MV-M/B20 (K) 4. MV-M/B40 (K)
10000 10000
1000 1000
Time
Time
100 100
㧔S㧕㧔S㧕
10 10
1 1
0 50 100 150 200 250 300 350 400 450 0 50 100 150 200 250 300 350 400
Current load ratio (%) Current load ratio (%)
5. MV-M/B75 (K)
10000
1000
Time
100
㧔S㧕
10
1
0 50 100 150 200 250 300 350
Current load ratio (%)
2-30
■ External equipment
The fuseless circuit breaker, electromagnetic contactor that are used must conform to the EN/IEC
standard.
2

Servo Motor
• Applicable standardsUL1004, Electric Motors

C22.2 No. 100, Motors and Generators
• UL category PRGY2, PRGY8
■ Precaution
• The MV series servo motor is a special product for the MV series servo amplifier. Refer to "1-
2 Combination of Servo Amplifier and Servo Motor"(Page 1-6).
• In order to dissipate heat, please install a 250 x 250 x6t aluminum flange when mounting the motor.
2-31
2-7 How to Suppress High-order Harmonics
In September 1994, the Source and Energy Department of the Ministry of Commerce of Japan (now the
Ministry of Economy) set down the "High-order Harmonics Counter Measure Guidelines for Household
Appliances/Daily Articles" (December 2000 revision), in order to suppress the high-order harmonics.
2 When a commercial power of 300V or lower is used, the amplifier with a rated current of 20A/phase
belongs to the range of "High-order Harmonics Counter Measure Guidelines for Household Appliances/
Daily Articles". According to the guidelines, the Electrical Industry Association of Japan established the
phase-based control standard.
In order to meet the control standard, please connect a reactor on the MV series servo amplifier to
improve the power factor.
2-32
3
INSTALLING
This chapter describes how to install MV-L40, servo amplifier, servo motor and
teaching unit.
3-1 Installing MV-L40•••••••••••••••••••••••••••••••••••••••••••• 3-2

3-2 Installing Servo Amplifier •••••••••••••••••••••••••••••••••• 3-4
3-3 Installing Servo Motor •••••••••••••••••••••••••••••••••••••• 3-7
3-4 Mounting Teaching Unit on Panel•••••••••••••••••••••• 3-11
3-1
3-1 Installing MV-L40
Installing Environment of MV-L40
Don't install it in the following locations:

3 Locations subject to direct Locations subject to ambient Locations subject to ambient
sunlight temperature out of 0 to +50 range humidity out of 35 to 85 RH range
ISTALLING
Locations subject to Locations subject to corrosive Locations subject to large

condensation caused by amounts of dirt and dust , salt ,
sudden temperature change and flammable gases iron and oil smoke
Locations directly subject to Lccations where strong

Locations that may be splashed
magnetic and electrical
vibration and shock with water, oil or chemical mist
fields are generated
薬品磁界
電界
油
Installation Precautions for MV-L40
Each CPU can connect up to 18 MV-L40s.

If expansion unit KV-EB1S/KV-EB1R is used, MV-140 can't be installed at 3rd section.
Up to 16 units in transversal arrangement
CPU unit
60mm or more
Vertical
MV-L40 can not

be installed
Note
As for the orientation for installation, access space, way for installing onto DIN rail,
please refer to the following manuals.
KV-1000 User's Manual and KV-700 User 'sManual
3-2
3-1 Installing MV-L40
Connecting with CPU
Here it is to describe the procedures for installing MV hi-speed link unit MV-L40 in CPU.
ISTALLING
MV
-L4
0
CPU unit (left) MV-L40 (right)
Note
You have to mount it when no power unit is installed.
1 Unlock the lock lever at upper and lower side of right unit.
Hook finger into the indentation, and slide toward front
of the unit to unlock.
V V
24 24
2 Insert the lock lever of right unit into the slot for
lock lever at left unit, and connect.
Hold two units and make them parallel, press down
once they are aligned to the connector, it's easy to do
connection.
MV
-L4
0
3 Lock the lock lever at upper and lower side of right unit.
Same with step 1, press down the notch by finger and
push toward reverse direction of the unit. In this case,
you shall check whether it has any gap between units. If MV
-L4
0
it has any gap, the connection is not right.
3-3
3-2 Installing Servo Amplifier
Installation Precautions of Servo Amplifier
3 CAUTION • It must be mounted on a material that is not flammable. If it is mounted on a flammable

INSTALLING
material, or mounted near a flammable substance, fire hazard may result.

• According to the specification of this manual, please mount it at a place that can
support heavy weight.
• Do not stand on the product, or place weight on it. Otherwise it may result in injury.
• Please use it under the specified range of ambient conditions.
• Don't let conductive objects such as screws and metal pieces etc. and flammable
substance such as oil enter into the servo amplifier.
• Please do not cover the air inlet and outlet of the servo amplifier.
• The servo amplifier is a kind of precision instrument, please do not let it drop or
submit it to violent shock.
• If the servo amplifier has damage or the parts are incomplete, please do not
mount and operate it.
• The mounting direction must be followed. Otherwise it may result in fault.
• The distance between the amplifier and the control panel or other machines must
meet the specified distance. Otherwise it may result in fault.
Installation Environment of Servo Amplifier
The mounting environment of the servo amplifier is shown as follows.

Environment Condition
Operating humidity below 90 % RH (no condensation)
Indoor (avoid direct sunlight)
Operation no corrosive gases, flammable gases, oil mist and dust
environment No splashed water, oil, and chemicals etc.
no excessive vibration
Note
If ambient temperature is likely to exceed 55°C, forced ventilation fans and air conditioners
must be installed, to keep the ambient temperature below 55°C.
■ Mounting in a Panel
Pay attention to the following points when installing it in the control panel.
• Maintain sufficient space for ventilation to allow heat to escape.
• Do not mount it over devices that generate much heat (heater, transformer, high capacity resistor etc.).
3-4
Mounting Direction and Space of the Servo Amplifier
Please mount the servo amplifier according to the following specifications. Please note that the
temperature of the brake resistor and its ambient air may increase.
3
■ Installing
INSTALLING
The servo amplifier must mounted with M5 screws at 1 place at the top and 2 places at the bottom on
the front face.
Mounting hole
M5
Installing from front
M5
Mounting hole
■ Distance from surroundings

When mounting, please note the following points regarding the distance from the surroundings.
• In order not to impede the air flow in the heat sink and amplifier, a space of at least 50mm must be
kept over and under the servo amplifier. When concentrated heat is present over the amplifier, please
use a fan to speed up the air flow.
• In order not to impede heat dissipation of the side heat sink mounted on both sides of the amplifier, or
not to impede internal air flow, a space of at least 10mm must be kept at both sides.
50mm or more 50mm or more

亢᠛ Fan
50mm or more 50mm or more

30mm or 10mm or 10mm or Fan
more more more
3-5
• The servo amplifier must be reserved a space with 50mm or more when installed vertically.
3 Fan
50mm or more
Fan
50mm or more
INSTALLING
30mm or more 50mm or more 50mm or more
30mm or more 50mm or more 50mm or more

Ventilation
3-6
3-3 Installing Servo Motor
Installation Precautions of Servo Motor
CAUTION
3
• Servo motor is not allowed to disassemble. Otherwise, it may result in
INSTALLING
performance reduction and machine damaged.
• The servomotor is not allowed to impact with hammer, etc. Otherwise, the
encoder will be damaged and the motor can not be controlled.
• The servomotor shall not be connected with local electric supply. Otherwise it may
damage the servomotor.
Installation Environment of Servo Motor
Installation environments of servo motor are as follows.

Environment Condition
Indoor (avoid direct sunlight)
Operation no corrosive gases, flammable gases, oil mist and dust
environment No airborn water, oil, and chemicals etc.
no excessive vibration
How to Install Servo Motor
■ Installation direction
The servomotor can be installed horizontally, with shaft-end upwards or downwards. Please note the following precautions.
• When installing horizontally, motor cables must be laid from the bottom.
• When installing with shaft-end upwards, a cable trap must be available to prevent oil or water from entering to the motor.
Horizontally Axis end upwards Axis end downwards
Cable trap
3-7
■ Mounting
• Since the accurate encoder is connected directly at the shaft of the servomotor, it can not be applied
3 with impact force. However, if the servomotor must be tapped for position adjustment, the rubber or
plastics hammer should be used at the front of the flange.
INSTALLING
• An accurate mounting hole should be available for connecting smoothly when installing the machine.
In addition, the mounting surface must also be smooth. Otherwise, the shaft or bearings may be
damaged.
• The screw hole at shaft end should be preferred other than impact force when installing gears, pulley
or couplings.
screw
pulley barrier pulley
• The special-purpose removing tool should be used when disassembling gears or pulley.
Belt pulley Removing tool
• For conveyor drive, ensure the equivalent value of axis that transmits belt force not more than the
allowable radial load.
TIP For radial load, see "Permissible Load of the Servo Motor Shaft"( page 3-10 ).
3-8
■ Water-roof
The water-proof protection structure of each servo motor must meet the IP67 water-proof performance
requirement of the IEC standard.
However, this standard is only a temporary performance standard, so in actual application, the following
water-proof measures must be taken. If the outer housing of the connector is damaged, the water-proof 3
function may be influenced, therefore, the following points must noted when mounting the servo motor.
INSTALLING
• The connector (screw exit) must be installed downwards within the angle range as shown in Figure.
• Mount the covers at places that may be splashed by water or oil.
• The outer covers must be slanted to prevent accumulation of water or oil.
• Cables should not be soaked in water or oil.
• The outside of the cable cover must be kept to a degree of bend, to prevent water or oil from entering
the motor.
Sealed with seal strip
Cover
Accumulated water (oil)
50R 50R
• When the connector (screw outlet) has to be mounted facing downwards, the cable must kept to a
degree of bend (water trap of the cable), to prevent water or oil from entering.
• To prevent overpressure in the gear box, air exhaust holes must be arranged.
Cable trap
■ Connection to target machine

The center alignment of servo motor shaft with the target machine must be performed correctly.
Especially when using rigid couplings, even if a very small center offset exists, the output shaft will be
damaged, so care must taken about this.
3-9
Permissible Load of the Servo Motor Shaft
The permissible radial load applied to shaft end of the servo motor(the load applied to vertical direction
relative to the servo motor shaft) and the permissible shaft load (the load applied to horizontal direction
3 relative to the servo motor shaft) are as follows.
INSTALLING
Radial load
Axial load
When connected to a target

During operation
machine
Software
Permissible radial Permissible axial Permissible radial Permissible axial
load [N] load [N] load [N] load [N]
MV-M05(D)
150 98 98 29
MV-B05(D)
MV-M10(D)
150 98 98 29
MV-B10(D)
MV-M20(K)
390 200 200 78
MV-B20(K)
MV-M40(K)
390 200 250 98
MV-B40(K)
MV-M75(K)
590 390 340 200
MV-B75(K)
3-10
3-4 Mounting Teaching Unit on Panel
Mounting to Panel Surface of KV-HPD1 Teaching Unit
KV-HPD1 can be mounted on console or operation panel, etc.

By four M3 screws at back of KV-HPD1, it can be mounted and fixed at back of panel. 3
INSTALLING
30 through hole
M3 screw (M3 hL7)
KV_HPD1
KV-H20S/H40S
Control panel
(rear view)
TIP As for panel cutout, please refer to "Teaching unit"( Page2-22).
• The connector for special cable is as shown in below figure. Its structural design can be connected from
.
back by changing the installing and fixing bolt and rotating 90°
M3 set screw
Rotate by 90e
Loosening M3 set screw Tightening M3 set screw
3-11
3-4 Mounting Teaching Unit on Panel
MEMO
3
INSTALLING
3-12
4
WIRING AND SETTING
OF SERVO AMPLIFIER
This chapter describes the wiring and setting of MV-L40, servo amplifier and
servo motor.
4-1 Wiring Overview••••••••••••••••••••••••••••••••••••••••••••• 4-2

4-2 Wiring Between MV-L40 and Servo Amplifier ••••••••• 4-6
4-3 Wiring Master Axis Unit •••••••••••••••••••••••••••••••••••• 4-9
4-4 Wiring Expansion Unit ••••••••••••••••••••••••••••••••••• 4-17
4-5 Wiring Between Servo Amplifiers •••••••••••••••••••••• 4-22
4-6 Wiring Servo Amplifier and Servomotor •••••••••••••• 4-24
4-7 Wiring I/O Connector ••••••••••••••••••••••••••••••••••••• 4-27
4-8 Making Connection Cable ••••••••••••••••••••••••••••••• 4-33
4-9 Wiring Teaching Unit ••••••••••••••••••••••••••••••••••••• 4-37
4-10 Wiring CPU-CPU Unit•••••••••••••••••••••••••••••••••••• 4-38
4-1
4-1 Wiring Overview
Wiring Precautions
DANGER • Wiring shall be done by special technical persons.
4 • Wiring can be done only 5min after turning off power and confirming that
CHARGE indicator in front of servo amplifier is off. Otherwise it may result
in electric shock.
WIRING AND SETTING OF SERVO AMPLIFIER
• Servo amplifier and servo motor must be grounded. Otherwise it may result
in electric shock.
• Wiring shall be done only after setting in place the servo amplifier and
servomotor. Otherwise it may result in electric shock.
• No scratch on cable! Donít drag, place heavy load over and extrude cable!
Otherwise it may result in electric shock.
• Wiring must be correct. Otherwise it may result in out-of-control for
servomotor and personal injury.
• In order to prevent electric shock, the protective ground terminal ( ) of
servo amplifier must be connected in the protection box of the control
panel.
• Donít open terminal cover with power is on. Otherwise it may result in
electric shock.
CAUTION • Terminal connection shall be free from any error. Otherwise it may result in
breaking and damage, etc.
• Polarity (+/-) shall be free from error. Otherwise it may result in breaking and
damage, etc.
• The direction of diode for absorbing shock voltage that is installed on DC
relay of control output shall be free from error. Otherwise it will have fault
and canít output signal, or canít execute action for protecting circuit e.g.
emergency stop, etc.
• It may bring about electromagnetic influence on electronic machine used
near the servo amplifier. Please use noise filter, etc. to reduce
electromagnetic influence.
• In the power cord of servomotor, no in-phase capacitor, shock-voltage
suppressor shall be used.
• If brake resistor is used, please use abnormal-signal-shielded power supply.
Failure in transistor, etc. may cause abnormal high temperature in brake
resistor hence fire.
4-2
4-1 Wiring Overview
Wiring Diagram and Setting of Servo Amplifier
■ Wiring diagram
Wiring diagram for MV high-speed link system is as follows.
For details, please refer to See page of each.
4
CPU unitˇMV-L40 Wiring KV-HPD1

(Page 4-37)
Connecting MV-L40 with servo amplifier

To connect with MV-B1 (adaptor and communication
cable 5m).
(Page 4-6)
Bus connection cable between servo amplifiers

To connect with bus-connection cable attached in MV-
B1.
（Page 4-23）
Wiring I/O connector

(Page 4-27)
Wiring power terminal Unit 1 Unit 2 Unit 3 Unit 4 Unit 5

Power terminal of main MV-42
Master axis unit
MV-40
Expansion unit
MV-20
Expansion unit
MV-20
Expansion unit
MV-20
Expansion unit
circuit
Power terminal of Capacity of
converter:
control circuit 1600W
(Page 4-14)
Wiring protective
Wiring brake resistor ground terminal
(Page 4-5)
Only wire in master 3-phase, AC200 to 230V
axis unit Servo motor Servo motor Servo motor Servo motor Servo motor
400W 400W 200W 200W 200W
（Page 4-15）
ࡕ࡯࠲ቯᩰ಴ജว⸘1400W
Power cable between servo amplifiers

To connect with power cable of expansion unit (150 cm)
(Page 4-22)
Wiring servo amplifier and servomotor

Motor power cable Encoder cable
Electromagnetic brake cable
(Page 4-24)
4-3
4-1 Wiring Overview
■ Setting of terminator and setting of amplifier No. switch

Setting of terminator and setting of amplifier No. switch must be done for each unit.
MV-L40
‫ޓ‬Amplifier No ˖"1"
‫ޓ‬terminator ˖"ON"
4 Setting of terminator
and setting of amplifier
No. switch.
terminator: OFF terminator: OFF terminator: OFF terminator: ON
X1 Y1 X2 Y2
MV-B1
1 1 1 1
2 34
2 34
2 34
2 34
5 6 5 6 5 6 5 6
Amplifier Amplifier Amplifier Amplifier

No.2 No.3 No.4 No.5
Master Extension Extension Extension
axis unit unit unit unit
● Setting of terminator
MV-Terminal resistance is installed in L40, therefore the servo amplifierís terminator setting switch at
another end of the bus connection shall be set ON.
● Setting of amplifier No. switch

In MV high-speed link system, MV-L40 is amplifier No. “1”. (Need no setting).
Therefore, the amplifier No. of master axis unit is “2”, that of expansion unit is set number above “3”.
To match with the setting in unit editor.
chapter 8 "Setting up Using Unit Editor" ( page 8-1)
Note
Because of capacity of master axis unitís frequency inverter, when the master axis
unit is used as an expansion unit, the amplifier no. of master axis unit used as
expansion unit will be set in range “3” to “5”.
Any master axis unit with amplifier no. set “3” to “5” can be used as expansion unit.
"Master Axis Unit and Expansion Unit"(Page 1-14)
● Designation of axis
The designations are as follows:
Amplifier No.2 …X1 axis amplifier No.3…Y1 axis axis amplifier No.4…X2 axis amplifier
No.5…Y2 axis.
4-4
4-1 Wiring Overview
Wiring Protective Ground Terminal
WARNING
In order to prevent electric shock, the protective ground terminal of servo
amplifier must be connected in the protection box of the control panel.
Additionally, when servo amplifier is expanded, the protective ground terminal
of each unit must be connected to the ground. 4

When several servo amplifiers are connected, the protective ground terminal of each unit shall be
grounded.
Wire Size to be Used
The following will describe the wire material used in Wiring servo amplifier and peripheral equipment.
■ Wire size to be used

Please use the material of following size to wire.
Name of external terminal/
Terminal description Specification of wire
connector
Power terminal of main circuit L1, L2, L3 AWG＃14
Power terminal of control circuit L11, L12 AWG＃16
Power connector of motor U, V, W AWG＃16
Protective ground terminal AWG＃14
Connector of brake resistor X, C,Y AWG＃20

AWG#26 or more
I/O connector I/O
(Some use shielded twisted wire)
AWG#24 or more
Connector of encoder ENC
(Some use shielded twisted wire)
Connector of electromagnetic brake - AWG#20 or more
Note
• One must consider the dropping rate of allowable current of wire when bundling
wire bundle, or when wiring pipes.
• When the ambient temperature is high, as thermal degradation will shorten service
life of wire, please use heat-resisting plastic wire.
• One can reduce the wire size for power terminal of circuit and power connector of
motor depending on capacity of servomotor.
4-5
4-2 Wiring Between MV-L40 and Servo Amplifier
Wiring Between MV-L40 and Servo Amplifier
To connect MV-L40 with servo amplifier (master axis unit), it is necessary to connect adaptor MV-B1.
MV-B1
4
Unit 1 Unit 2 Unit 3 Unit 4 Unit 5
MV-42 MV-40 MV-20 MV-20 MV-20
Master axis unit Expansion unit Expansion unit Expansion unit Expansion unit
Capacity of
converter:
1600W
3-phase, AC200 to 230V

Servo motor Servo motor Servo motor Servo motor Servo motor
400W 400W 200W 200W 200W
Total rated output of units
The connecting procedure is as follows.
■ Install MV-B1 on servo amplifier (master axis unit)
1 Install the mounting tool on the servo amplifier (master axis unit).
Install the mounting tool on the servo amplifier by using the screws attached.
Please use a torque of 0.5Nm(5kg·cm).
M
2 Install MV-B1 attachments. (1)

Hang HV-B1 in slot (1) above the installing tool, insert the
lower part (2).
(2)
The black jaw below MV-B1 is equipped with spring and
movable. Please press downward till it "clicks".
3 Connect MV-B1 and servo amplifier (master axis unit) by using bus connection cable.
Connect the connector that is of reverse direction Bus connection cable
with others and with cable crimped to MV-B1.
21
MV-
/ E
PC OL
NS
CO
Connector at
MV-B1 side
_ Disassembling way for MV-B1
Slide MV-B1 upward in a direction parallel with the installing (1) (2)
tool (1). When any gap occurs between upper part of
installing tool and MV-B1, directly push forward MV-B1 and
take it out (2).
Connecting way for bus connection cable

The master axis unit and expanded unit of servo amplifier will
be connected by bus connection cable. MV-
21
PC/ OLE
CONS
As for details for connection of expanded unit, please refer to MV-

PC/
CONS
21
OLE
4-5 "Wiring Between Servo Amplifiers"(Page 4-22) MV-

PC/
CONS
21
OLE
4-6
■ Connecting MV-L40 with MV-B1

Connect MV-L40 with MV-B1 by using the communication cable attached to MV-B1.
1 Connect communication cable on MV-L40.

Please connect in correct way the terminal and
communication cable of MV-L40.
SA SB SG
Terminal of MV-L40
Color of
communication 4
cable

SA White
White Black
SB Blue Blue
Black
SG Black White Blue
SG
MV-
/
21
PC OL
E
SB
NS
CO
2 Connect communication cable on MV-B1. SA
Please connect in correct way the terminal and

communication cable of MV-B1.
Color of
Terminal of MV-B1 communication
cable
SA White
SB Blue
SG Black
Item MV-L40 MV-B1

Wire size AWG #20-14 AWG #18
Fastening torque 0.5Nm（5kg·cm） 0.6Nm（6kg·cm）
Wire material Only limited to Copper
Wire type Just for twisted wire
Rated temperature of wire +60°C/+75°C
Note
For wiring between MV-L40 and servo amplifier in MV hi-speed link system, please
note the following.
• MV-B1 must be used in wiring between MV-L40 and servo amplifier.
• The cable between MV-L40 and MV-B1must use communication cable attached to
MV-B1 (5m) and wired within 5m. When using communication cable, ferrite
attached must be installed at both ends of cable.
• Donít extend cable. Additionally, the wiring must be separated from power cord of
motor.
• The bus connection adaptor for expanded unit in MV series options(OP-51421)canít
be used for MV hi-speed link system.
4-7
■ Terminal wiring
One has to note the following when using it after cutting off communication cable attached to MV-B1.
Use M3.0 for terminal screw of MV-L40 and MV-B1.
When crimped terminal is used for wiring, please use the following crimped terminal. (Unit mm)
4
MAX 6.0 MAX 6.0
And also note the following.
(STP cable)
CAUTION Please do not contact with other wiring, equipment.
Shielding conductor, please always use insulating

CAUTION rubber or shrinking rubber for insulation process.
(cable length: less than 10cm)
4-8
4-3 Wiring Master Axis Unit
Connecting External Device (Master Axis Unit)
The master axis unit can connect the following external devices.
Forconnecting cable, please refer to the following contents.
"1-4 System Configuration"(Page 1-13)
"Option" ( Page 1-18 )
4

Bus-connection cable attached with MV-B1
Master axis unit

I/O connector MV-21/22/41/42/72
terminal block
MV-B1
I/O connector cable Brake resistor
Power cable
Encoder cable
connecting cable for Expansion unit

Servo motor expansion unit MV-20/40/70
4-9
Standard Wiring Diagram (Master Axis Unit)
■ Position control mode.

The standard wiring diagram for servo amplifier of position control mode is as follows.
4
㧖4
Brake resistor
Connecting to expansion unit
Bus connector
㧖3 X C Y
Braking resistor
NFB MC connector
L1 Power terminal of
L2㧔L1㧕 main circuit
˄ǂ˅Single-phase
L3㧔L2㧕 100V type
control circuit U
L12
V Motor
Motor connector
W
3 phase/1 phase AC 200V
1 phase AC 100V
Encoder
Emergency stop *1*2 EMG 1 connector ENC
CCW limit switch *1 CCW_LS 2
CW limit switch *1 CW_LS 3 Connector cable
alarm reset *2 RESET 4 Connecting to expansion unit
for expansion OUT unit
Servo ON *2 SVON 5
24 ALARM Alarm *2
Running start Instruction *2 START 6
25 FIN Positioning complete *2
Origin return Instruction *2 ORG 7
26 MOVE Move in progress *2
JOG running Instruction *2 JOG 8
27 MCODE M Code output *2
Teaching Instruction *2 TEACH 9
28 M0 M Code 0
gain change *2 GAIN 10 M Code 1
29 M1
Data 0 *2 DT0 11 M Code 2 *2
30 M2
Data 1˄*2˅ DT1 12 M Code 3
31 M3
Data 2 *2 DT2 13 M Code 4
32 M4
Data 3 *2 DT3 14 Electromagnetic brake timing (*2)
33 BRAKE
Data 4 *2 DT4 15 Operation ready complete (*2)
34 RDY
M Code ON Instruction *2 MOFF 16 Output common point
35 COM㧙
Origin Sensor *1 ORGS 17
Stop sensor *1 STOP 18 Not used
41 㧙
Standby release command *2 RESUM 19 Not used
42 㧙
External braking resistance is over hot BOH 20 Not used
43 㧙
Input common point COM㧗 21 44 㧙 Not used
45 㧙 Not used
Not used 㧙 22 Not used
46 㧙
47 㧙
Not used 㧙 36 48 㧙 Not used

Not used 㧙 37
49 㧙 Not used
Not used 㧙 38
50 㧙 Not used
Not used 㧙 39
Not used 㧙 40
PC/CONSOLE
Not used
Connector
PLC serial
Not used
connector Protective
ground terminal
*1: Can change polarity by parameter.

Refer to "10-6 System Parameter"(Page 10-72).
*2: It is of controlling I/O function that can be assigned to PLC device.
*3: After wiring, it must be equipped with such a structure that it can cut off at power side even if the
servo amplifier is in fault.
Forwiring, refer to "Wiring Power Terminal" ( Page 4-14 )
*4: MV series servo amplifiers are built in brake resistor.
• When built-in brake resistor is used: it will be short circuited between X and C of the brake
resistance connector by using the attached cross jumper.
• When external brake resistor is used: when the cross jumper is dropped off, the brake resistor is
connected between Y and C.
4-10
■ Speed control mode

㧖4
Brake resistor
Bus connector
㧖3 X C Y
NFB MC
L1
Braking resistor connector
Power terminal of
4
main circuit
L2㧔L1㧕 ˄ǂ˅Single-phase

control circuit U
L12
Motor connector V Motor
W
1 phase AC 100V
Encoder
Emergency stop *1*2 EMG 1 connector ENC
CCW limit switch *1 CCW_LS 2
CW limit switch *1 CW_LS 3 Connector cable
Alarm reset *2 RESET 4 for expansion Connecting to expansion unit
Servo ON *2 SVON 5 OUT unit
Not used 24 ALARM Alarm(*2)
㧙 6
Not used 25 㧙 Not used(*5)
㧙 7
Not used 26 MOVE Move in progress(*2)
㧙 8
Teaching Instruction *2 27 TLM Torque limit in progress(*2)
TEACH 9
gain change *2 28 㧙 Not used
GAIN 10 Not used
proportional control switching *2 29 㧙
PCN 11 Not used
Not used 30 㧙
㧙 12 Not used
Not used 31 㧙
㧙 13 Not used
Not used 32 㧙
㧙 14 Electromagnetic brake cabl(*2)
Not used 33 BRAKE
㧙 15 Operation ready complete(*2)
Not used 34 RDY
㧙 16 Output common point
Not used 35 COM㧙
㧙 17
Not used 㧙 18
41 㧙 Not used
Not used 㧙 19
42 㧙 Not used
External braking resistance is over hot BOH 20
43 㧙 Not used
45 㧙 Not used
46 㧙
47 㧙

Not used 㧙 37
49 㧙 Not used
Not used 㧙 38
50 㧙 Not used
Not used 㧙 39
Not㧙
used 40
PC/CONSOLE Not used
connector
PLC serial
Not used
ground terminal


*3: after wiring, it must be equipped with such a structure that it can cut off at power side even if the

*5: Normal ON
4-11
■ (Torque control mode)

㧖4
Brake resistor
Bus connector
㧖3 X C Y
4
NFB MC
L1 Power terminal
of main circuit

control circuit U
L12
Motor V Motor
connector W
1 phase AC 100V
Encoder
Emergency stop˄*1*2˅ EMG 1 connector ENC
CCW limit switch˄*1˅ CCW_LS 2
CW limit switch˄*1˅ CW_LS 3 Connector cable
Alarm reset˄*2˅ RESET 4 for expansion Connecting to expansion unit
Servo ON˄*2˅ SVON 5 OUT unit
24 ALARM Alarm˄*2˅
Not used 㧙 6 Not used˄*5˅
25 㧙
Not used 㧙 7 Move in progress˄*2˅
26 MOVE
Not used 㧙 8 Torque limit in progress˄*2˅
27 TLM
gain change˄*2˅ TEACH 9
28 㧙 Not used
Not used GAIN 10 Not used
29 㧙
30 㧙
31 㧙 Not used
Not used 㧙 13
32 㧙 Not used
Not used 㧙 14
33 BRAKE Electromagnetic brake timing (*2)
Not used 㧙 15
34 RDY Operation ready complete (*2)
Not used 㧙 16 Output common point
35 COM㧙
Not used 㧙 17
41 㧙
External braking resistance is over hot 㧙 19 Not used
42 㧙
BOH 20 Not used
Input common point 43 㧙
COM㧗 21 44 㧙 Not used
45 㧙 Not used
46 㧙
47 㧙

Not used 㧙 37
49 㧙 Not used
Not used 㧙 38
50 㧙 Not used
Not used 㧙 39
Not used 㧙 40
PC/CONSOLE
Not used
connector
PLC serial
Not used
ground terminal



*5: Normal ON
4-12
■ Manual pulse mode

The standard wiring diagram for servo amplifier of manual pulse mode is as follows.
㧖4
Brake resistor
Connecting cable for expansion unit
Bus connector
㧖3 X C Y
4
NFB MC
L1 Power terminal
of main circuit

control circuit U
L12
V Motor
Motor connector
W
1 phase AC 100V
Encoder
Emergency stop˄*1*2˅ EMG 1 connector ENC
CCW limit switch˄*1˅ CCW_LS 2
CW limit switch˄*1˅ CW_LS 3 Connector cable
Alarm reset˄*2˅ RESET 4 for expansion Connecting cable for expansion unit
Servo ON˄*2˅ SVON 5 OUT unit
Deviation clear˄*2˅ CLR 6
25 INPOS Positioning complete˄*2˅
Not used 㧙 7
26 MOVE Move in progress˄*2˅
Not used 㧙 8
27 TLM Torque limit in progress˄*2˅
Teaching Instruction˄*2˅ TEACH 9
28 㧙 Not used
Gain change˄*2˅ GAIN 10
29 㧙 Not used
Proportional control switching˄*2˅ PCN 11
30 㧙 Not used
Not used 㧙 12
31 㧙 Not used
Not used 㧙 13
32 㧙 Not used
Not used 㧙 14
33 BRAKE Electromagnetic brake timing (*2)
Not used 㧙 15
34 RDY Output common point
Not used 㧙 16
35 COM㧙
Not used 㧙 17
41 㧙
42 㧙
External braking resistance is over hot BOH 20 Not used
43 㧙
45 㧙 Not used
46 㧙
47 㧙

CWˇ1-phase AC100V CW㧗 37 Not used
49 㧙
CWˉ1-phase AC100V CW㧙 38
50 㧙 Not used
CCWˇ1-phase AC100V CCW㧗 39
CCWˉ1-phase AC100V CCW㧙 40
PC/CONSOLE Not used
connector
PLC serial
Not used
ground terminal



4-13
Wiring Power Terminal
The following will describe the wiring of main circuit of 3-phase power, of 1-phase power/power terminal
of control circuit.
DANGER
4 In order to prevent electric shock, the connection of power terminal of main
circuit/control circuit must be insulated.
■ Wiring the power terminal of main circuit/control circuit

Please take care about any connection mistake, and check whether the screws are loose after wiring.
3-phase AC200V 1-phase AC100V

Connect 3-phase AC200 to 230V or 1-phase Connect 1-phase AC100 to 120V to the power
AC200 to 230V to the power terminal of main terminal of main circuit and control circuit.
circuit. Connect 1-phase AC200V to the power
terminal of control circuit.
3-phase 200V type Single-phase 100V type
M4 screw
M4 screw
L1
3-phase AC200V L1
L2 Power terminal of main circuit
1-phase AC200V 1-phase AC100V Power terminal of main circuit
L3 L2
L11 Power terminal of control circuit L11

1-phase AC200V 1-phase AC100V Power terminal of control circuit
L12 L12
■ Wiring example for power terminal of main circuit

When the servo amplifier is abnormal, in order to cut off power, one shall carry out the following circuit
configuration.
RA Forced stop OFF ON

MC
MC
SK
Servo amplifier
NFB MC
NFB : No fuse brake
L1
35 COM㧙 MC : Electromagnetic contactor
L2 24 ALM RA
L3
RA : Relay
L11 SK : Surge killer
L21
CAUTION When servo amplifier is in fault or gives alarm, you have to cut off the power of
servo amplifier. If the current is too high at a fault, it may result in fire.
4-14
Wiring Brake Resistor
In the master axis unit when the servomotor is in regeneration state, brake resistor is built in to
consume the regenerated power. All regenerated power of expanded unit is consumed by the brake
resistor of master axis unit. If several units are under regeneration state, please take care that they
should not be over hot.
When the built-in brake resistor canít completely consume the regeneration power, please use external
brake resistor(OP-51418)
4

■ Wiring built- in brake resistor
brake resistor is built in master axis unit. Please use that after inserting built-in brake cross jumper in
terminal C and X of connector for brake resistor.
Terminal arrangment of
brake resistor connector
Brake resistor
Connector Y
C
Built-in brake
Short stick (attached with unit) X
Brake resistor connector seen
from cable inserting side
Built-in brake resistor

Resistance 㧦35ǡr5㧑
Permitted active power㧦10㨃
Note
If the temperature of built-in brake resistor is too high, the built-in brake resistor will
give over-temperature alarm.
TIP Forthe wiring way for connector for brake resistor, please refer to "Wiring Motor
Power Cable" ( Page 4-25 )
4-15
■ Wiring external brake resistor

When the built-in brake resistor canít completely consume the regenerated power as the frequency is
high for lifting goods or at starting/stopping operation, please use brake resistor(OP-51418).
When external brake resistor is used, servo parameter "×*Selection of brake resistor" is set as
"external", the thermostat output (contact b) for over-temperature protection is connected to "×20
:"BOH(external brake resistor over-temperature)"of I/O connector.
4 When the brake resistor is over temperature, the thermostat output will be ON (open) and this will start
the protection and give alarm (external brake resistor over-temperature).

Servo amplifier
External brake resistor
Black brake resistor（OP-51418）
Y
Resistance: 35Ω±5％
C Thermostat Permitted active power: 55W
X
2 0 BOH White
2 1 COM㧗
24V
I/O connector
CAUTION • If brake resistor (OP-51418) is used, you have to connect between Y and C with
built-in brake cross jumper removed.
• Over-temperature protection must be done in such a way as connecting
thermostat output to master axis unit or brake resistor of other control
device, etc.
4-16
4-4 Wiring Expansion Unit
Connecting External Unit (Expansion unit)
The expansion unit can connect the following external units.

For connecting cable, please refer to the following contents.
"1-4 System Configuration"(Page 1-13)
"Option"(Page 1-18 )
4

Bus-connection cable
attached with MV-B1
Master axis unit

MV-21/22/41/42/72
I/O connector
terminal block
I/O connector
cable
Extension unit
Power cable Motor power cable
Encoder cable
Extension unit Encoder cable

MV-20/40/70 MV-20/40/70
Extension unit
Power cable
Servo motor
4-17
Standard Wiring Diagram (Expansion Unit)
■ Position control mode.

The wiring for servo amplifier of position control mode is as follows.
4
Bus connector
U
motor connector V Motor
W
From master/ Encoder

expansion unit connector ENC
connector cable for
expansion IN unit
Emergency stop˄*1*2˅ EMG 1 connector cable for
CCW limit switch˄*1˅ CCW_LS 2 expansion OUT unit
CW limit switch˄*1˅ CW_LS 3
Alarm reset˄*2˅ RESET 4
Servo ON˄*2˅ SVON 5
Running start Instruction˄*2˅ START 6
25 FIN Positioning complete˄*2˅
Origin return Instruction˄*2˅ ORG 7
JOG running Instruction˄*2˅ JOG 8
27 MCODE M Code output˄*2˅
Teaching Instruction˄*2˅ TEACH 9 M-code 0
28 M0
Gain change˄*2˅ GAIN 10 M-code 1
29 M1
Data 0˄*2˅ DT0 11 M-code 2 㧔㧖2㧕
30 M2
Data 1˄*2˅ DT1 12 M-code 3
31 M3
Data 2˄*2˅ DT2 13 M-code 4
32 M4
Data 3˄*2˅ DT3 14 Electromagnetic brake cable˄*2˅
33 BRAKE
Data 4˄*2˅ DT4 15 Operation ready complete˄*2˅
M Code ON Instruction˄*2˅ MOFF 16
35 COM㧙
Origin Sensor˄*1˅ ORGS 17
Stop sensor˄*1˅ STOP 18 Not used
41 㧙
Standby release command˄*2˅ RESUM 19 Not used
42 㧙
43 㧙
Input common point Not used
44 㧙
COM㧗 21 Not used
45 㧙
46 㧙 Not used
47 㧙
48 㧙
49 㧙 Not used
50 㧙
Not used 㧙 37
Not used 㧙 38
Not used 㧙 39
㧙 40
PC Connector Not used
Protective
ground terminal

4-18
■ Speed control mode

The wiring for servo amplifier of speed control mode is as follows.
Bus connector
U
4

W
Encoder
From master/
connector ENC
expansion unit
connector cable for
expansion IN unit
24 ALARM
Not used 㧙 6 Alarm˄*2˅
25 㧙 Not used
Not used 㧙 7
Not used 㧙 8
28 㧙 Not used
29 㧙 Not used
30 㧙 Not used
31 㧙
32 㧙
Not used 㧙 14 Electromagnetic brake cable˄*2
33 BRAKE
Not used 㧙 15 Operation ready complete˄*2˅
Not used 㧙 16
35 COM㧙
Not used 㧙 17
41 㧙
42 㧙
43 㧙
44 㧙 Not used
Input common point COM㧗 21 Not used
45 㧙
46 㧙 Not used
47 㧙
48 㧙
49 㧙 Not used
50 㧙
Not used 㧙 37
Not used 㧙 38
Not used 㧙 39
Not used 㧙 40
Protective
ground terminal

4-19
■ Torque control mode

The wiring for servo amplifier of torque control mode is as follows.
Bus connector
4 U
Encoder
From master/expansion unit connector ENC
connector cable for
expansion IN unit
24 ALARM
Not used 㧙 6 Alarm˄*2˅
25 㧙 Not used
Not used 㧙 7
Not used 㧙 8
28 㧙 Not used
29 㧙 Not used
30 㧙
31 㧙
32 㧙
Not used 㧙 14 Electromagnetic brake cable˄*2˅
33 BRAKE
Not used 㧙 16
35 COM㧙
Not used 㧙 17
Not used 㧙 18
41 㧙 Not used
42 㧙
Not used 㧙 20
43 㧙 Not used
Input common point 44 㧙 Not used
COM㧗 21
45 㧙 Not used
46 㧙 Not used
Not used 㧙 22
47 㧙 Not used
Not used 㧙 23
48 㧙 Not used
49 㧙 Not used
Not used 㧙 36
50 㧙 Not used
Not used 㧙 37
Not used 㧙 38
Not used 㧙 39
Not used 㧙 40
Protective
ground terminal

4-20
■ Manual pulse mode

The wiring for servo amplifier of manual pulse mode is as follows.
Bus connector
U
4

W
Encoder
From master/expansion unit connector ENC
connector cable for
expansion IN unit
24 ALARM
Deviation clear˄*2˅ CLR 6 Alarm˄*2˅
25 INPOS Positioning complete˄*2˅
Not used 㧙 7
Not used 㧙 8
28 㧙 Not used
29 㧙 Not used
30 㧙 Not used
31 㧙
32 㧙
Not used 㧙 14 Electromagnetic brake cable˄*2
33 BRAKE
Not used 㧙 16
35 COM㧙
Not used 㧙 17
41 㧙
42 㧙
43 㧙
44 㧙 Not used
Input common point COM㧗 21 Not used
45 㧙
46 㧙 Not used
Not used 㧙 22
47 㧙 Not used
Not used 㧙 23
48 㧙 Not used
49 㧙 Not used
50 㧙
CWˇPulses Input CW㧗 37
CWˉPulses Input CW㧙 38
CCWˇPulses Input CCW㧗 39
CCWˉPulses Input CCW㧙 40
Protective
ground terminal

4-21
4-5 Wiring Between Servo Amplifiers
Wiring the Power Cable of Expansion Unit
At bottom of servo amplifier there is one connector for connecting the power cable of expansion unit.
For a master axis unit it only has output connector, while an expansion unit has both input and output
connector.
4 Please connect in correct way the I/O according to the display of servo amplifier.
PWR
OUT PWR
OUT PWR
OUT
Expansion unit power cable PWR

(attached with expansion unit)
Cable length 150mm IN PWR
IN
Note
Power cable for expansion unit of MV series options 600MM（OP-51420）
Can't be used as the power cable between servo amplifiers in MV hi-speed link system.
4-22
4-5 Wiring Between Servo Amplifiers
Wiring Bus Connection Cable
On upper surface of servo amplifier there is a bus connector. If bus connection cable attached to MV-B1 is
used to connect master axis unit and expansion unit, bus communication can be done between units.
Bus connector

Note
• 5 connectors are there on the bus connection cable, so please use it after cutting into flat cable
depending on the number of units to be connected.
However, only 1 from 5 connectors will connect MV-B1, therefore the cable-crimping
direction of one connector will be different from others. Please consider this at cutting off.
• No gap shall be reserved between
connectors at connection.
• The bus connection adaptor for
expansion unit in MV series options
（OP-51421）can't be used for
connection between servo amplifiers
in MV hi-speed link system.
TIP As for the setting of terminator and setting of amplifier No. switch, please refer to "4-1
Wiring Overview" (Page 4-2).
4-23
4-6 Wiring Servo Amplifier and Servomotor
DANGER In order to avoid electric shock, the connection part of motorís power
connector must be insulated.
WARNING
The distance between servo motor and servo amplifier must be within 20 m.
4
CAUTION
• The wiring between servo motor and servo amplifier must be connected
correctly according to terminal name (U, V, W).
If the connection is not right, the servomotor will be abnormal.
• The servomotor shall not be connected with local electric supply. Otherwise
it may result in fault.
• No peripheral e.g. noise filter shall be connected between servo motor and
servo amplifier. Otherwise it may have fault.
Wiring Diagram Between Servo Amplifier and Servomotor
Motor power cable and encoder cable are used to connect between servo amplifier and servomotor.
When motor with electromagnetic brake (MV-B□□□) is used, please also connect electromagnetic
brake cable.
Master axis unit
Encoder cable
MV-E3 (3m)
MV-E5 (5m)
Motor connector MV-E10 (10m)
(attached with unit) MV-E20 (20m)
Encoder connector
Motor power cable

MV-C3 (3m)
MV-C5 (5m)
MV-C10 (10m)
MV-C20 (20m)
Electromagnetic
brake cable
MV-D3 (3m)
MV-D5 (5m)
MV-D10 (10m)
MV-D20 (20m)
Electromagnetic
brake motor
Note
If power of electromagnetic brake cable is DC24V, the electromagnetic brake of motor
can be turned on.
4-24
Wiring Motor Power Cable
The servomotor side of motor power cable is connector, which is connected with servo motor by
connector. The thorn iron wire at servo amplifier side is connected with motor power connector of servo
amplifier.
When making motor power cable, pleaser refer to "4-8 Making Connection Cable"( Page4-33).
Pin arrangement of 4
Connector for motor (signal name) Cable power cable (servo amplifier side) motor connector

W Black W
V White V
U Red U
Protective ground terminal of Motor connector seen from
Green/yellow cable inserting side
servo amplifier
■ Wiring way of connector for motor

The procedure is as follows.
1 Insert connecting bar in connector.
2 Remove about 8 to 9 mm outer skin of wire, and press the connecting bar in.
3 Remove the connecting bar and check whether the wire is correctly connected.
Connector lever
(attached with unit)
Wire
8~9mm
• TIP The wiring way for motor connector is same with that for brake resistor.
Wiring EncoderCable
Both sides of encoder cable are connectors. They are connected with connectors at servo amplifier and
servomotor side.
When making encoder cable, pleaser refer to "4-8 Making Connection Cable"( Page4-33).
4-25
Wiring Electromagnetic brake Cable
CAUTION Electromagnetic brake is for holding, so please don't use it for common brake.
4
When a motor with electromagnetic brake is used, apply voltage (DC24V) (without polarity) at two ends
of electromagnetic brake cable from outside to achieve ON/OFF control of electromagnetic brake.
• Brake engages: It is printed with "NO VOLTAGE" (open circuit).
• Brake releases: Printed with"DC24V".
No polarity in brake coil.
As for electromagnetic brake cable, please refer to "Option"(Page 1-18).
Wiring example of electromagnetic brake cable
Servo amplifier
㧖4 RA Emergency stop
Yellow
33‫ޓ‬BRAKE
RA㧖2 㧖3
35‫ޓ‬COM㧙
Yellow
DC24V㧖1 㧖1 Electromagnetic brake cable
DC24V
*1: power supply for electromagnetic brake can't be common with that of control I/O.
*2: In-rush current will happen at electromagnetic brake ON/OFF, so relay contact must be used.
*3 ： In order to suppress the surge voltage occurred at electromagnetic brake ON/OFF, varistor or diode must be
connected.
Recommended varistor TNR 14V121K
TNR 20V121K（From Japanese Chemicon）
Recommended diode V03C（from Hitachi）
If varistor and diode is connected, please pay attention to the brake delay for electromagnetic brake.
*4: When electromagnetic brake signal is released, timed output for electromagnetic brake (BRAKE) can be
used.
Note
Sometimes it may have sound of motor running when the servomotor attached to the brake
is running (click), but it is ok in function performance.
TIP Timed output for electromagnetic brake (BRAKE) will output when servo of host is ON.
• To set by servo parameters.
• Electromagnetic Brake Wait Torque Limit
• Electromagnetic Brake Hold Wait Time
• Electromagnetic Brake Release Wait Time
• Electromagnetic Brake Movement Start Time
"10-4 Servo Parameter"(Page 10-26)
4-26
4-7 Wiring I/O Connector
Wiring the Terminal Block of I/O Connector
Both ends of the terminal block cable of I/O connector (KV-HC4) are connectors. They are connected
respectively to I/O connector and I/O connector terminal block of servo amplifier (OP-51417).
4
Servo amplifier

I/O connector terminal block cable
KV-HC4 I/O connector terminal block
OP-51417
■ Terminal block of I/O connector （OP-51417）

Terminal arrangement
2 4 48 50
1 3 47 49
2
1 3 4 48 47 49 50
Internal circuit
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
Connector
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
Terminals block
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49
Applicable crimped terminal

øǾ3 More
6.2 More
6.2mm Below
5.8 More 3mm Below

4.2
More
4-27
Terminal block tag (attached with I/O connector terminal block)

I/O connector terminal block (OP-51417) is attached with terminal block tag for different mode.
Please note that it is classified into two types, i.e. that for traditional MV series not using MV-L40 and for
MV high-speed link system.
At up left corner of each tag, it is printed with contents showing the mode.
• For positioning mode (MV)/for position control mode (MV high-speed link system)
4
Position
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
CCW_LS RESET START JOG GAIN DT1 DT3 MOFF STOP BOH ALARM MOVE M0 M2 M4 RDY A- B- Z- SG
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49
EMG CW_LS SVON ORG TEACH DT0 DT2 DT4 ORGS RESUM COM+ FIN MCODE M1 M3 BRAKE COM- A+ B+ Z+ ZOC
Note
There is no encoder output in MV high-speed link system, therefore pin No. 41to48 are not used.
• For Pulse Burst Input mode (MV)

Pulses
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
RESET CLR GAIN BOH ALARM ZSP RDY CW- CCW- A- B- Z- SG
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49
SVON PCN COM+ INPOS TLM BRAKE COM- CW+ CCW+ A+ B+ Z+ ZOC
• For Speed Control mode (MV high-speed link system)

Speed
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
CCW_LS RESET GAIN BOH ALARM MOVE RDY
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49
EMG CW_LS SVON TEACH PCN COM+ TLM BRAKE COM-
• ForqTorque Control mode (MV high-speed link system)

Torque
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
CCW_LS RESET GAIN BOH ALARM MOVE RDY
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49
EMG CW_LS SVON TEACH COM+ TLM BRAKE COM-
• For Manual Pulse Control mode (MV high-speed link system)

Manual Pulse
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
CCW_LS RESET CLR GAIN BOH ALARM MOVE RDY CW- CCW-
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49
EMG CW_LS SVON TEACH PCN COM+ INPOS TLM BRAKE COM- CW+ CCW+
• To be filled by user
To be filled by user
2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 48 50
1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 47 49
4-28
Wiring I/O Connector Cable
One end of I/O connector cable is connector. Another end is thorn iron wire. Connect servo amplifier
with I/O connector cable, thorn iron wire to sensor, etc.
Servo amplifier

MV-W1:cable length 1m
MV-W3:cable length 3m
AWG㧏26
■ I/O connector's pin arrangement

Wiring diagram of connector
Point color Wire color
1 2 24 25
seen from connector side

Number of point marks
26 27 45 50
Point Point
Pin No. Wire Pin No. Wire
color Color Number color Color Number
of Tags of Tags
1 Orange Red 1 26 White Black 3
2 Orange Black 1 27 Yellow Red 3
3 Gray Red 1 28 Yellow Black 3
4 Gray Black 1 29 Pink Red 3
5 White Red 1 30 Pink Black 3
6 White Black 1 31 Orange Red 4
7 Yellow Red 1 32 Orange Black 4
8 Yellow Black 1 33 Gray Red 4
9 Pink Red 1 34 Gray Black 4
10 Pink Black 1 35 White Red 4
16 White Black 2 41 Orange Red 5
17 Yellow Red 2 42 Orange Black 5
18 Yellow Black 2 43 Gray Red 5
19 Pink Red 2 44 Gray Black 5
20 Pink Black 2 45 White Red 5
4-29
I/O Connector's Pin Arrangement
■ I/O connector's pin arrangement

In the MV high-speed link system, I/O connector's pin arrangement and functions for master axis and
expanded unit are same except for some individual ones.
4 1 26
Pin No. Direction
Terminal
Abbreviation Position
Mode
Speed Control Torque Manual pulse
1 EMG*2 EMG EMG EMG EMG
2 CCW_LS*2 CCW_LS CCW_LS CCW_LS CCW_LS

2 27 3 CW_LS*2 CW_LS CW_LS CW_LS CW_LS
4 RESET RESET RESET RESET RESET
5 SVON SVON SVON SVON SVON
6 START/CLR START - - CLR
7 ORG/- ORG - - -
8 JOG/- JOG - - -
9 TEACH TEACH TEACH TEACH TEACH
10 GAIN GAIN GAIN GAIN GAIN
Input
11 DT0/PCN DT0 PCN - PCN
12 DT1/- DT1 - - -
13 DT2- DT2 - - -
24 49
14 DT3/- DT3 - - -
15 DT4/- DT4 - - -
16 MOFF/- MOFF - - -
17 ORGS*2/- ORGS - - -
18 STOP*2/- STOP - - -
19 RESUM/ó RESUM - - -
20 BOH BOH BOH BOH BOH
21 Common COM- COM- COM- COM- COM-
22 - - - - - -
25 50 23 - - - - - -
Servo amplifier 24 ALARM ALARM ALARM ALARM ALARM

Outside diagram 25 FIN/INPOS FIN -*1 -*1 INPOS
26 MOVE MOVE MOVE MOVE MOVE
27 MCODE/TLM MCODE TLM TLM TLM
28 M0/- M0 - - -
29 Output M1/- M1 - - -
30 M2/- M2 - - -
31 M3/- M3 - - -
32 M4/- M4 - - -
33 BRAKE BRAKE BRAKE BRAKE BRAKE
34 RDY RDY RDY RDY RDY
35 Output COM- COM- COM- COM- COM-
36 - - - - - -
37 -/CW+ - - - CW+
38 -/CW- - - - CW-
Input
39 -/CCW+ - - - CCW+
40 -/CCW- - - - CCW-
41 - - - - -
42 - - - - -
43 - - - - -
44 - - - - - -
45 - - - - -
46 - - - - -
47 - - - - -
48 - - - - - -
49 - - - - - -
50 - - - - - -
*1: Normal ON
4-30

* "-" means pin not used.
* "BOH" of pin No.20 connects only to master axis unit.
* Can't monitor "BOH" of pin No. 20.
Note
There is no encoder pulse output in MV high-speed link system.
4
■ Abbreviation and name of I/O connector terminal

Abbreviation Description
EMG Emergency stop
CCW_LS CCW limit switch
CW_LS CW limit switch
RESET Alarm reset
SVON Servo ON
START / CLR Run Start command/deviation clearing
ORG Origin return command
JOG JOG Run command
TEACH Teaching command
GAIN Gain change
DT0 / PCN Data 0/ proportion control shift
DT1 Data 1
DT2 Data 2
DT3 Data 3
DT4 Data 4
MOFF M code ON command
ORGS Origin sensor
STOP Stop sensor
RESUM Standby Release command
BOH External brake resistor is over hot
COM+ Input common point
ALARM Alarm
FIN/INPOS Positioning finishes / Positioning ends
MOVE Moving
MCODE/TLM M code outputting/torque limiting
M0 M code 0
M1 M code 1
M2 M code 2
M3 M code 3
M4 M code 4
BRAKE Electromagnetic brake timing
RDY READY completes
COM- Output common point
CW+ CW+ pulse input
CW- CW- pulse input
CCW+ CCW+ pulse input
CCW-+ CCW- pulse input
4-31
Wiring Pulse Input
Connect to CW- (CCW-) terminal when it is connected to open connector output. CW+ (CCW+)
terminal connects to DC5V.
When connecting with open connector When connecting differential line drive
4 Pin No Signal name

37 CW+
Pin No Signal name
37 CW+
26LS31 or similiar
38 CW- 38 CW-
39 CCW+ 39 CCW+
40 CCW- 40 CCW-
5V
CAUTION If applying voltage DC5V above, it may damage. When applying voltage DC5V
above, please connect in serial a resistance. Resistance (R) will be calculated
as follows.
Vp-1.5 Vp : Applied voltage (V)

R= -220
0.01 R : Resistance ( Ω )
4-32
4-8 Making Connection Cable
Here it is to describe the making way of the cable connected to servo amplifier.
By using "encoder/motor power connector kit (OP-51416)", you can make by yourself motor power
cable and encoder cable.
Encoder/Motor Power Connector Kit
Encoder/motor power connector kit (OP-51416) includes: 4

Motor power connector (end of servomotor)
Wiring Expansion Unit

Manufactured by AMP
Component A
Housing Pin
172159-1‫ޓ‬ 171638-1
Encoder connector (end of servo amplifier)
Manufactured by Molex
Housing Cover Mould cover

54180-0611 58300-0600 54182-0605
Component B
Housing Mould cover

screw fastener (fastener side) (with lock) cable pit
59832-009 58299-0600 54181-0615 58303-0000
Encoder connector (end of servo motor)
Manufactured by AMP
Component C
Housing Pin
172161-1 170363-1
Electromagnetic brake connector (end of servomotor)
Manufactured by AMP
Component D
Housing Pin
172157-1 170364-1
4-33
Making Encoder Cable
The encoder cable shall be shielded and twisted cable.
AWGʿ24 more
(one part with shielded twisted cable)
4 Encoder connector Encoder connector

(servo amplifier side) (servo motor side)
manufactured by Molex Manufactured by AMP
Housing Pin
172161-1‫ޓ‬ 170363-1
Housing OP-51416‫ ޓ‬Component C
54180-0611
screw fastener Cover Mould cover

59832-009‫ޓ‬ 58300-0600 54182-0605
Housing Mould cover Manual tool

cable pit (fastener side) (with lock) 91529-1
58303-0000‫ ޓ‬58299-0600 54181-0615
OP-51416‫ޓ‬Component B
■ Wiring way of connector

The connector at servo amplifier end is soldered with tin on wire. The wiring of connector at servo amplifier end is
done in such a way that first crimping wire into pin by manual tool and then inserting it into casing.
Encoder connector
(servo amplifier side)
5 31
6 4 2 Pin plug side

Solder side
Connector seen from Encoder connector
Solder inserting side (servo motor side)
1 2 3
4 5 6
Wiring diagram of encoder cable 7 8 9
servo amplifier side servo motor side Connector seen from pin inserting side
1 1 1㧦GND
2 2 2㧦5V
3 3 3㧦PS(Signal)㧖
4 4 4㧦PS(Signal)㧖
5 5 5㧦BAT㧗(used for connecting to battery)
6 6 6㧦BAT㧙(used for connecting to battery)
7 㧖 3-4 Please use the twisted cables
8
9
4-34
Making Motor Power Cable
Servo amplifier is attached with connector for the end of servo amplifier.
AWGʿ16 or similar

Motor connector
(servo motor side)
Manufactured by AMP Motor connector
(servo amplifier parenthesis)
Housing Pin
172159-1‫ޓ‬ 171638-1 Manual tool
91536-1
OP-51416‫ޓ‬Component A
■ Wiring way of motor power connector (end of servomotor)

The wiring of connector is done in such a way that first crimping wire into pin by manual tool and then
inserting it into casing.
Motor power connector (end of servomotor)

Terminal arrangement
W U Lock
G V
Pin plug side Connector seen from pin inserting side
4-35
Making Electromagnetic brake Cable
The wiring of connector at servo amplifier end is done in such a way that first crimping wire into pin by
manual tool and then inserting it into casing.
AWGʿ20 or more
4
Connector of
electromagnetic braking
(servo motor side)
Manufactured by AMP
Housing Pin
172157-1‫ޓ‬ 170364-1 Manual tool
OP-51416‫ ޓ‬Component D 91522-1
■ Wiring way of electromagnetic brake connector (end of servomotor)

The wiring of connector is done in such a way that first crimping wire into pin by manual tool and then
inserting it into casing.
Electromagnetic brake connector

(end of servomotor)
Lock
1 2
Pin plug side Connector seen from pin inserting side
Note
Electromagnetic brake has no polarity.
4-36
4-9 Wiring Teaching Unit
Wiring Procedure for Teaching Unit
1 Insert connector of KV-HPD1 special cable into the connector of KV-HPD1 host.
2 Connect the connector at another end of cable to the teaching connector of MV-L40.

KV-HPD1
MV
-L4
0
MV-L40
Teaching unit connecting cable

Model Cable length
OP-42380 1.5m
OP-42381 3m
OP-42382 5m
OP-42383 10m
TIP • Power of KV-HPD1 is from MV-L40.

• It is also possible to connect KV-HPD1 with MV-L40 on.
• In MV hi-speed link system, KV-HPD1 can't be used even if it is connected to servo
amplifier. AboutOperation way of
KV-HPD1, please refer to Chapter 12 "HOW TO OPERATE THE TEACHING UNIT" (12-1).
4-37
4-10 Wiring CPU-CPU Unit
Wiring CPU-CPU Unit
After connecting CPU unit with CPU, it is possible to set parameter and monitor operation status from
"KV LINK STUDIO".
For details, please refer to "MV LINK STUDIO User's Manual".
4
■ Connection of USB port

CPU unitˇMV-L40
OP-35331
(cable length: 3m) To USB connector
To USB connector DOS/V
■Connection of D-Sub 9-pin serial port

CPU unitˇMV-L40
OP-26486
To RS-232C
connector
To modular connector OP-26487 DOS/V

(cable length: 2.5m)
KV Side PC Side
RD 3 3 SD
SD 5 2 RD
4 DR
6 ER
7 RS
8 CS
2 3 4 5 SG 4 5 SG
KV pin No. Special connector 9-pin D-Sub connector
4-38
5
MAINTENANCE
This chapter describes how to maintain and inspect for MV-L40 and servo
amplifier, servomotor.
For maintenance and inspection, one has to check the condition of relative machine
and equipment, and do that only after ensuring safety and cutting off power.
In addition, before inspection, one has to backup the program and parameters.
After inspection, please turn on power and check the following.
• Whether the origin of each machine is correct
• Do trial run properly.
• If MV-L40 is changed, transfer parameter from backup data and then write
flash ROM.
WARNING
• At maintenance inspection, please check the operation
condition of relative machine or equipment, ensure
safety and cut off power supply.
Otherwise it may result in injury.
• It is strictly forbidden to dismantle or rebuild
(including changing base plate) to repair.
Otherwise it may result in injury and have fault.
• You have to inspect regularly and check frequently
whether it is under normal condition.
It is impossible to guarantee safety if unexpected
error occurs.
CAUTION • After inspection and maintenance, you shall carry out

proper check on functions.
If the machine or equipment runs abnormally, please
stop operation. It is impossible to guarantee safety if
unexpected error occurs.
5-1
5-1 Maintenance
Inspecting MV-L40
■ Inspection
If being used for long time, the connection part of terminal block and connector will become loose, and
if it continues in this state, it may result in fault influencing operation.
Therefore, you have to regularly check the unit body and wiring part.
The main items to be checked are:
5 • Whether the lock at each unitís connection part is dropped or loose?
• Whether the connectorís connection part is mismatched or loose?
MAINTENANCE
• Whether the terminal screw of terminal block is loose?

• Whether the wiring cable between unit and equipment is damaged?
■ Daily care
The long-term used unit will be contaminated.
Please donít clean the unit with gasoline or thinner. This may result in scratch on surface hence no way
to display. Please use clean, dry and soft cloth to wipe. When the contaminant is serious, please first
soak the mop in neutral detergent that is thinned by water, twist it fully to dry, after that wipe the dirt,
and finally wipe with a dry cloth.
Additionally, for dirt and dust stuck to small parts e.g. connector, you shall dismantle the connector and
remove dirt and dust by cotton swab, etc.
5-2
5-1 Maintenance
Inspecting Servo Amplifier and Servomotor
DANGER • Inspection must be done by special technician. Otherwise it may result in

electric shock.
• The maintenance, service and inspection shall be done only 5min after
turning off power, confirming ìCHARGE indicator lampî is off and checking
voltage by avometer. Otherwise it may result in electric shock.
WARNING • Please donít measure resistance of servo amplifier. Otherwise it may

5
result in damage.
MAINTENANCE
• It is absolutely forbidden to disassemble servo amplifier and servomotor.
■ Inspection
Inspecting
Inspecting item Inspecting way
time
Whether the vibration is higher than
Vibration Daily
common time
Servo motor Whether it has abnormal sound that
Action sound Daily
doesn' t exist at normal time
Clearing At right time Whether surface is with dust and dirt
Clearing At right time Whether the part is stuck with dust
Servo amplifier Loose connector/ Whether terminal block or connector are
1 year
screw loose
For Absolute Position
Inspection System Battery voltage Normal time Whether voltage is more than DC 3.6V
Li battery
Measuring ambient temperature/motor
Temperature Temperature setting At right time
frame temperature
■ Service lifeThe expected service life is the reference no. of years. The actual
service life will be depending on ambient condition and operation way.
• You shall inspect and repair it if it has abnormality even if it is not up to its expected service life.
Servo amplifier
Expected Remarks
service life
Under 50% rated load and average temperature
Capacitor of main circuit 5 years
of 40C
Li battery for Absolute Position
3 years
Inspection System
Relay 0.1 million times Times for power On and emergency stop
Servo motor
Expected
Remarks
service life
As it is influenced by operation condition, when
Bearing 20 to 30 000 hour any abnormal sound and vibration found in
inspection, you shall repair it.
Encoder 20 to 30 000 hour
5-3
5-1 Maintenance
MEMO
5
MAINTENANCE
5-4
6
DETAILED I/O FUNCTIONS
This chapter describes the functions of control I/O terminal of I/O connector.
6-1 Detailed I/O Functions ••••••••••••••••••••••••••••••••••••• 6-2
6-1
6-1 Detailed I/O Functions
This chapter will describe the functions of control I/O terminal of I/O connector.
As for pin arrangement of I/O connectors, please refer to "4-7 Wiring I/O Connector"(Page 4-27).
DANGER When trial-run function of Access window or I/O forced output function of MV
LINK STUDIO is used, input function is invalid.
EMG input is also invalid, therefore when using these functions, it must be
under such a condition that it can turn off main circuit immediately at an
emergency.
6 Note
With the following parameter setting one can determine to control by I/O of I/O
connector or PLC device.
• System parameter
" *Servo ON way"·· Servo ON
" *Position Operation way"·
·· Run Start command, Run Start point No.
Emergency Stop "EMG"(pin No.1)
Position control Speed Control Torque control Manual pulse
If EMG is OFF (NC contact), servo motor stops immediately and is under servo OFF state. At EMG
state, please use as far as possible switch of NC contact for the sake of safety.
Note
• If EMG OFF (NC contact, it will change into servo OFF state even if servo ON input
is ON.
• If pressing down EMG button of KV-HPD1, forced stop button of MV LINK STUDIO,
it carries out emergency stop.
TIP Relative parameters

"Stop sensor polarity"( page 10-88)
"Input filter (other than origin/stop sensor)"( page 10-94)
• Common Set Parameters
"Alarm stop mode"( page 10-98)
"*Alarm Stop Axis Select"(P10-98)
6-2
CCW Limit Switch (CCW-LS) (pin no. 2) CW Limit Switch (CCW-LS) (pin no. 3)
If CCW/CW limit switch (CCW-LS/CW-LS)ON (a contact), it will give limit alarm and stop operation.
After alarm resets, it can run toward inner side of limit switch.
Please refer to "Motor rotation direction and coordinate setting"(P1-10).

"Limit switch polarity"( page 10-87)
"Limit switch changing"( page 10-87) 6
"Input filter (other than origin/stop sensor)"( page 10-94)

Alarm Reset (RESET) (pin No.4)/Alarm (pin No. 24)
Alarm output (ALARM) is the output of NC contact. As for alarming sequence, please refer to "A-3
Operation Sequence at Power Up"(page A-24).
When alarming reason is removed, if alarm reset input (RESET) maintains 40ms above (+ "Input Filter (other
than origin/stop sensor)"ON, carry out alarm reset with RESET OFF, and it can run in this case.
Servo is OFF at RESET ON when alarming.
Alarm ON
㧔ALARM㧕 OFF
40 or more ON (+ "input filter
(except origin/stop sensor)")
Alarm reset ON
㧔RESET㧕 OFF
Alarm in progress relay ON

OFF

As for alarm description, please refer to "A-4 Alarm and Remedy"(page A-33).
6-3
Servo ON (SVON) (Pin No.5)/READY (RDY) (Pin No.34)
If servo ON input (SVON) is ON, it is possible to run servo motor by turning on the power of basic
circuit. If Servo ON, RDY output will be ON after Electromagnetic Brake Release Wait Time.
As for servo ON/OFF sequence, please refer to "A-3 Operation Sequence at Power Up"(page A-
24).
If it gives alarm and stops, even if servo ON input is ON, it is at servo OFF state. If it is at servo OFF
state, RDY output is also OFF.
6 If alarm is reset, it becomes again to servo ON state, and RDY output will also be ON.
ON
Servo ON (SVON) OFF
Electromagnetic brake timing ON

OFF (release)
‫ޓޓޓޓޓ‬㧔BRAKE㧕
Electromagnetic brake release wait time
ON
Operation ready end˄RDY˅ OFF
Note
Servo ON input (SVON) is valid only when"*Servo ON way" of system parameters is
set as"external input". Even if "Operation Enabling Relay"is not ON, servo will be ON.

"Servo ON mode"( page 10-93)
6-4
Run Start Command/Deviation Clearing(START/CLR)(pin No. 6)
■ Request to start run (START)

Position control
START command runs specified point no. by the Start input.
It is valid when"* Position Operation way"of system parameter is set as "External input" or "External
input (no deceleration stop)". Point No. will be specified by data 0 to 4 input (DT0 to 4).
When" * Position Operation way"of system parameter is set as "External input", in the point operation, if
START is OFF, it decelerates and stops.
If it is set as "External input (no deceleration stop)", it will not decelerate and stop. (If MOVE ON, please
turn OFF START command.) 6

ON
Operation start command OFF
˄START˅
Operation start command
1 2 3
Point No.
Deceleration s
Positioning operation
As for the way for specifying operation start point No. by using data 0 to 4 (DT0 to 4), please refer to
"Data 0 to 4 (DT0 to 4) (pin No.11 to 15)"(Page 6-8).
Note
START command input at servo OFF is invalid. Please input START command after
confirming RDY is ON.

"Absolute position detection system"( page 10-94)
As for the way for starting operation by using PLC device, please refer to Chapter 9 "DEVICE
ASSIGMENT"(P9-1).
■ Deviation clearing (CLR)

Manual pulse
If CLR input changes from OFF to ON, it can stop immediately after clearing position deviation
(accumulated pulse).
It will continue to clear position deviation with CLR is ON.
6-5
Zero Return Command (ORG) (Pin No.7)
Position control
ORG command will start Zero Returning by starting the input.

If ORG is OFF in Zero Returning, it will stop the returning, and decelerate to stop.
ON
Zero return command (ORG) OFF
ON
Moving in progress (MOVE) OFF
6 Positioning finish (FIN) ON It is not ON becaus

OFF deceleration stop
Deceleration stop
Zero return Zero return in progress
Zero return in progress
As for details of Zero Return, please refer to "A-2 Zero Return"(page A-4).

"A-2 Zero Return"(page A-4)
JOG Command (JOG) (Pin No.8)
Position control
When JOG is ON, the servo motor runs in JOG mode.

JOG movement is determined by ON/OFF of data 0 to 1 input (DT0 to 1).
ON OFF
Decreasing direction of current Increasing direction of current
Data 0 (DT0)
coordinate coordinate
Data 1 (DT1) High-speed Low Speed
About data 0 to 1, please refer to "Data 0 to 4 (DT0 to 4) (pin No.11 to 15)"(Page 6-8).

"JOG startup speed" (Page 10-80)
6-6
TEACH Command (TEACH) (pin No.9)
When running towards target position in JOG mode, etc., if TEACH command is ON, by starting the
signal it is possible to change the value of "Target coordinate" for specified point No. into current
coordinate.
At position control mode, TEACH command under operation is invalid.
Note
There are two ways for specifying point No., i.e. to specify from PLC data memory
and by inputting data 0 to 4 (DT0 to 4). 6
• After TEACH relay of PLC device is ON, the point No. setting of PLC data memory

becomes effective.
• After TEACH of external input is ON, the point No. setting by inputting 0 to 4 (DT0 to
4) becomes effective.
TIP • As for the way for specifying TEACH point No. by using data 0 to 4 (DT0 to 4), please refer to
"Data 0 to 4 (DT0 to 4) (pin No.11 to 15)" (Page 6-8).
• As for the way for specifying TEACH point No. from PLC data memory, please refer to
Chapter 9 "DEVICE ASSIGMENT"(P9-1).
• MV LINK STUDIO can also teach. For details, please refer to MV LINK STUDIO User
Manual.
GAIN (pin No.10)
When GAIN is ON, you can change relative parameter of gain.
ON
Gain change˄GAIN˅ OFF
Position gain Position gain 2 Position gain

Speed gain Speed gain 2 Speed gain
Servo parameter Integral time constant Integral time constant 2 Integral time constant
Torque command LPF Torque command LPF2 Torque command LPF
Load moment of inertia Load moment of inertia 22 Load moment of inertia
or or
Auto tuning gain Auto tuning gain

• Servo parameter
"Tuning"( page 10-30)
"Tuning gain 2"( page 10-38)
"Automatic gain switching"( page 10-52)
6-7
Data 0 to 4 (DT0 to 4) (pin No.11 to 15)
Position control
For specifying point No. at START or JOG as well as setting at JOG.
■ When specifying point No.

0:OFF 1:ON
Point No. DT4 DT3 DT2 DT1 DT0 Point No. DT4 DT3 DT2 DT1 DT0
6
Pin No. 15 14 13 12 11 Pin No. 15 14 13 12 11
No specification 0 0 0 0 0 16 1 0 0 0 0
1 0 0 0 0 1 17 1 0 0 0 1
2 0 0 0 1 0 18 1 0 0 1 0
3 0 0 0 1 1 19 1 0 0 1 1
4 0 0 1 0 0 20 1 0 1 0 0
5 0 0 1 0 1 21 1 0 1 0 1
6 0 0 1 1 0 22 1 0 1 1 0
7 0 0 1 1 1 23 1 0 1 1 1
8 0 1 0 0 0 24 1 1 0 0 0
9 0 1 0 0 1 25 1 1 0 0 1
10 0 1 0 1 0 26 1 1 0 1 0
11 0 1 0 1 1 27 1 1 0 1 1
12 0 1 1 0 0 28 1 1 1 0 0
13 0 1 1 0 1 29 1 1 1 0 1
14 0 1 1 1 0 30 1 1 1 1 0
15 0 1 1 1 1 31 1 1 1 1 1
Note
The specified range of point No. is 32 to 100.
When point No. is 1 to 100, please use PLC device.
About PLC device, please refer to Chapter 9 "DEVICE ASSIGMENT"(P9-1).
■ Setting at JOG mode

JOG movement
ON OFF
Decreasing direction of current Increasing direction of current
Number 0 (DT0)
coordinate coordinate
Number 1 (DT1) High-speed Low Speed
6-8
Proportion Control Shifting (PCN) (pin No.11)
Speed Control Manual pulse
If PCN is ON, the speed control cycle can be shifted from proportion/integral (PI) control into proportion
(P) control.
Proportional control (PCN)
Speed control cycle Proportion Integral (PI) control Proportion (P) control Proportion Integral (PI) control
6

"Automatic changeover between proportion control"( page 10-51)
6-9
M Code ON (MOFF) (pin No.16) M code 0 to 4 (M0 to M4) (pin No. 28 to 32)
Position control
I/O functions relative with M code are classified as:
• M code ON command (MOFF) (Pin No. 16)
• M code outputting (MCODE) (pin No.27)
• M code 0 to 4 (M0 to 4) (pin No.28 to 32)
Set M code for "Mcode No."According to "M code mode" of point parameter when WITH or AFTER,
MCODE is ON and output is point parameter. M code can be confirmed by PLC data memory or M code
6 0 to 4 (M0 to 4).
If it is to change M code OFF command entry (MOFF) from OFF into ON in M code output, MCODE will
be OFF.
Additionally, when M code ON command entry (MOFF) is ON, MCODE will not be ON but standby. If M
code ON command entry (MOFF) is OFF, MCODE is ON and outputs M code.
TIP As for details of M code, please refer to "10-5 Point Parameter"(Page 10-53).
M Code 0 to 4 (M0 to 4) Code List
M code No. M4 M3 M2 M1 M0 M code No. M4 M3 M2 M1 M0

Pin No. 32 31 30 29 28 Pin No. 32 31 30 29 28
0 or 2 to 255*1 0 0 0 0 0 16 1 0 0 0 0
1 0 0 0 0 1 17 1 0 0 0 1
2 0 0 0 1 0 18 1 0 0 1 0
3 0 0 0 1 1 19 1 0 0 1 1
4 0 0 1 0 0 20 1 0 1 0 0
5 0 0 1 0 1 21 1 0 1 0 1
6 0 0 1 1 0 22 1 0 1 1 0
7 0 0 1 1 1 23 1 0 1 1 1
8 0 1 0 0 0 24 1 1 0 0 0
9 0 1 0 0 1 25 1 1 0 0 1
10 0 1 0 1 0 26 1 1 0 1 0
11 0 1 0 1 1 27 1 1 0 1 1
12 0 1 1 0 0 28 1 1 1 0 0
13 0 1 1 0 1 29 1 1 1 0 1
14 0 1 1 1 0 30 1 1 1 1 0
15 0 1 1 1 1 31 1 1 1 1 1
*1 If M code is set as 32 to 255 then even if M code is outputting, all M code outputs 0 to 4(M0 to M4) will be OFF.

• Point parameter
"M Code Mode"( page 10-67)
"M-code No."( page 10-71)
6-10
Origin Sensor (ORGS) (pin No. 17)
Position control
"Origin" is the reference for positioning. Here it is to input the sensor for inspecting mechanical origin
used at Zero Returning.
It is possible to set polarity, input time constant, origin-returning way depending on different parameters.

"Origin sensor polarity"( page 10-87)
"Origin/stop sensor input filter"( page 10-94)
6
"Zero return method"( page 10-85)

Stop Sensor (STOP) (pin No. 18)
Position control
To be used when the "Operation Mode" of point parameter is set as "Position type speed/deceleration",
"Position type speed/jog".
For "Single/Position/Absolute]"and "Single/Position/Increment]", you can select whether to use stop
sensor.
It is possible to set polarity, input time constant depending on different parameters.
Note
After setting "Position type speed/jog", if the setting of "movement after inputting
stop sensor" is big, the speed will rise to the operation speed even the stop sensor
is input immediately after starting acceleration. It stops only after moving the set
value in "movement after inputting stop sensor".

• Point parameter
"Operation mode"( page 10-56)
"Stop Sensor Set"( page 10-59)
"Stop sensor polarity"( page 10-88)
"Origin/stop sensor input filter"( page 10-94)
6-11
Standby Release Command (RESUM) (pin No. 19)
Position control
If "Continuous Operation Mode" of point parameter is set as "Standby (not return, return)", after point
movement ends, it will standby and wait for the next movement.
If RESUM is ON, standby state is cancelled, and starts the next movement. With RESUM ON, no
standby movement will be done.
6 Cancel standby command ON

(RESUM)
OFF
Operation (standby operation

with setting)
Standby As "cancel standby command"
(RESUM) is ON, it won't be standby

• Point parameter
"Continuous Operation Mode"( page 10-62)
External brake Resistance Over Hot (BOH) (pin No. 20)
Connect thermostat output of external brake resistor (OP-51418). If " *brake resistor selection" of servo
parameter is set as "External", when brake resistor is too hot, the thermostat output is ON and this will
start the protection and give alarm for over-hot external brake resistor.

• Servo parameter
"Brake Resistance Select"( page 10-46)
6-12
Positioning Finishes/ends (FIN/INPOS) (pin No. 25)
■ Positioning finishes (FIN)

Position control
When point running finishes and position deviation (accumulated pulse) is within INPOS range, FIN will
be ON.
FIN will be ON only when the point execution ends and "Next point No." is "0". And it will be OFF for
starting new point running.
TIP Relative parameters 6

• Servo parameter

"Positioning completion range"( page 10-47)
"INPOS detection time"( page 10-90)
■ Positioning ends (INPOS)

Manual pulse
When position deviation (accumulated pulse) is less than the set value of servo parameter "INPOS
range", INPOS will be ON.

• Servo parameter
"Positioning completion range"( page 10-47)
Moving (MOVE) (pin No. 26)
■ Moving (MOVE)
In Position Control mode, MOVE is ON at positioning. It is ON during normal running, JOG and Zero
Returning.
It is ON so long that the servo parameter is not at "0-speed detection" in manual pulse/speed control/
torque control mode.

• Servo parameter
"Zero speed detection"( page 10-41)
6-13
M Code Outputting/Torque Limiting (MCODE/TLM) (pin No. 27)
■ M code outputting (MCODE)

Position control
Refer to "M Code ON (MOFF) (pin No.16) M code 0 to 4 (M0 to M4) (pin No. 28 to 32)"(Page 6-10).
■ Torque limiting (TLM)

Speed Control Torque control Manual pulse
6 After "[+] side torque limit enable relay"and "[-] side torque limit enable relay" are ON,by"[+] side torque
limit" and "[-] side torque limitî of servo parameters" it can make output of torque limit (TLM) ON when
torque limit is effective for servomotor.
If it exceeds the max. torque of motor, TLM will be ON even if [+] / [-] side torque limit enable relay is
not ON.

• Servo parameter
"[+] side torque limit"(page 10-44)
"[-] side torque limit"(page 10-44)
Relative device
"[+] side torque limit enable relay"/"[-] side torque limit enable relay" (page 9-16)
"Torque command/torque limit at speed control DM"(page 9-30)
At Electromagnetic Brake (BRAKE) (pin No. 33)
BRAKE can be used in electromagnetic brake control of servomotor. BRAKE is ON when servo ON,
and OFF at servo OFF or alarm.
As for electromagnetic brake sequence, please refer to "A-3 Operation Sequence at Power
Up"(page A-24).
Note
When it has mechanical vibration, dropping off due to delay in electromagnetic
brake, please adjust "Electromagnetic Brake Hold Wait Time", "Electromagnetic
Brake Release Wait Time"and "Electromagnetic Brake Movement Start Time".

• Servo parameter
"Electromagnetic brake wait torque limit"( page 10-45)
"Electromagnetic brake hold wait time"( page 10-45)
"Electromagnetic brake release wait time"( page 10-45)
"Start time for electromagnetic brake engages"( page 10-46)
6-14
Pulse Input (CW+/CW-/CCW+/CCW-) (pin No. 37 to 40)
Manual pulse
For the wiring of pulse entry, please refer to "4-7 Wiring I/O Connector"(Page 4-27).

• Servo parameter
"Time constant for pulse train Input"( page 10-39)
"Format for pulse train Input"( page 10-39)
6
"Logic for pulse train Input"( page 10-40)
"Rotary direction for pulse train"( page 10-40)
"Input override of manual pulse generator"( page 10-41)
6-15
MEMO
6
6-16
7
CONTROL MODE
This chapter describes the control modes used in MV high-speed link system
and how to change the control mode.
7-1 Control Mode •••••••••••••••••••••••••••••••••••••••••••••••• 7-2
7-1
7-1 Control Mode
This section describes the control modes used in MV high-speed link system and how to change the
control mode.
TIP • For the parameters to be set in each control mode, please refer to "10-3 Parameter
List"(page 10-4).
• For external I/Os used in each control mode, please refer to Chapter 8 "SETTING
UP USING UNIT EDITOR"(page 8-1).
• For PLC devices used in each control mode, please refer to the following.
"9-2 List Of Input Relays"(page 9-4)
"9-3 List of Output Relays"(page 9-15)
"9-4 DM List"(page 9-25)
Type of Control Mode

7 There are 4 control modes in MV high-speed link system as follows. The modes can be switched by
CONTROL MODE
ladder program.
• "Position Control Mode"(page 7-4)
• "Speed Control Mode"(page 7-4)
• "Torque Control Mode"(page 7-5)
• "Manual Pulse Mode"(page 7-7)
Changing Control Modes
It is possible to change the control mode by writing specified value in "Control Mode Specify DM" and
turning ON "Request Change Control Mode relay".
■ Relative devices
• "Request Change Control Mode relay"
• "Change Control Mode Finish relay"
• "Change Control Mode Error relay"
• "Control mode specification DM"
(0: position control/1: speed control/2: torque control/3: manual pulse)
(If the saved value is more than "4", it is position control.)
■ Relative parameters
• System parameter "*Control Mode alarm in progress"
It will give alarm in progress if executing only position control command (point operation command,
etc.) under non-position control mode. However, you can make it not give alarm in progress by
setting parameter.
■ Precautions for changing control mode

• It is Position Control mode when power on.
• In Speed Control mode and Torque Control mode, if it has value in DM for saving command value,
the servo motor will rotate, therefore one must note this when changing control mode.
• It is possible to change control mode during operation, but it is recommended to do that at standstill
as far as possible to avoid any danger.
• When restarting the servo amplifier, it will keep the control mode before the restarting.
7-2
7-1 Control Mode
• When the control mode is changed from (speed control/torque control mode) to (position control/
manual pulse mode), it will maintain the position at changing. Therefore, if it is changed into position
control/manual pulse mode during operation of motor, it may stop immediately. Please note this.
• When the control mode is changed from (position control/manual pulse mode) to (speed control
mode), even if "acceleration for speed control"/ "deceleration for speed control" or "acceleration time
for speed control" / "deceleration time for speed control" are set for servo parameter, it will sharply
change from the speed at changing to the speed of Speed command.
In order that the speed at changing can change to the speed of Speed command slowly, it must go
through the following process.
(1)Trapezoidal diagram program is saved in position control/manual pulse mode, return speed (r/min) or
current speed (coordinate unit/s) is saved in "Speed command/speed limit at torque control DM".
For "Return speed monitor DM", "Current speed DM", please refer to "Normal Read Area"(9-25).
(2)If it is changed into speed control mode, save speed command value to be changed into "Speed
command/speed limit at torque control DM".
Please note the data format when saving value in "Speed command/speed limit at torque control 7
DM".
CONTROL MODE
"Return speed monitor DM" : 1 word, signed BIN
"Current speed monitor DM" : 2 words, signed BIN
"Speed command/speed limit at torque control DM": 2 words, signed BIN
TIP The relay No. relative with the changing of control mode
R10000 R30000 R30112 R30212 #00001 R32212

χ DW SET
Change control X1 operation X1 change control X1 control mode DM10120 X1 request change
mode command enable mode complete change error X1 control mod control mode
e specification
R30112 R32212
RES
X1 change control X1 request change
mode complete control mode
and DM No. are depending on the setting in Unit Editor.

Chapter 8 "SETTING UP USING UNIT EDITOR"(page 8-1)
Chapter 9 "DEVICE ASSIGMENT"(page 9-1)
For the ladder program relative with the changing of control mode, please refer to the following items.
"Changing Control Modes"(page 9-101)
Chapter 15 "EXAMPLES OF BASIC OPERATION"(page 15-1)
7-3
7-1 Control Mode
Position Control Mode
In Position Control mode, the operation of point running, etc. is same with that for running servo motor
by using positioning unit.
■ Precautions at position control mode

• To set operation way for Position Control mode by "*Position Operation way" of system parameters.
Specification of START command and START point No. can be selected from "PLC device" or
"external entry".
• After confirming "Servo READY relay" is ON, please give START command. It is impossible to
receive when "Servo READY relay" is OFF.
7
■Relative main parameters
CONTROL MODE
Servo parameter
• "*Electronic gear (numerator)"/ "*electronic gear (denominator)"
Point parameter
System parameter
Speed Parameter
■ Relative main PLC devices

• "START Request relay"
• "START Request Accept relay"
• "START Error relay"
• "Point No. Specifying DM"
Speed Control Mode
In speed control mode, the motor will rotate in specified speed.

If rotation speed is input in the DM (data memory) for saving speed command value, the motor will
rotate in input speed.
■ Relative main parameters

Servo parameter
• "Speed Command Unit"
• "Speed Command Acceleration/deceleration Unit"
• "Speed Command Acceleration Time"/ "Speed Command Deceleration Time"
• "Speed Command Acceleration"/"Speed Command Deceleration"

• "Speed command/speed limit at torque control DM"
• "Torque command/torque limit at speed control DM"
• "[+] torque limit enable relay"/"[-] torque limit enable relay"
7-4
7-1 Control Mode
■ Precautions at speed control mode

• Speed command value is saved in "Speed command/speed limit at torque control DM", but if a value
is already set with servo ON, the motor will rotate in this speed, so it will be very dangerous.
So first you have to change the setting at servo ON as 0, or change to servo ON with value set
beforehand.
• "Speed command unit" is set as [r/min] or [coordinate unit/s].
• "Speed Command Acceleration/deceleration Unit" is set as Acceleration/deceleration time (ms) or
Acceleration/deceleration (coordinate unit/s/ms).
• In the setting of electronic gear, if "Speed Command Unit" is [coordinate unit/s], "Speed Command
Acceleration/deceleration Unit" is [coordinate unit/s/ms], it is relative with movement.
In addition, the setting of electronic gear can also be used for calculating current coordinate and
current speed. Please make setting as necessary.
7
CONTROL MODE
■ Point
Similar with conventional servo amplifier, by simulating the inputting torque limit it is possible to control
in long time the change in torque limit.
However, the smaller one among value of "Torque command/torque limit at speed control DM" and
"[+]([-])side torque limit" is effective.
The changing of long-term controlling torque limit can be set as following.
1 Turn on "[+] side torque limit enable relay"/ "[-]side torque limit enable relay".
2 Set torque limit in "Torque command/torque limit at speed control DM".
Note
After [+]/[-] side torque limit enable relay is ON, if value of "Torque command/torque
limit at speed control DM" is 0, the torque limit is 0, and it generates no torque.
Torque Control Mode
In torque control mode, the motor will rotate in specified torque.

If inputting torque command value ( ×0.1%) in DM for saving torque command value, the motor will
rotate in the set torque.

Servo parameter
• "[+] side torque limit" /"[-] side torque limit"
• "Torque Command Acceleration Time"/"Torque Command Deceleration Time"
• "Speed limit"
7-5
7-1 Control Mode

• "Torque command/torque limit at speed control DM"
• "[+] torque limit enable relay"/"[-] torque limit enable relay"
• "Speed command/speed limit at torque control DM"
• "Speed Limit DM Enable Relay at Torque Limit"
■ Precautions at torque control mode

• Torque command value is saved in "Torque command/torque limit at speed control DM", but if a value
is already set with servo ON, the motor will rotate in this torque, so it will be very dangerous.
So first you have to change the setting at servo ON as 0, or change to servo ON with value set
7 beforehand.
• The setting of electronic gear is irrelative with the movement, but can be used for calculating current
CONTROL MODE
coordinate and current speed. Please make setting as necessary.

• In order to avoid being out of control, please set "Speed Limit".
• The min. setting of "Speed Limit" is 50r/min. If 0 to 49 is set, it will be deemed as 50.
• Regarding "Speed Limit" in torque controlling
• The purpose is to avoid motor from being out of control.
• No speed limit is carried out when motor is driven through different loads (regeneration state).
• If exceeding "Speed Limit", correct from speed control loop, adjust torque, and limit the
speed.
• Correction in speed limit will be lagged, therefore it is expected that excessive case will
occur?
• When changing torque command value, if no value highly different from actual torque
(decreased) is set, the speed limit loop will continue to correct the torque.
(However, when torque command value =0, no correction on speed control loop will be done.)
• When "Speed Limit DM enabling relay at torque control" is OFF, the setting of "Speed Limit" is
effective.
• When "Speed Limit DM enabling relay at torque control" is ON, the smaller one among the setting of
"Speed Limit" and that of "Speed command/Speed Limit DM at torque control" is effective.
■ Point
Similar with conventional servo amplifier, by simulating the inputting speed limit it is possible to control
in long time the change in speed limit.
However, the smaller one among the setting of "Speed Limit" and that of "Speed command/Speed Limit
DM at torque control" is effective.
The changing of long-term controlling speed limit can be set as following.
1 Turn on "Speed Limit DM Enable Relay at Torque Limit".
2 Set speed limit in "Speed command/speed limit at torque control DM".
Note
When "Speed Limit DM Enable Relay at Torque Limit" is ON, if "Speed command/
speed limit at torque control DM" maintains to be 0, the speed limit is 0, and motor
doesnít rotate.
7-6
7-1 Control Mode
Manual Pulse Mode
In manual pulse mode, motor rotates by external pulse inputting from MPG, etc.

Servo parameter
• "*Electronic gear (numerator)"/ "*electronic gear (denominator)"
• "*Time Constant for pulse train Input"
• "*Format for pulse train Input"
• "*Logic for pulse train Input"
• "*Rotary Direction for pulse train"
• "Manual pulse input override" 7
CONTROL MODE
■ Wiring of pulse input
For the wiring of pulse entry, please refer to "Wiring Pulse Input"(page 4-32).
■ Precautions at manual pulse mode

• The input pulse frequencies are as follows.
Input Way for inputting pulse Frequency
1-pulse input
max 500 kHz
Line drive 2-pulse input
A/B phase pulse input max 450 kHz
Open connector Irrelative with way for inputting pulse max 200 kHz
• Input pulse after confirming "Servo READY relay" is ON.

In manual pulse mode, even if it is at Electromagnetic Brake Release Wait time, the motor will rotate
so long that it has pulse input. If it is a motor with brake, it will be dangerous to run with
electromagnetic brake not released. You must be very careful.
• When changing external I/O of servo amplifier into servo ON, even if CPU is under PROGRAM mode
("Operation Enable relay" is OFF), the motor will rotate so long that it has pulse input. Please pay
attention to that.
7-7
7-1 Control Mode
MEMO
7
CONTROL MODE
7-8
8
SETTING UP USING UNIT
EDITOR
This chapter describes the procedures for setting MV-L40's unit setting
information and transferring it via USB port or serial port to CPU by using the
Unit Editor.
8-1 Setting up by Using Unit Editor••••••••••••••••••••••••••• 8-2
8-1
8-1 Setting up by Using Unit Editor
Make unit configuration and relative setting of MV-L40 by using Unit Editor. If it is to use MV-L40 first
time, you have to make this setting.
Using Unit Editor to set the unit setting information of MV-L40 and transfer it from USB port or serial
port to CPU.
Note
The setting of servo amplifier and servomotor used by each axis can be set/edited
just by Unit Editor. (Impossible to set/edit in MV LINK STUDIO)
Before using MV LINK STUDIO, please first set Unit Editor.
How to Set up Using Unit Editor
As for the details for operating Unit Editor, please refer to KV STUDIO User's Manual or KV
BUILDER User's Manual.
8 ■ Setting procedure
SETTING UP USING UNIT EDITOR
1 Start Unit Editor.
2 Select tag "Unit Select (2)" and drag & drop the
unit to be connected at unit-configuration area.
Note
If expanded unit KV-EB1S/KV-EB1R is
used, MV-140 can't be configured up
to 3rd block.
3 Select MV-L40 in unit-configuration area, right

click it and select "Unit-setting content".
8-2
4 Click the item for which the setting is to be changed and

make setting.
Make detailed setting for all units connected.
5 Select in sequence in menu[File(F)] [Save(S)].
Note
• Only the setting of item at left of which it displays " "can be changed. Any item
displays " "can't be changed. 8
But after changing other settings, the setting of some items can also be changed.

• The item at right of whose setting it has "*" means that the current setting is
default.
8-3
■ List of setting items

The list of items set in Unit Editor and setting range are as follows.
Setting
Item
Setting range Default
KV-700 0 to 18800 -
Leading DM No. KV-700+M 0 to 38800 -
KV-1000 0 to 63800 -
KV-700 -
Leading relay No. KV-700+M 10 to 568(in CH） -
KV-1000 -
used ON -
MV-21 (1-phase 100V)
Servo amplifier*1 MV-21 (1-phase 100V)
8 MV-42 (1-phase 200V)
X1 axis

MV-M05(D)/-B05(D)
MV-M10(D)/-B10(D)
*2
Servo motor MV-M20(K)/-B20(K) MV-M05(D)/-B05(D)
MV-M40(K)/-B40(K)
MV-M75(K)/-B75(K)
used Y/N Controlling
Y1 axis/X2 axis/Y2
Servo amplifier*1 MV-21 (1-phase 100V)
axis Same with X1 axis
Servo motor*2 MV-M05（D)/-B05(D)
*1 Because of capacity of frequency inverter of master axis unit, the servo amplifier can be selected for
expanded unit is also limited. Please note that when selecting expanded unit and changing master axis
unit.
For detail, please refer to "Master Axis Unit and Expansion Unit"(Page 1-14)
As for combination of servo amplifier and servomotor, please refer to "1-2 Combination of Servo
Amplifier and Servo Motor"(Page 1-6).
Data Transfer to CPU
The Unit Editor is a software in Ladder Support Software KV STUDIO/KV BUILDER. After connecting
the computer furnished with KV STUDIO/KV BUILDER to CPU, both the unit setting information and
trapezoidal diagram program can be transferred at the same time.
As for the connecting way and data transferring way between computer and CPU, please refer to
KV STUDIO User's Manual or KV BUILDER User's Manual.
8-4
9
DEVICE ASSIGMENT
This chapter describes the I/O relays and data memories (DMs) assigned in
MV-L40.
9-1 Device Assignment Overview •••••••••••••••••••••••••••• 9-2

9-2 List Of Input Relays••••••••••••••••••••••••••••••••••••••••• 9-4
9-3 List of Output Relays ••••••••••••••••••••••••••••••••••••• 9-15
9-4 DM List •••••••••••••••••••••••••••••••••••••••••••••••••••••• 9-25
9-5 DM/Relay Function ••••••••••••••••••••••••••••••••••••••• 9-62
9-1
9-1 Device Assignment Overview
To set leading relay No./Leading DM No. by unit editor.
As for unit editor, please refer to Chapter 8 "Setting up Using Unit Editor" ( P8-1).
TIP In installation target folder of MV LINK STUDIO, there is a file "Device figure (MV-L40) .xls".
After inputting the set leading relay No./Leading DM No. in unit editor, it is possible to create
device assignment list.
Relay Assignment Overview
If using one MV-L40, it will occupy 32CH relays regardless the number of units connected to the servo amplifier.
N ：leading relay channel No.
Category
Relay channel No. Occupy
Shaft I/O relay Contents
N +00
5CH
9 X1 axis
to
(60 bit)
N +04
N +05
DEVICE ASSIGMENT
5CH
Y1 axis
to
(60 bit)
N +09
To inform PLC the action status of servo
Input relay
N +10 amplifier.
5CH
X2 axis
to
(60 bit)
N +14
N +15
5CH
Y2 axis
to
(60 bit)
N +19
N +20
3CH
X1 axis
to
(36 bit)
N +22
N +23
3CH
Y1 axis
to
(36 bit)
N +25
To send action command to servo
Output relay
N +26 amplifier.
3CH
X2 axis
to
(36 bit)
N +28
N +29
3CH
Y2 axis
to
(36 bit)
N +31
9-2
9-1 Device Assignment Overview
Data Memory Assignment Overview
If using one MV-L40, it will occupy 1200 DMs regardless the number of units connected to the servo amplifier.
N ：Leading DM No.
Occupy Category
DM No.
(Word) Shaft Area Content
N +0000 to N +0025 26 X1 axis
N +0026 to N +0051 26 Y1 axis
Write the point no. under operation and current
N +0052 to N +0077 26 X2 axis coordinate, etc.
114 Normal read area
N +0078 to N +0103 It's impossible to write by ladder diagram in this
26 Y2 axis
area.
N +0104 to N +0113 Reserved
10
for system
N +0114 to N +0123 10 X1 axis
N +0124 to N +0133 10 Y1 axis
N +0134 to N +0143 Area that can be written by ladder program.
10 X2 axis Normal
50 For specifying the point No. to be executed or
N +0144 to N +0153 communication area
10 Y2 axis changing current coordinate, etc.
N +0154 to N +0163 10
Reserved
for system 9
To write the area of parameter set value
DEVICE ASSIGMENT
N +0164 to N +0195 Indirect parameter specified indirectly. For parameters that can be
32 32 -
area specified indirectly, please refer to " 10-3
Parameter List " ( P 10-4 ).
N +0196 to N +0211 16 X1 axis In point parameter area, it is possible to read
N +0212 to N +0227 16 Y1 axis point parameter from MV-L40.
Point parameter
64 In addition, after writing point parameter area, it
N +0228 to N +0243 16 X2 axis area
is possible to change point parameter of MV-
N +0244 to N +0259 16 Y2 axis L40.
N +0260 to N +0299 40 X1 axis In system parameter area, it is possible to read
N +0300 to N +0339 40 Y1 axis system parameter from MV-L40.
System parameter
160 In addition, after writing system parameter area,
N +0340 to N +0379 40 X2 axis area
it is possible to change system parameter of
N +0380 to N +0419 40 Y2 axis MV-L40.
N +0420 to N +0451 32 X1 axis In speed parameter area, it is possible to read
N +0452 to N +0483 32 Y1 axis speed parameter from MV-L40.
Speed parameter
128 In addition, after writing speed parameter area,
N +0484 to N +0515 32 X2 axis area
it is possible to change speed parameter of MV-
N +0516 to N +0547 32 Y2 axis L40.
N +0548 to N +0609 62 X1 axis In servo parameter area, it is possible to read
N +0610 to N +0671 62 Y1 axis servo parameter from MV-L40.
Servo parameter
248 In addition, after writing servo parameter area, it
N +0672 to N +0733 62 X2 axis area
is possible to change servo parameter of MV-
N +0734 to N +0795 62 Y2 axis L40.
In common set parameter area, it is possible to read
N +0796 to N +0805 Common set common set parameter from MV-L40. In addition, after
10 10 -
parameters writing common set parameter area, it is possible to
change common set parameter of MV-L40.
N +0806 to N +0821 16 16 - Reserved for system User cannot use.
N +0822 to N +0933 alarm in progress The area for reading alarm in progress log (16
112 112 -
log area no.s) saved by MV-L40.
N +0934 to N +1029 Operation point The area for reading alarm in progress log (16
96 96 -
Log area no.s) saved by MV-L40.
N +1030 alarm in progress

1 1 - To save alarm in progress No. of MV-L40.
No. (MV-L40)
N +1031 to N +1199 169 169 - Reserved for system User cannot use.
9-3
9-2 List Of Input Relays
Input Relay (MV-L40→PLC) List
Input relays will be turned ON/OFF by MV-L40. It indicates the action of servo amplifier or status for
receiving signal from MV-L40.
Note
• All input relays are OFF before "Ready relay" is ON. Please check that "Ready relay"is ON.
• The period for CPU to read MV-L40 is either the CPU scanning time or MV-L40's
scanning time 1 to 10ms, whichever is bigger.
■ Legends
Device No.
n Leading relay assigned to MV-L40 (leading CH).
When MV-L40 leading relay No. set in unit editor is 30000(300ch), n 00
indicates"30000": n 01 indicates"30001": n+1 00 indicates "30100".
9 Control mode
Positi on : position control mode Speed: speed control mode
DEVICE ASSIGMENT
Torque: torque control mode MI: manual impulse mode
Note
• "( )" in relay name indicatesname of I/O with the same function.
• Y1/X2/Y2 axis device No. with "( )" means function common to all axes. To execute
function, use X1 axis device No. relay.
9-4
■ Input relay (MV-L40→PLC)

Control mode
Device No. Relay name and function Remarks Manual
Position Speed Torque
pulse
Operation ready
ON : Operable state.
It is ON when "Operation enable relay"
OFF→ON.
OFF: Inoperable state.
It is OFF when"Operation enable relay"
ON→OFF.
The following items can be OFF.
• External input (EMG, CCW/CW limit
switch, alarm in progress reset)
• Servo ON (when "SVON way" is set as
"External input")
• Forced stop/deceleration stop
• alarm in progress reset/alarm in progress
log read/alarm in progress log clear
n • Reading /writing parameter All input relays are
X1 00
• Write flash ROM OFF before
Y1 n+5 00
X2 n+10 00
• Test run from access window of servo amplifier
• Teaching request
"ready relay" is ON.
Please check that
○ ○ ○ ○ 9
Y2 n+15 00
DEVICE ASSIGMENT
• AT parameter reflection "ready relay" is ON.
• Read operating point log
Execute no positioning.
Speed control mode
Change speed command value into 0.
Torque control mode
Change torque command value into 0.
Manual pulse mode
*Action of input pulse with servo ON when
"SV ON way" is set as "external input"
To make it inoperable you can execute the
following actions.
• Change to other control modes
• Turn off main circuit
• Don' t input pulse
Move in progress (MOVE)

ON : Moving at position control mode.
In progress of running.
In progress of linear interpolating operation,
"relay in moving" of X axis and Y axis will
both be ON. In progress of interpolating
X1 n 01 operation, even if speed of one axis is 0, it
"INPOS
Y1 n+5 01 continues to ON.
detection ○ ○ ○ ○
X2 n+10 01 Condition other than position control mode
time"(P10-90)
Y2 n+15 01 Non-zero speed state.
OFF: Moving at position control mode.
Non operating state (positioning finish, force to
stop, deceleration stop, alarm in progress,
standby, M code ON instruction waiting).
Condition other than position control mode
Zero speed state.
9-5
Control mode
pulse
Return in progress
n ON : Just performing return operation. Even if
X1 02
return operation is finished, ON state still "INPOS
Y1 n+5 02
continues. In linear interpolating operation, detection ○ - - -
X2 n+10 02
"return performing relay " of each axis will time"(P10-90)
Y2 n+15 02
be ON.
OFF: No performing return operation state.
Dwell in progress
X1 n 03 ON : dwell in progress.
"INPOS
Y1 n+5 03 In linear interpolating operation, dwelling
detection ○ - - -
X2 n+10 03 relay " of all axes related with
time"(P10-90)
Y2 n+15 03 interpolating operation is ON.
OFF: State other than dwell in progress.
Cycle interrupt finish

X1 n 04 ON : after "cycle interrupt request relay" OFF→
Y1 n+5 04 ON, it becomes ON when the cycle is
- ○ - - -
9 X2 n+10 04 interrupted.
Y2 n+15 04 OFF : when "cycle interrupt request relay" changes
from ON→OFF, it turns OFF.
DEVICE ASSIGMENT
Positioning finish (FIN)

"INPOS
n ON : It is ON when both "Input Finish Relay"
X1 05 detection
and "positioning end relay" are ON.
Y1 n+5 05 time"(P10-90)
"Positioning completion range"(10- ○ - - -
X2 n+10 05 "Verify
47)
Y2 n+15 05 Completion of Point
However, the positioning finish relay will
Operation"(P9-114)
not be ON at JOG run.
Alarm in progress
X1 n 06 ON : It becomes ON at alarm in progressing.
Y1 n+5 06 alarm in progress No. will be written in
- ○ ○ ○ ○
X2 n+10 06 "alarm in progress No. DM".
Y2 n+15 06 OFF: It is OFF when alarm in progress is
cleared.
M code output in progress (MCODE)

ON : It is ON when output in progress M code. M
Code No. will be written in "M code No.
DM".
n It is ON when executing point at WITH
X1 07
mode. "INPOS
Y1 n+5 07
It is ON when point finishes at AFTER detection ○ - - -
X2 n+10 07
mode. time"(P10-90)
Y2 n+15 07
At linear interpolation, only the M code
output in progress
relay of interpolation master axis is ON.
OFF: Be OFF when "M code ON command"
OFF→ON.
n zero return in progress

X1 08 Will not be ON
ON : if "zero return request relay" is ON, it
Y1 n+5 08 when there is error
starts return in progress origin, this relay ○ - - -
X2 n+10 08 in zero return in
is ON.
Y2 n+15 08 progress.
OFF: It is OFF when zero return finishes.
9-6
Control mode
pulse
"INPOS
Move to home position in progress
n detection
X1 09 ON : if "Move to home position request relay"
time"(P10-90)
Y1 n+5 09 is ON, it starts moving to home position,
Will not be ON ○ - - -
X2 n+10 09 this relay is ON.
when there is error
Y2 n+15 09 OFF: it is OFF when move to home position
in Move to home
finishes.
position.
Operation start request accept

n ON : It is ON when the start operation
X1 10 Request relay and "releading relay" are
Y1 n+5 10 It is also ON if there
n+10 OFF→ON. ○ - - -
X2 10 OFF: It is OFF when the start operation is error in starting.
Y2 n+15 10 request relay and "releading relay" are
ON→OFF.
"speed
n Speed limit in progress
X1 11 limit"(10-41)
ON : It is ON if speed is limited by set value of
Y1 n+5 11 "Speed
"Speed limit". ○ ○ ○ ○
X2 n+10 11 command /speed
OFF: It is OFF if speed is lower than the set
Y2 n+15 11
value of "Speed limit".
limit at torque
control"(P9-31) 9
DEVICE ASSIGMENT
"[+] side torque limit
enable relay" and "[-
]side torque limit
enable relay" must
be ON.
Torque limit in progress (TLM)
X1 n 12 ON : It is ON if torque is limited by set value of If it exceeds the max.
"[+] torque limit" and "[-] torque limit". torque of motor,
Y1 n+5 12
OFF: It is OFF if torque is less than the set TLM will be ON even ○ ○ ○ ○
X2 n+10 12
Y2 n+15 12 value of "[+] torque limit" and "[-] torque if [+]/[-] side torque
limit". limit enable relay is
not ON.
"Torque
command /Torque
limit at speed
control*1"(9-31)
Zero speed detection

n ON : It is ON if the return in progress speed is
X1 13
lower than the set value
Y1 n+5 13
of "Zero speed detection". - ○ ○ ○ ○
X2 n+10 13
n+15 OFF: It is OFF if the return in progress speed
Y2 13
is higher than the set value of "Zero
speed detection".
Speed command consistence

n ON : It is ON if the speed deviation is lower
X1 14
than the set value of "Speed command
Y1 n+5 14
consistence range". - ○ ○ - ○
X2 n+10 14
n+15 OFF: It is OFF if the speed deviation is higher
Y2 14
than the set value of "Speed command
consistence range".
Speed reach
n ON : It is ON if the return in progress speed is
X1 15
higher than the set value of "Speed
Y1 n+5 15
reach set value". - ○ ○ ○ ○
X2 n+10 15
n+15 OFF: It is OFF if the return in progress speed
Y2 15
is lower than the set value of "speed
reach Set Value".
9-7
Control mode
pulse
Point parameters writing ends
X1 n+1 00 ON : It is ON after "Point parameter write It will also be ON if
request relay" becomes ON and after
Y1 n+6 00 there is error in
writing point parameter set value into ○ ○ ○ ○
X2 n+11 00 writing point
MV-L40 memory (SRAM) finishes.
Y2 n+16 00 OFF: It is OFF when "Point parameter write parameter.
request relay" becomes ON→OFF.
System parameter write ends

ON : It is ON after "System parameter write It will also be ON if
X1 n+1 01 request relay" becomes ON and after
there is error in
Y1 n+6 01 writing set value of system parameter
writing system ○ ○ ○ ○
X2 n+11 01 into MV-L40 memory (SRAM) finishes.
OFF: It is OFF when "system parameter write parameter point
Y2 n+16 01
request relay" becomes parameter.
ON→OFF.
Speed parameter write end

ON : It is ON after "Speed parameter write
X1 n+1 02 request relay" becomes ON and after It will also be ON if
9 Y1 n+6 02
X2 n+11 02
writing set value of speed parameter into
MV-L40 memory (SRAM) finishes.
there is error in
writing speed
○ ○ ○ ○
Y2 n+16 02 OFF: It is OFF when "Speed parameter write parameter.
DEVICE ASSIGMENT
request relay" becomes

ON→OFF.
Point parameter read end

X1 n+103 ON : It is ON after " Point parameter read
request relay" becomes ON and after It will also be ON if
Y1 n+6 03
reading set value of point parameter from there is error in ○ ○ ○ ○
X2 n+11 03
MV-L40 memory (SRAM) finishes. point parameter.
Y2 n+16 03 OFF: It is OFF when "Point parameter read
System parameter read end

ON : It is ON after "System parameter read
Y1 n+6 04 reading set value of system parameter
there is error in ○ ○ ○ ○
X2 n+11 04 from MV-L40 memory (SRAM) finishes.
system parameter.
Y2 n+16 04 OFF: It is OFF when "System parameter read
ON→OFF.
Speed parameter read end

ON : It is ON after "Speed parameter read
Y1 n+6 05 reading set value of speed parameter there is error in
from MV-L40 memory (SRAM) finishes. ○ ○ ○ ○
X2 n+11 05 reading speed
Y2 n+16 05 OFF: It is OFF when "Read Speed Parameter parameter.
Request relay" becomes
ON→OFF.
Current coordinate change end

X1 n+1 06 ON : It is ON when "Current coordinate It will also be ON if
Y1 n+6 06 change request relay" is ON and there is error in
change current coordinate finishes. ○ ○ ○ ○
X2 n+11 06 changing current
Y2 n+16 06 OFF: it turns OFF when "Current coordinate coordinate.
change request relay" is ON→' OFF.
9-8
Control mode
pulse
Speed change end
X1 n+1 07
ON : It is ON when "Change Speed Request It will also be ON
Y1 n+6 07
relay" is ON and speed change finishes. when there is error ○ - - -
X2 n+11 07
OFF: It is OFF when "Change speed request in changing speed.
Y2 n+16 07
relay" becomes ON→OFF.
X1 n+1 08 Servo ready (RDY)

ON : The state under which it can accept
Y1 n+6 08
commands after servo ON and - ○ ○ ○ ○
X2 n+11 08
electromagnetic brake release wait time.
Y2 n+16 08 OFF: It is OFF at servo OFF.
Teaching complete
ON : If "Teaching Request relay" is ON,
X1 n+1 09 it will teach in current coordinate to
Y1 n+6 09 "target coordinate" of point No. specified It will also be ON if
X2 n+11 09 by "Point No.assigned DM" and the relay
teaching.
Y2 n+16 09 becomes ON.
OFF: when "Teaching Request relayî is ON→
OFF, it turns OFF. 9
Output in progress complete
DEVICE ASSIGMENT
ON : • It is ON when point operation finishes
X1 n+1 10 and next point is 0.
Not ON at
Y1 n+6 10 • It is ON after zero return or moving to
deceleration&stop ○ - - -
X2 n+11 10 home position and JOG run finishes.
and EMG stop.
Y2 n+16 10 • It is ON in standby, M Code ON
command waiting and pausing.
OFF: it will be OFF if starting operation.
Position end in progress (INPOS)

n+1 ON : It is Positioning Finish state and the relay
X1 11
becomes ON when position deviation is
Y1 n+6 11
less than set value of "INPOS range". - ○ - - ○
X2 n+11 11
OFF: It is OFF if the position deviation is
Y2 n+16 11
higher than the set value of "INPOS
range".
Control mode change end

X1 n+1 12 ON : It is ON when "change control mode
It is ON after
Y1 n+6 12 request relay" is ON and control change
changing control ○ ○ ○ ○
X2 n+11 12 mode finishes.
mode completes.
Y2 n+16 12 OFF: It turns OFF when "Control change
mode request relay " is ON→' OFF.
AT parameter mapping finish

ON : It is ON after "Map AT parameter request
X1 n+1 13 relay" becomes ON and after mapping
It will also be ON if
Y1 n+6 13 the outcoming of auto tuning to servo
there is error in AT ○ ○ ○ ○
X2 n+11 13 parameter in MV-L40 memory (SRAM)
parameter mapping.
Y2 n+16 13 finishes.
OFF: It is OFF when "Map AT parameter
9-9
Control mode
pulse
Servo parameter write complete
ON : It is ON after "servo parameter write
Y1 n+6 14 writing set value of servo parameter into there is error in
X2 n+11 14 MV-L40 memory (SRAM) finishes. writing servo ○ ○ ○ ○
Y2 n+16 14 OFF: It is OFF when "servo parameter write parameter.
ON→OFF.
Servo parameter read complete

ON : It is ON after "servo parameter read
Y1 n+6 15 reading set value of servo parameter there is error in
X2 n+11 15 from MV-L40 memory (SRAM) finishes. reading servo ○ ○ ○ ○
Y2 n+16 15 OFF: It is OFF when "servo parameter read parameter.
ON→OFF.
Servo parameter read complete

ON : It is ON after "parameter read servo
9 X1 n+2 00
Y1 n+7 00
request relay" becomes ON and after
reading set value of servo parameter
"Causes for
Error Relay to be ○ ○ ○ ○
X2 n+12 00 from MV-L40 memory (SRAM) finishes.
DEVICE ASSIGMENT
ON"(PA-50)
Y2 n+17 00 OFF: It is OFF when "point parameter write
ON→'3fOFF.
Error in writing point parameter

n+2
ON : It becomes ON when it is unable to write
X1 01
n+7
set value of point parameter in MV-L40 "Causes for
Y1 01
n+12
memory (SRAM). Error Relay to be ○ ○ ○ ○
X2 01
n+17 OFF : It is OFF when "Point parameter write ON"(PA-50)
Y2 01
ON→OFF.
Error in writing system parameter

X1 n+2 02
n+7
set value of system parameter in MV- "Causes for
Y1 02
L40 memory (SRAM). Error Relay to be ○ ○ ○ ○
X2 n+12 02
OFF: It is OFF when "Speed parameter write ON"(PA-50)
Y2 n+17 02
ON→OFF.
Error in reading speed parameter

ON : The relay becomes ON when requesting
to read point parameter while accessing
X1 n+2 03
parameters in access window/KV-HPD1/ "Causes for
Y1 n+7 03
MV LINK STUDIO of servo amplifier with Error Relay to be ○ ○ ○ ○
X2 n+12 03
incorrect point No. ON"(PA-50)
Y2 n+17 03
OFF: It is OFF when "Point parameter read
ONOFF.
9-10
Control mode
pulse
Error in reading system parameter
to read system parameter while
X1 n+2 04
accessing parameters in access "Causes for
Y1 n+7 04
window/KV-HPD1/MV LINK STUDIO of Error Relay to be ○ ○ ○ ○
X2 n+12 04
servo amplifier. ON"(PA-50)
Y2 n+17 04
OFF: It is OFF when "System parameter read
ON→'3fOFF.
Error in reading speed parameter

to read speed parameter while
X1 n+2 05
accessing parameters in access "Causes for
Y1 n+7 05
window/KV-HPD1/MV LINK STUDIO of Error Relay to be ○ ○ ○ ○
X2 n+12 05
servo amplifier. ON"(PA-50)
Y2 n+17 05
OFF: It is OFF when "Speed parameter read
ON→ OFF.
X1 n+2 06
Error in changing current coordinate
9
ON : It becomes ON when it is unable to "Causes for
Y1 n+7 06
DEVICE ASSIGMENT
change current coordinate. Error Relay to be ○ ○ ○ ○
X2 n+12 06
OFF: it turns OFF when "Current coordinate ON"(PA-50)
Y2 n+17 06
change request relay" is ON→ OFF.
Error in changing speed

X1 n+2 07
ON : It becomes ON when it is unable to "Causes for
Y1 n+7 07
change speed. Error Relay to be ○ - - -
X2 n+12 07
OFF: It is OFF when "Speed change request ON"(PA-50)
Y2 n+17 07
relay" becomes ON→OFF.
X1 n+2 08 At electromagnetic brake (BRAKE)

Relay for controlling electromagnetic brake of
Y1 n+7 08
servomotor. - ○ ○ ○ ○
X2 n+12 08
"A-3 Operation Sequence at Power Up"(A-
Y2 n+17 08 24)
Error in teaching
X1 n+2 09
ON : It becomes ON when it is unable to teach "Causes for
Y1 n+7 09
in. Error Relay to be ○ ○ ○ ○
X2 n+12 09
OFF: when "Teaching request relay" is ON→ ON"(PA-50)
Y2 n+17 09
OFF, it turns OFF.
Error in starting operation

X1 n+2 10
ON : It is ON when starting point operation. "Causes for
Y1 n+7 10
OFF: It is OFF when the Start Operation Error Relay to be ○ - - -
X2 n+12 10
Request relay and "releading relay" are ON"(PA-50)
Y2 n+17 10
ON→OFF.
Error in cycle interrupt

X1 n+2 11 ON : it becomes ON when the cyclic
"Causes for
Y1 n+7 11 movement of "Cycle interrupt request
Error Relay to be ○ - - -
X2 n+12 11 relay" is interrupted.
ON"(PA-50)
Y2 n+17 11 OFF : when "Cycle interrupt request relay"
changes from ON→OFF, it turns OFF.
9-11
Control mode
pulse
Error in changing control mode
X1 n+2 12
ON : The relay is ON when it fails in changing "Causes for
Y1 n+7 12
control mode. Error Relay to be ○ ○ ○ ○
X2 n+12 12
OFF: It turns OFF when "Change control ON"(PA-50)
Y2 n+17 12
mode request relay" is ON→OFF.
Error in AT parameter mapping

X1 n+2 13
ON : It will be ON if AT parameter mapping "Causes for
Y1 n+7 13
fails. Error Relay to be ○ ○ ○ ○
X2 n+12 13
OFF: It is OFF when "Map AT parameter ON"(PA-50)
Y2 n+17 13
Error in writing servo parameter

X1 n+2 14
set value of servo parameter in MV-L40 "Causes for
Y1 n+7 14
memory (SRAM). Error Relay to be ○ ○ ○ ○
X2 n+12 14
OFF: It is OFF when "Servo parameter write ON"(PA-50)
Y2 n+17 14
9
ON→ OFF.
Error in reading servo parameter

DEVICE ASSIGMENT
X1 n+2 15 to read servo parameter while accessing

"Causes for
Y1 n+7 15 parameters in access window/KV-HPD1/
Error Relay to be ○ ○ ○ ○
X2 n+12 15 MV LINK STUDIO of servo amplifier.
ON"(PA-50)
Y2 n+17 15 OFF: It is OFF when "Servo parameter read
ON→OFF.
X1 n+3 00
Flash ROM write finishes
ON : It is ON after "Write flash ROM request
It is also ON when
Reserved relay" becomes ON and writing
Y1( n+8 00) parameters in flash ROM finishes.
writing flash ROM.
X2( n+13 00) OFF: It is OFF when "Write flash ROM request
Y2( n+18 00) relay" becomes ON→OFF.
Clearing alarm in progress log complete

ON : It is ON after "Clear alarm in progress
X1 n+3 01
Log Request relay" becomes ON and
It is also ON if there
clearing all alarm in progress logs saved
Reserved is error in clearing
in ○ ○ ○ ○
Y1( n+8 01) alarm in progress
MV-L40 finishes.
X2( n+13 01) logs.
OFF: when "Clear alarm in progress Log
Y2( n+18 01)
Request relay" is ON→OFF, it turns
OFF.
Writing common set parameters complete

ON : It is ON after "Write common set
X1 n+3 02
parameter request relay" becomes ON It will also be ON if
and after writing set value of common there is error in
Reserved
set parameter into MV-L40 memory writing common set ○ ○ ○ ○
Y1( n+8 02)
(SRAM) finishes. parameter point
X2( n+13 02)
OFF: It is OFF when "common set parameter parameter.
Y2( n+18 02)
write request relay" becomes
ON→OFF.
9-12
Control mode
pulse
Reading common set parameters completes
ON : It is ON after "Read common set
X1 n+3 03
parameter request relay" becomes ON
It will also be ON
and after reading set value of common
Reserved when there is error
set parameter from MV-L40 memory ○ ○ ○ ○
Y1( n+8 03) on common set
(SRAM) finishes.
X2( n+13 03) parameter.
OFF: It is OFF when "Common set parameter
Y2( n+18 03)
read request relay" becomes
ON→OFF.
X1 n+3 04
Error in writing flash ROM
ON : It is ON when there is error in writing "Causes for
Reserved
parameters in flash ROM. Error Relay to be ○ ○ ○ ○
Y1( n+8 04)
OFF: It is OFF when "Flash ROM write ON"(PA-50)
X2( n+13 04)
request relay" becomes ONOFF.
Y2( n+18 04)
X1 n+3 05 Error in clearing alarm in progress log

Reserved
Y1( n+8 05)
X2( n+13 05)
ON : It becomes ON when all alarm in progress
logs saved in MV-L40 are cleared.
"Causes for
Error Relay to be
OFF: when "Clear alarm in progress log request ON"(PA-50)
○ ○ ○ ○ 9
relay" is ONOFF, it turns OFF.
Y2( n+18 05)
DEVICE ASSIGMENT
X1 n+3 06
Error in writing common set parameter
set value of common set parameter in MV- "Causes for
Reserved L40 memory (SRAM). Error Relay to be
Y1( n+8 06) ○ ○ ○ ○
OFF: It is OFF when "Write common set ON"(PA-50)
X2( n+13 06) parameter request relay" becomes
Y2( n+18 06) ONOFF.
Error in reading common set parameter

X1 n+3 07 ON : The relay becomes ON when requesting to
read common set parameter while
accessing parameters in access window/ "Causes for
Reserved
Y1( n+8 07) KV-HPD1/MV LINK STUDIO of servo Error Relay to be ○ ○ ○ ○
X2( n+13 07) amplifier. ON"(PA-50)
Y2( n+18 07) OFF: It is OFF when "Read common set
parameter request relay" becomes
ON→OFF.
X1 n+3 08 Restarting servo amplifier completes

ON : It is ON when "Restart Servo Amplifier It will also be ON if
Reserved Request relay" is ON. there is error in
Y1( n+8 08) OFF: It is OFF when "Restart servo amplifier restarting ○ ○ ○ ○
X2( n+13 08) request relay" servo amplifier.
Y2( n+18 08) ON→OFF.
X1 n+3 09
Reading alarm in progress log completes
ON : It is ON after "Read alarm in progress Log
Request relay" becomes ON and after It is also ON if there
Reserved reading alarm in progress log from MV-L40 is error in reading
Y1( n+8 09) alarm in progress ○ ○ ○ ○
memory (SRAM) finishes.
X2( n+13 09) OFF: when "Read alarm in progress log request logs.
Y2( n+18 09)
relayî is ON→OFF, it turns OFF.
X1 n+3 10 Reading operation point log completes

ON : It is ON after "Read operation log request
relay" becomes ON and after reading It is also ON if there
Reserved is error in reading
Y1( n+8 10) operation log from MV-L40 memory ○ ○ ○ ○
X2( n+13 10) (SRAM) finishes. operation logs.
Y2( n+18 10) OFF: when "Read operation Log request relay" is
ON→OFF, it turns OFF.
9-13
Control mode
pulse
X1 n+3 11 Error in restarting servo amplifier
ON : It is ON at restarting. "Causes for
Reserved OFF: It is OFF when "Restart servo amplifier Error Relay to be
Y1( n+8 11) ○ ○ ○ ○
request relay" is ON→OFF ON"(PA-50)
X2( n+13 11) .
Y2( n+18 11)
X1 n+3 12
Error in reading alarm in progress log
ON : It becomes ON when it is unable to read "Causes for
Reserved Error Relay to be
Y1( n+8 12) alarm in progress logs saved in MV-L40. ○ ○ ○ ○
X2( n+13 12) OFF: when "Read alarm in progress Log request ON"(PA-50)
Y2( n+18 12) relay" is ON→OFF, it turns OFF.
X1 n+3 13
Error in reading operation point log
ON : It becomes ON when it is unable to read "Causes for
Reserved
operation logs saved in MV-L40. Error Relay to be ○ ○ ○ ○
Y1( n+8 13)
OFF: when "Read operation log request relay" is ON"(PA-50)
X2( n+13 13)
Y2( n+18 13) ON→OFF, it turns OFF.
X1 n+3 14
Reserved
Status of teaching unit
9 Y1( n+8 14)

X2( n+13 14)
ON : It is ON at demo operation mode or HP-JOG
mode after connecting KV-HPD1.
- ○ ○ ○ ○
Y2( n+18 14)

DEVICE ASSIGMENT
X1 n+3 15 Alarm in progress

Y1 n+8 15 ON : It becomes ON at alarm in progressing.
n+13
- ○ ○ ○ ○
X2 15 OFF: It is OFF when there is no alarm in
Y2 n+18 15 progress.
Test running "11-2 Access

X1 n+4 00 ON : Under test run. (It is ON when the access window"(P11-7)
Y1 n+9 00 window of servo amplifier is at test run mode, MV LINK
n+14 ○ ○ ○ ○
X2 00 or when using I/O forced output in MV LINK STUDIOUser
Y2 n+19 00 STUDIO.) Manual "9-3 I/O
OFF: Not under test run. Forced Output"
X1 n+4 01 to 05
Y1 n+9 01 to 05 Reserved
n+14 - - - - -
X2 01 to 05 Can not be used by user
Y2 n+19 01 to 05
X1 n+4 06 Error in zero return in progress

n+9 "Causes for
Y1 06 ON : It is ON if zero return in progress fails.
n+14
X2 06 OFF: It is OFF when "zero return request relay" ON
ON"(PA-50)
Y2 n+19 06 →OFF.
X1 n+4 07 to 13
Y1 n+9 07 to 13 Reserved
n+14 - - - - -
X2 07 to 13 Can not be used by user
Y2 n+19 07 to 13
X1 n+4 14 Error in moving to home position

n+9 "Causes for
Y1 14 ON : It is ON when moving to home position fails.
n+14
X2 14 OFF: It is OFF when "Move to home position
ON"(PA-50)
Y2 n+19 14 request relay ON→OFF.
X1 n+4 15
Y1 n+9 15 Reserved
n+14
- - - - -
X2 15 Can not be used by user
Y2 n+19 15
9-14
9-3 List of Output Relays
Output Relay (PLC→MV-L40) List
Output relay ON/OFF by ladder program.
Note
• When power on MV-L40, all output relays start from OFF. To create program, please
pay attention to treatment of relay controlled by start. CPU unit is changed to RUN
mode, even immediate ON output relay will also be treated as start from OFF to ON.
• Max. writing cycle from CPU unit to MV-L40 is scanning time of CPU unit or MV-L40
scanning time 1 to 10ms, whichever is larger.
■ Legends
Device No.
n Leading relay assigned to MV-L40 (leading CH).
When MV-L40 leading relay No. Set in unit editor is 30000(300ch), n 00 indicates“30000”: n 01
indicates"30001”: n+1 00 indicates“30100”. 9
Control mode
DEVICE ASSIGMENT
Position: position control mode Speed: speed control mode
Torque: torque control mode MI: manual impulse mode
Note
• "( )" in relay name indicatesname of I/O with the same function.
• Y1/X2/Y2 axis device No. with "( )" means function common to all axes. To execute
function, use X1 axis device No. relay.
9-15
■ Output relay (PLC→MV-L40)

Control mode
pulse
X1 n+20 00 For "Operation ready

n+23 Operation enable
Y1 00 relay", please refer to
ON: "Operation ready relay” ON. ○ ○ ○ ○
X2 n+26 00 "9-2 List Of Input
OFF: "Operation ready relay” OFF.
Y2 n+29 00 Relays"(P9-4).
Forced stop (EMG)

ON: Emergency stop (immediate stop). When
X1 n+20 01
common setup parameter "*alarm in progress
Y1 n+23 01
stop mode" is set to "slow down", it will also stop - ○ ○ ○ ○
X2 n+26 01
immediately. Emergency stop alarm in progress
Y2 n+29 01
might occur in certain moving, stopping state.
OFF: Release forced stop.
Deceleration stop
OFF→ON: If in moving progress, slow down.
After slow down, "moving relay" OFF. In
9 X1 n+20
n+23
02 straight line interpolation, both
Y1 02 interpolating master axis and slave axis
DEVICE ASSIGMENT
X2 n+26 02 are effective. Dwell time will be neglected - ○ - - -

Y2 n+29 02 after slow down. M code output remains.
ON→OFF: Release slow down. When slow down in
point operation progress, after "slow down
relay" ON→OFF, point operation may
restart through "rest relay" OFF→ON.
Request to start run (START)

OFF→ON: Start operation of point No. Designated in "Point
No. Designated DM".
If already in operation progress, JOG operation • "PLC device”
progress, move to home position progress, zero should be
return progress, "request start running relay" is selected in system
X1 n+20 03 ignored. parameter
n+23 "*position
Y1 03 If "request start operation relay" ON, "start
operation mode". ○ - - -
X2 n+26 03 operation request acceptance relay" ON,
• Even "request
Y2 n+29 03 "Output finish relay", "Positioning finish start operation
relay" OFF. If operation is complete, relay" is OFF,
"positioning completion relayî ON. In linear deceleration stop
interpolation, only interpolating master is not performed.
axis is effective.
ON→OFF: "Start operation request acceptance
relay", "start operation error relay" OFF.
9-16
Control mode
pulse
• Point No. set to

"standby (non-
return)" or
"standby (return)"
Release standby (RESUM) in point parameter
X1 n+20 04 ON: Not standby, but execute continuous operation, "continuous
Y1 n+23 04 return operation, cycle operation. operation mode" is ○ - - -
X2 n+26 04 In linear interpolation, only interpolating master effective in point
Y2 n+29 04 axis is effective. operation.
OFF: Not release standby state. • Also effective for
continuous
operation, return
operation and
cycle operation.
Restart operation
OFF→ON: Point operation of point No. after restart
X1 n+20 05 deceleration stop. "Start operation request •
Y1 n+23
n+26
05 acceptance relay" OFF→ON.
Only enabled in
point operation
after deceleration
○ - - -
9
X2 05 In linear interpolation, only interpolating
stop.
DEVICE ASSIGMENT
Y2 n+29 05 master axis is effective.
ON→OFF: "Start operation request acceptance relay"
ON→OFF.
X1 n+20 06 During "alarm in

n+23
alarm in progress reset (RESET)
Y1 06 progress reset
n+26 OFF→ON: If in alarm in progress, reset alarm in ○ ○ ○ ○
X2 06 relay" ON, it's in
n+29 progress when OFF→ON.
Y2 06 servo OFF state.
M code ON instruction (MOFF)

OFF→ON: In M code output, if OFF→ON, "M code
When "M code ON
n+20 output in progress relay" will ON→OFF. In
X1 07 instruction relay"
addition, "M code No. DM" value is "0".
Y1 n+23 07 ON, "M code output
ON→OFF: "M code output in progress relay" OFF→ ○ - - -
X2 n+26 07 in progress relay"
ON, and write M code No. into "M code
Y2 n+29 07 OFF, "M code No.
No. DM".
DMî value keeps ì0î.
In linear interpolation, only interpolating
master axis is effective.
Request zero return (ORG)

OFF→ON: In stop progress, if OFF→ON, start zero
return. If OFF→ON, do not start zero
return during moving, interval.
If zero return starts, "zero return in
progress relay" ON.
X1 n+20 08
n+23 ON→OFF: For zero return, even if ON→OFF, zero
Y1 08
return also continues. - ○ - - -
X2 n+26 08
When "request zero return relay" OFF, if
Y2 n+29 08
zero return is complete, "zero return in
progress relay" OFF, and "positioning
completion relay" ON. However, in case of
automatic home position, after zero return,
movement to home position is complete,
"positioning completion relay" ON.
9-17
Control mode
pulse
Request moving to home

OFF→ON: In stop progress, if OFF→ON, move to
home position coordinate set in system
parameter. If OFF→ON, do not move to
home position during moving, interval.
"Move to home position in progress relay"
X1 n+20 09
will ON.
Y1 n+23 09
ON→OFF: In Move to home position in progress - ○ - - -
X2 n+26 09
n+29 progress, even if ON→OFF, do not
Y2 09
continue Move to home position in
progress.
When OFF, if movement to home position
is complete, "Move to home position in
progress relay" OFF, "positioning
completion relay" ON.
• Enabled when
9 "*servo ON mode"
is set to "PLC
device".
DEVICE ASSIGMENT
X1 n+20 10
n+23
Servo ON (SVON) • When "*servo ON
Y1 10
ON: Servo motor is in excitation (servo ON) state. mode" is set to ○ ○ ○ ○
X2 n+26 10
OFF: Servo motor is changed to servo OFF state. "PLC device", if
Y2 n+29 10
"Operation enable
relay" is not ON
either, it is not in
servo ON state.
Enable [+] side torque limit

ON : Enable [+] side torque limit In speed control
mode, torque limit value set in "torque instruction
X1 n+20 11
/speed control torque limit value DM" (*correctly
Y1 n+23 11
speaking, the smaller one of "torque instruction / - ○ ○ ○ ○
X2 n+26 11
speed control torque limit value DMî set value
Y2 n+29 11
and servo parameter [+] side torque limitî set
value) enabled.
OFF: Torque limit of + terminal is disabled.
乵Enable [-] side torque limit

ON : Enable [-] side torque limit In speed control
mode, torque limit value set in "torque instruction/
X1 n+20 12
speed control torque limit value DM" (correctly
Y1 n+23 12
speaking, the smaller one of "torque instruction / - ○ ○ ○ ○
X2 n+26 12
speed control torque limit value DMî set value
Y2 n+29 12
and servo parameter [-] side torque limitî set
value) enabled.
OFF: -torque limit is disabled.
X1 n+20 13
Y1 n+23 13 Deviation clearing (CLR)
- - - - ○
X2 n+26 13 ON : Clear position deviation.
Y2 n+29 13
9-18
Control mode
pulse
Request cycle interrupt

OFF→ON: Continue cycle operation in progress.
Interrupt the following cycle operation.
When return operation is carried out after
cycle operation, it will stop after return
X1 n+20 14
operation is complete. It cannot resume
Y1 n+23 14
after interrupt. If "request cycle interrupt - ○ - - -
X2 n+26 14
relay N cycle interrupt completion relay"
Y2 n+29 14
ON.
In linear interpolation, only interpolating
master axis relay is enabled.
ON→OFF: "Cycle interrupt completion relay", "cycle
interrupt error relay" ON→OFF.
X1 n+20 15
Y1 n+23 15 Gain switchover (GAIN) "GAIN (pin
n+26 ○ ○ ○ ○
X2 15 ON : Switch to gain 2. No.10 )"(6-7)
Y2 n+29 15
9
Point parameter write request
DEVICE ASSIGMENT
OFF→ON: Write point
parameter set value in MV-L40 internal
X1 n+21 00 memory (SRAM). Write-in is
Y1 n+24 00 After writing is complete, "point parameter impossible during
n+27 ○ ○ ○ ○
X2 00 write completion relay" ON. Please write in operation in position
Y2 n+30 00 flash memory ROM as required. control mode.
ON→OFF: "Point parameter write completion relay",
"point parameter write error relay" ON→
OFF.
System parameter write request

OFF→ON: Write system parameter set value in MV-
L40 internal memory (SRAM).
X1 n+21 01 After writing is complete, "system Write-in is
Y1 n+24 01 parameter write completion relay" ON. impossible during
n+27 ○ ○ ○ ○
X2 01 Please write in flash memory ROM as operation in position
Y2 n+30 01 required. control mode.
ON→OFF: "System parameter write completion
relay", "system parameter write error
relay" ON→OFF.
Speed parameter write request

OFF→ON: Write speed parameter set value in MV-
L40 internal memory (SRAM).
X1 n+21 02 After writing is complete, "speed Write-in is
Y1 n+24 02 parameter write completion relay" ON. impossible during
n+27 ○ ○ ○ ○
X2 02 Please write operation in position
Y2 n+30 02 in flash memory ROM as required. control mode.
ON→OFF: "Speed parameter write completion relay",
"speed parameter write error relay" ON→
OFF.
9-19
Control mode
pulse
Point parameter read request

OFF→ON: From MV-L40 internal memory (SRAM),
read point parameter of specified point to
X1 n+21 03
point parameter area. After reading is
Y1 n+24 03
complete, "point parameter read - ○ ○ ○ ○
X2 n+27 03
completion relay" ON.
Y2 n+30 03
ON→OFF: "Point parameter read completion relay",
"point parameter read error relay" ON→
OFF.
System parameter read request

OFF→ON: From MV-L40 memory (SRAM), read
system parameter set value to system
X1 n+21 04
parameter area. After reading is complete,
Y1 n+24 04
"system parameter read completion relay" - ○ ○ ○ ○
X2 n+27 04
ON.
Y2 n+30 04
ON→OFF: "System parameter read completion
9 relay", "system parameter read error

relay" ONOFF.
DEVICE ASSIGMENT
Speed parameter read request

OFF→ON: From MV-L40 internal memory (SRAM),
read speed parameter set value to speed
X1 n+21 05
parameter area. After reading is complete,
Y1 n+24 05
"speed parameter read completion relay" - ○ ○ ○ ○
X2 n+27 05
ON.
Y2 n+30 05
ON→OFF: "Speed parameter read completion relay",
"speed parameter read error relay" ON→
OFF.
Current coordinate change request

OFF→ON: Change current coordinate into the value
X1 n+21 06 written in "current coordinate change DM".
Y1 n+24 06 After completion, "current coordinate
- ○ ○ ○ ○
X2 n+27 06 change completion relay" ON.
Y2 n+30 06 ON→OFF: "Current coordinate change completion
relay", "current coordinate change error
relay" ON→OFF.
Speed change request Speed may be

n+21 OFF→ON: Change speed to the value written in changed in the
X1 07
"speed change DM". following case.
Y1 n+24 07
After completion, "speed change • In progress of ○ - - -
X2 n+27 07
completion relay" ON. point operation
Y2 n+30 07
ON→OFF: "Speed change completion relay", "speed • In progress of
change error relay" ON→OFF. JOG running
X1 n+21 08 Proportional control switchover (PCN)

Y1 n+24 08 ON: Speed control cycle is switched from
- ○ ○ - ○
X2 n+27 08 proportional/integral (PI) control to proportional
Y2 n+30 08 (P) control.
9-20
Control mode
pulse
Request teaching (TEACH)

OFF→ON: Teach (replace) current coordinate to
"target coordinateî of point No. specified in
"point No. specified DM". After completion,
X1 n+21 09 Teaching is not
"teaching completion relay" ON.
Y1 n+24 09 available for moving
"target coordinateî cannot be written ○ ○ ○ ○
X2 n+27 09 progress in position
using absolute coordinate, so "absolute"
Y2 n+30 09 control mode.
must be selected firstly for "Operation
mode" setting.
ON→OFF: "teaching completion relay", "teaching
error relay" ON→OFF.
n+21
Speed limit DM enable relay at torque control
X1 10
ON: The smaller one of servo parameter "speed limit"
Y1 n+24 10
set value and "speed instruction /torque control - - - ○ -
X2 n+27 10
speed limit value DM" set value enabled.
Y2 n+30 10
OFF: Servo parameter "speed limit" set value enabled.
JOG[+](JOG)
9
OFF→ON: Perform JOG operation towards + direction
DEVICE ASSIGMENT
X1 n+21 11 (current coordinate increase direction). Move
Y1 n+24 11 by 1 coordinate unit through ON (inching). If
- ○ - - -
X2 n+27 11 ON for more than 200ms, operate at "JOG
Y2 n+30 11 start speed". If "high speed JOG relay" also
ON, operate at JOG high speed.
ON→OFF: Deceleration stops.
JOG[-](JOG)
OFF→ON: Perform JOG operation towards - direction
X1 n+21 12 (current coordinate decrease direction). Move
Y1 n+24 12 by 1 coordinate unit through ON (inching). If
- ○ - - -
X2 n+27 12 ON for more than 200ms, operate at "JOG
Y2 n+30 12 start speed". If "high speed JOG relay" also
ON, operate at JOG high speed.
ON→OFF: Deceleration stops.
High speed JOG (JOG)

ON: If ON in JOG operation, speed up from JOG start
speed at JOG acceleration, and operate at JOG
high speed
X1 n+21 13
JOG running.In addition, in process of ON, if
Y1 n+24 13
"JOG [+] relay" or "JOG [-] relay" ON, speed up - ○ - - -
X2 n+27 13
from JOG start speed at JOG acceleration,
Y2 n+30 13
perform JOG operation at JOG high speed.
ON→OFF:If OFF in JOG operation, speed down at JOG
deceleration, perform JOG operation at JOG
start speed.
9-21
Control mode
pulse
Request write servo parameter

OFF→ON:Write servo parameter set value in MV-L40
X1 n+21 14 internal memory (SRAM). Write-in is possible
Y1 n+24 14 After writing is complete, "servo parameter during operation in
n+27 ○ ○ ○ ○
X2 14 write completion relay" ON. Please write position control
Y2 n+30 14 in flash memory ROM as required. mode.
ON→OFF: "Servo parameter write completion relay", "servo
parameter write error relay" ON→OFF.
Request read servo parameter

n+21 OFF→ON:From MV-L40 internal memory (SRAM), read
X1 15
servo parameter set value to servo parameter
Y1 n+24 15
area. After reading is complete, "servo - ○ ○ ○ ○
X2 n+27 15
parameter read completion relay" ON.
Y2 n+30 15
ON→OFF: "Servo parameter read completion relay", "servo
parameter read error relay" ON→OFF.
9 X1 n+22
Request write flash ROM
00 OFF→ON: Write current parameters (point parameter, Writing in flash ROM
system parameter, speed parameter, servo
DEVICE ASSIGMENT
Reserved is not available for

parameter, common setup parameter) in flash
Y1( n+25 00) moving progress in ○ ○ ○ ○
memory ROM. After write is complete, "flash
X2( n+28 00) position control
memory ROM write completion relay" ON.
Y2( n+31 00) mode.
ON→OFF: "Flash memory ROM write completion relay"
"Flash memory ROM write error relay" OFF.
X1 n+22 01 Request clear alarm in progress log

OFF→ON: Clear all alarm in progress logs saved in MV-
Reserved L40.
Y1( n+25 01) - ○ ○ ○ ○
ON→OFF: "alarm in progress log clear completion
X2( n+28 01) relay", "alarm in progress log clear error
Y2( n+31 01) relay" OFF.
Request write common setup parameter

OFF→ON: Write common setup
parameter set value in MV-L40 internal
X1 n+22 02 memory (SRAM).
Write-in is possible
Reserved After writing is complete, "common setup
during operation in
Y1( n+25 02) parameter write completion relay" ON. ○ ○ ○ ○
position control
X2( n+28 02) Please write in flash memory ROM as
mode.
Y2( n+31 02) required.
ON→OFF: "Common setup parameter write completion
relay", "common setup parameter write error
relay ON→OFF.
Request read common setup parameter

OFF→ON: From MV-L40 internal memory (SRAM), read
X1 n+22 03 common setup parameter set value to
Reserved common setup parameter area. After reading
Y1( n+25 03) is complete, "common setup parameter read - ○ ○ ○ ○
X2( n+28 03) completion relay"ON.
Y2( n+31 03) ON→OFF:"Common setup parameter read completion
relay", "common setup parameter read error
relayî ON→fOFF.
9-22
Control mode
pulse
X1 n+22 04
Y1 n+25 04 Reserved
- - - - -
X2 n+28 04 User cannot use.
Y2 n+31 04
X1 n+22 05
Y1 n+25 05 Reserved
- - - - -
Y2 n+31 05
X1 n+22 06
Y1 n+25 06 Reserved
- - - - -
Y2 n+31 06
X1 n+22 07
Y1 n+25 07 Reserved
- - - - -
9
Y2 n+31 07
X1 n+22 08
DEVICE ASSIGMENT
Request restart servo amplifier
OFF→ON: Write "5555" (hexadecimal) in "servo amplifier Ladder program may
Reserved
restart keyword DM" of normal time reflect parameters ○ ○ ○ ○
Y1( n+25 08)
communication area, if this relay ON, restart. that require power on
X2( n+28 08)
Restart only when all axis servos OFF. again.
Y2( n+31 08)
Request read alarm in progress log

X1 n+22 09 OFF→ON: From MV-L40 internal memory (SRAM), read
alarm in progress log to alarm in progress log
Reserved area. After read is complete, "alarm in
- ○ ○ ○ ○
Y1( n+25 09) progress log read completion relay "ON.
X2( n+28 09) ON→OFF: "alarm in progress log read completion
Y2( n+31 09) relay", "alarm in progress log read error relay"
ON→OFF.
Request read operation point log

X1 n+22 10 OFF→ON: From MV-L40 internal memory (SRAM), read
operation point log to alarm in progress
Reserved operation point area. After read is complete,
- ○ ○ ○ ○
Y1( n+25 10) "Operation point log read completion relay "ON.
X2( n+28 10) ON→OFF: "Operation point parameter read completion
Y2( n+31 10) relay", "Operation point log read error relay"
ON→OFF.
X1 n+22 11
Y1 n+25 11 Reserved
n+28 - - - - -
X2 11 User cannot use.
Y2 n+31 11
X1 n+22 12 Control mode change request

OFF→ON: After value is set in "control mode specified
Reserved DM", if this request change relay ON, control
- ○ ○ ○ ○
Y1( n+25 12) mode may be modified.
X2( n+28 12) ON→OFF: "Change control mode completion relay",
Y2( n+31 12) "change control mode error relay" ON→OFF.
9-23
Control mode
pulse
AT parameter reflection request

OFF→ON: Auto-tune result is reflected to servo
X1 n+22 13 parameter of MV-L40 internal memory
Y1 n+25 13 (SRAM). After reflection is complete, "AT
n+28 - ○ ○ ○ ○
X2 13 parameter reflection completion relay" ON.
Y2 n+31 13 ON→OFF: "AT parameter reflection completion relay",
"AT parameter reflection error relay"
ON→OFF.
X1 n+22 14
Y1 n+25 14 Reserved
n+28 - - - - -
Y2 n+31 14
X1 n+22 15
Y1 n+25 15 Reserved
n+28 - - - - -
Y2 n+31 15
9
DEVICE ASSIGMENT
9-24
9-4 DM List
Data memory (DM) is divided into the following areas.
• Normal read area
• Normal communication area
• Indirect parameter area
• Point parameter area
• System parameter area
• Speed parameter area
• Servo parameter area
• Common set parameter area
• Other (alarm in progress log, operation point log, etc.)
■ Legends
DM No.
N Representing the Leading DM No. assigned.
When the Leading DM No. for MV-L40 set by unit editor is 10000, N +2 indicates 10002, N +1000 indicates
11000.
Control mode
Position: Position control mode Speed: Speed control mode
9
Torque: Torque control mode MI: Manual impulse mode
DEVICE ASSIGMENT
Note
Y1/X2/Y2 axis DM No. with ( ) means function common to all axes. To execute
function, use DM no. of X1 axis.
Normal Read Area
Please also refer to TIP "Chapter 9- DEVICE ASSIGMENT"(page 9-1).
Note
The period for CPU to read MV-L40 is either the CPU scanning time or MV-L40 is
scanning time 1 to 10ms, whichever is bigger (excluding items with*).
Control
mode
Manual pulse
Data form/
DM No. DM name Scope Unit Description
Position
Torque
bit
Speed
X1 axis: N +0
Current
Y1 axis: N +26
coordinate
X2 axis: N +52
(low bit) 2-word -
Y2 axis: N +78 Save the value for return position
signed 2147483648 Coordin
that is converted into "Coordinate ○ ○ ○ ○
N binary to ate unit
X1 axis: +1 unit" by electronic gear.
Current system 2147483647
Y1 axis: N +27
coordinate
X2 axis: N +53
(high bit)
Y2 axis: N +79
9-25
9-4 DM List
Control
mode
Manual pulse
Data form/
Position
Torque
bit
Speed
X1 axis: N +2
N Positioning
Y1 axis: +28
command
X2 axis: N +54
Coordinate (low bit)
Y2 axis: N +80
2-word signed -2147483648 to Coordinate
Save command coordinate for positioning. ○ - - -
N binary system 2147483647 unit
X1 axis: +3
N Positioning
Y1 axis: +29
command
X2 axis: N +55
Coordinate (high bit)
Y2 axis: N +81
X1 axis: N +4
Y1 axis: N +30 Return position (low
X2 axis: N +56 bit)
Y2 axis: N +82
9 X1 axis: N +5
2-word signed -2147483648 to
binary system 2147483647
ENC_PLS Save the value of return position. ○ ○ ○ ○
N
DEVICE ASSIGMENT
Y1 axis: +31 Return position (high

X2 axis: N +57 bit)
Y2 axis: N +83
X1 axis: N +6
Y1 axis: N +32 Current speed (low
X2 axis: N +58 bit)
Y2 axis: N +84
2-word signed -99999999 to Unit of To save return speed, use the value that is
○ ○ ○ ○
N binary system 99999999 coordinate/s converted by electronic gear.
X1 axis: +7
Y1 axis: N +33 Current speed (high
X2 axis: N +59 bit)
Y2 axis: N +85
X1 axis: N +8
Positioning
Y1 axis: N +34
command
X2 axis: N +60
Speed (low bit)
Y2 axis: N +86
2-word signed -99999999 to Unit of
Save command speed for positioning. ○ - - -
N binary system 99999999 coordinate/s
X1 axis: +9
Positioning
Y1 axis: N +35
command
X2 axis: N +61
Speed (high bit)
Y2 axis: N +87
X1 axis: N +10
1-word
Y1 axis: N +36
Current point No. unsigned 0 to 100 - Save point No. under current operation. ○ - - -
X2 axis: N +62
binary system
Y2 axis: N +88
X1 axis: N +11
1-word
Y1 axis: N +37 alarm in progress
unsigned - - Save alarm in progress No. ○ ○ ○ ○
X2 axis: N +63 No.
binary system
Y2 axis: N +89
9-26
9-4 DM List
Control
mode
Manual pulse
Data form/
Position
Torque
bit
Speed
X1 axis: N +12
1-word
Y1 axis: N +38
M code No. unsigned 0 to 255 - Save M code No. ○ - - -
X2 axis: N +64
binary system
Y2 axis: N +90
X1 axis: N +13
1-word
Y1 axis: N +39
Cycle No.s unsigned 0 to 65535 - Save current cycle times. ○ - - -
X2 axis: N +65
binary system
Y2 axis: N +91
To monitor ON/OFF status of external input.

"I/O Connector's Pin Arrangement"(4-30)
bit00:EMG Emergency Stop

bit01: CCW_LS CCW limit switch 9
bit02: CW_LS CW limit switch
DEVICE ASSIGMENT
bit03: RESET alarm in progress reset
bit04:SVON Servo ON
bit05:START/CLR Run Start command/
X1 axis: N +14
deviation clearing
Y1 axis: N +40 I/O state 1
- - - bit06: ORG/- zero return command/- ○ ○ ○ ○
X2 axis: N +66 *1
bit07:JOG/- JOG Run command/-
Y2 axis: N +92
bit08: TEACH Teaching command
bit09: GAIN Gain switching
bit10: DT0/PCN data 0/proportion control
changeover
bit11:DT1 Data 1
bit12: DT2 Data 2
bit13: DT3 Data 3
bit14: DT4 Data 4
bit15: MOFF/- M code ON command/-
*1 To monitor the state of polarity mapping.

Example EMG(NC)
0: Input is ON
1: Input is OFF
9-27
9-4 DM List
Control
mode
Manual pulse
Data form/
Position
Torque
bit
Speed
To monitor ON/OFF status of external I/O.
"I/O connector's pin arrangement"(4-30)
bit00:ORGS/- zero return/-

bit01:STOP/- Stop sensor/-
bit02:RESUM/- Standby release
command/-
bit03:-(can't visualize BOH) -
bit04:alarm in progress alarm in progress
X1 axis: N +15
bit05:FIN/INPOS Positioning finishes/ends
Y1 axis: N +41
I/O state 2 - - - bit06:MOVE moving ○ ○ ○ ○
X2 axis: N +67
bit07:MCODE/TLM M code exporting/torque
Y2 axis: N +93
limiting
9
bit08:M0/- M code 0/-
DEVICE ASSIGMENT
bit11: M3/- M code 3/-

bit13:BRAKE At electromagnetic brake
bit14:RDY Ready to operate
bit15:- -
b0-b11:
Set time for positioning (12bit)
Unit 1ms (0 to 4095ms)
It means the time for reaching the first
ms
Positioning Finish status after the positioning
command finishes. You must
X1 axis: N +16 pay attention to the electrode swinging.
Set time for
Y1 axis: N +42
positioning/warning - - ○ ○ ○ ○
X2 axis: N +68
No.
Y2 axis: N +94 b12-b15 :
Warning No.(4bit)
b12 : Battery alarm in progress
- b13: alarm in progress for exceeding position
deviation
b14: Overload alarm in progress
b15 : Regenerative overload alarm in progress
X1 axis: N +17
1-word
Y1 axis: N +43 Monitoring cycle
unsigned 0 to 1023 X8ms ○ ○ ○ ○
X2 axis: N +69 counter*3
binary system
Y2 axis: N +95
X1 axis: N +18 To save the value of each monitoring

Y1 axis: N +44 Monitoring return 1-word signed cycle counter.
- r/min ○ ○ ○ ○
X2 axis: N +70 speed *3 binary system 11 Will be ignored if it is lower than r/min.
Y2 axis: N +96 Ex.: 3.9r/min->3r/min
9-28
9-4 DM List
Control
mode
Manual pulse
Data form/
Position
Torque
bit
Speed
X1 axis: N +19
Y1 axis: N +45 Return torque 1-word signed
- X0.1% ○ ○ ○ ○
X2 axis: N +71 monitoring*3 binary system
Y2 axis: N +97
X1 axis: N +20
Location deviation
Y1 axis: N +46
monitoring *3
X2 axis: N +72
(Low bit)
Y2 axis: N +98
2-word signed
- ENC_PLS ○ - - ○
N binary system
X1 axis: +21
Location deviation
Y1 axis: N +47
monitoring *3
X2 axis: N +73
(High bit)
Y2 axis: N +99
X1 axis: N +22
To save the value of each monitoring cycle
counter.
9
1-word
N
DEVICE ASSIGMENT
Y1 axis: +48
Load rate monitoring *3 unsigned - % ○ ○ ○ ○
X2 axis: N +74
binary system
Y2 axis: N +100
X1 axis: N +23
1-word
Y1 axis: N +49 Peak current
unsigned - X0.1% ○ ○ ○ ○
X2 axis: N +75 monitoring *3
binary system
Y2 axis: N +101
X1 axis: N +24
1-word
Y1 axis: N +50 Regenerative load
unsigned - % ○ ○ ○ ○
X2 axis: N +76 rate monitoring *'3f
binary system
Y2 axis: N +102
To confirm current control mode.

X1 axis: N +25
1-word 0: Position
Y1 axis: N +51 Current control
unsigned 0 to 3 - 1: Speed ○ ○ ○ ○
X2 axis: N +77 mode
binary system 2: Torque
Y2 axis: N +103
3: Manual pulse
N +104 to
N +113 Reserved - - - User cannot use. - - - -
9-29
9-4 DM List
Normal Communication Area
Area in which ladder program can be written.

It will write data in this area when specifying the point no. to be executed and changing current coordinate.
Note
Max. writing cycle from CPU unit to MV-L40 is scanning time of CPU unit or MV-L40
Control mode
Manual pulse
Data form/
Position
Torque
Speed
bit
When reading/writing point parameter, it is

X1 axis: N +114 Point No.
possible to read/write the point No. specified by
assignment (start 1-word
9 Y1 axis: N +124 this DM.
operation/read/ unsigned 0 to 100 - ○ - - -
X2 axis: N +134 When operation starts, this point No. is started.
teaching point binary system
Y2 axis: N +144 At teaching in, it is taught to the "target
parameter)*1
DEVICE ASSIGMENT
coordinate" of this point No.
X1 axis: N +115 When restarting servo amplifier, write "5555"

Keyword 1-word
Y1 axis: ( N +125) (hexadecimal system) in this DM, and turn on
for restarting unsigned - - ○ ○ ○ ○
X2 axis: ( N +135) "Restart Servo Amplifier Request relay"
servo amplifier binary system
Y2 axis: ( N +145) (with servos of all axes are OFF).
X1 axis: N +116
Change current
Y1 axis: N +126
coordinate
X2 axis: N +136
(Low bit)
Y2 axis: N +146 By activating the "Change Current Coordinate
2-word signed -99999999 Coordinate
Request relay", you can change current ○ ○ ○ ○
N binary system to 99999999 unit
X1 axis: +117 coordinate into the value specified in the DM.
Change current
Y1 axis: N +127
coordinate
X2 axis: N +137
(High bit)
Y2 axis: N +147
X1 axis: N +118
Y1 axis: N +128 Changing speed
X2 axis: N +138 (low bit) Change speed into the value set in this DM by
Y2 axis: N +148 activating "Change Speed Request relay".
2-word signed -99999999 Unit of
However, the values will be mapped in absolute ○ - - -
N binary system to 99999999 coordinate/s
X1 axis: +119 value, therefore the rotation direction of motor
Y1 axis: N +129 Changing speed will not be influenced by symbol.
X2 axis: N +139 (high bit)
Y2 axis: N +149
Specified control mode (0: position control/1:

speed control/2: torque control/3: manual pulse)
X1 axis: N +120
1-word If the saved value is more than "4", it is position
Y1 axis: N +130 Control mode
unsigned 0 to 3 - control. ○ ○ ○ ○
X2 axis: N +140 assignment
binary system By activating the "Change Control Mode
Y2 axis: N +150
Request relay", you can change the mode into
the setting of this DM.
*1 It is active when "PLC device" is selected for "Position operation" way.

9-30
9-4 DM List
Control mode
Manual pulse
Data form/
Position
Torque
Speed
bit
To set torque command value at torque control

mode.
X1 axis: N +121 To set torque limit value at speed control mode.
Torque command
Y1 axis: N +131 1-word signed To make torque limit active, turn on [+] side
/Torque limit -5000 to 5000 X0.1% - ○ ○ -
X2 axis: N +141 binary system torque limit enable relay"/ [-] side torque limit
at speed control*1
Y2 axis: N +151 enable relay".
Chapter 7 "CONTROL MODE"(page
7-1)
X1 axis: N +122 Speed command To set speed command value at speed control
Y1 axis: N +132 /speed limit at mode.
X2 axis: N +142 torque control To set speed limit value at torque control mode.
Y2 axis: N +152 (Low bit) *1 • Unit of The unit will be determined by "Unit of speed
2-word signed -99999999
coordinate/s command" of servo parameter. - ○ ○ -
N binary system to 99999999
X1 axis: +123 Speed command • r/min To make speed limit active, it is necessary to
Y1 axis:
X2 axis:
N
N
+133
+143
/speed limit at
torque control
turn on "Speed Limit DM Enable at Torque 9
Control relay".
N
DEVICE ASSIGMENT
Y2 axis: +153 (High bit) Chapter 7 "CONTROL MODE"(page 7-1)
N +154 to
N +163 Reserved - - - User cannot use. - - - -
*1 Motor rotation directions will change depending on symbol of command value. The limit value is of absolute.
9-31
9-4 DM List
Indirect Parameter Area
Note
Max. writing cycle from CPU unit to MV-L40 is scanning time of CPU unit or MV-L40
TIP For parameters that can be specified indirectly, please refer to "10-3 Parameter
List"(page 10-4).
Control mode
Manual pulse
Position
Torque
DM No. DM name Data form/bit Description
Speed
N +164 Indirect parameter 0 (Low bit) 2-word unsigned
N +165 (Index0) (High bit) binary system
9 N +167
N +168
(Index1)
Indirect parameter 2
(High bit) binary system
(Low bit) 2-word unsigned

DEVICE ASSIGMENT




Area read by MV-L40 when
N +178 Indirect parameter 7 (Low bit) 2-word unsigned setting parameter value by
N +179 (Index7) (High bit) binary system indirect assignment
○ ○ ○ ○
N +180 Indirect parameter 8 (Low bit) 2-word unsigned "10-9 Indirect Parameter
N +181 (Index8) (High bit) binary system Specification"(page 10-
100)






9-32
9-4 DM List
Point Parameter area
TIP As for details of point parameter, please refer to "10-5 Point Parameter"(page 10-53).
■ Point parameter at Single/Position

Control mode
Manual pulse
Data form/
Position
Torque
Speed
bit
15:14
13
Reserved - - User cannot use.
12
11
0: Invalid
Stop sensor set 10 0 to 1 -
1: Valid
Reserved 9:7 - - User cannot use.
X1 axis: N +196 M code mode 6 0 to 1 -

0:WITH 9
1:AFTER
N
DEVICE ASSIGMENT
Y1 axis: +212
0 (00): Standby (no return) ○ - - -
X2 axis: N +228
Y2 axis: N +244 Continuous operation 1 (01): Standby (return)
5:4 0 to 3 -
mode (return) 2(10): Continuous 1
3(11): Continuous 2
Absolute/incremental 0 (00): absolute
3:2 0 to 1 -
system 1 (01): incremental
0 (00): Single/Position
1 (01): (Position type speed/deceleration)
Operation mode 1:0 0 to 3 -
2 (10): (Position type speed/inching)
3(11): (Line/Position)
X1 axis: N +197
1-word
Y1 axis: N +213
Next point No. unsigned 0 to 100 - ○ - - -
X2 axis: N +229
binary system
Y2 axis: N +245
X1 axis: N +198
1-word
Y1 axis: N +214
M code No. unsigned 0 to 255 - ○ - - -
X2 axis: N +230
binary system
Y2 axis: N +246
X1 axis: N +199
1-word 1 to 16
Y1 axis: N +215
Speed No. unsigned (Indirect assignment: - ○ - - -
X2 axis: N +231
binary system $8000 to $800F)
Y2 axis: N +247
X1 axis: N +200
Y1 axis: N +216
(Low bit) -99999999 to
X2 axis: N +232
N 99999999
Y2 axis: +248 Target 2-word signed "Coordinate
(Indirect assignment: ○ - - -
X1 axis: N +201 coordinate binary system Unit"
$80000000 to
Y1 axis: N +217 (High
$8000000F)
X2 axis: N +233 bit)
Y2 axis: N +249
9-33
9-4 DM List
Control mode
Manual pulse
Data form/
Position
Torque
Speed
bit
X1 axis: N +202
Y1 axis: N +218
(Low bit) -99999999 to
X2 axis: N +234 Cycle
N 99999999
Y2 axis: +250 relative 2-word signed "Coordinate
X1 axis: N +203 moving binary system Unit"
$80000000 to
Y1 axis: N +219 amount (High
$8000000F)
Y2 axis: N +251
X1 axis: N +204
1-word 0 to 65000
Y1 axis: N +220
Cycle No.s unsigned (Indirect assignment: - ○ - - -
X2 axis: N +236
Y2 axis: N +252
X1 axis: N +205
-32000 to 32000
Y1 axis: N +221 1-word signed
Dwell time (Indirect assignment: ms ○ - - -
9 X2 axis: N +237 binary system
$FFF0 to $FFFF)
Y2 axis: N +253
X1 axis: N +206
DEVICE ASSIGMENT
Y1 axis: N +222
X2 axis: N +238
Y2 axis: N +254
Reserved - - - User cannot use. - - - -
X1 axis: N +207
Y1 axis: N +223
X2 axis: N +239
Y2 axis: N +255
X1 axis: N +208
Y1 axis: N +224
(Low bit)
X2 axis: N +240 Stop sensor 0 to 99999999
N 2-word
Y2 axis: +256 Moving (Indirect assignment: "Coordinate
unsigned ○ - - -
X1 axis: N +209 amount after $FFFFFFF0 to Unit"
binary system
Y1 axis: N +225 inputting (High $FFFFFFFF)
Y2 axis: N +257
X1 axis: N +210
Y1 axis: N +226
X2 axis: N +242
Y2 axis: N +258
X1 axis: N +211
Y1 axis: N +227
X2 axis: N +243
Y2 axis: N +259
9-34
9-4 DM List
■ Point parameter at "position type speed"

Control
mode
Manual pulse
Data form/
Position
Torque
Speed
bit
15:14
13
Reserved - - User cannot use. - - - -
12
11
At position type speed control,
the setting of stop sensor is
active regardless the setting of
Stop Sensor Set 10 Bit 0 to 1 ○ - - -
this bit.
0: Invalid
1: valid
N Reserved 9:7 - - User cannot use. - - - -

X1 axis: +196
Y1 axis:
X2 axis:
N
N
+212
+228
M code mode 6 0 to 1 -
0:WITH
1:AFTER
○ - - - 9
Y2 axis: N +244 0 (00): Standby (no return)
DEVICE ASSIGMENT
Continuous operation mode 1 (01): Standby (return)
5:4 0 to 3 - ○ - - -
(return) 2(10): Continuous 1
3(11): Continuous 2
Reserved 3:2 - - User cannot use. - - - -
0 (00): (Single/Position)
1 (01): Position type speed/
deceleration
Operation mode 1:0 0 to 3 - ○ - - -
2 (10): Position type speed/
inching
3(11): (Line/Position)
X1 axis: N +197
1-word
Y1 axis: N +213
X2 axis: N +229
binary system
Y2 axis: N +245
X1 axis: N +198
1-word
Y1 axis: N +214
X2 axis: N +230
binary system
Y2 axis: N +246
X1 axis: N +199
1-word 1 to 16
Y1 axis: N +215
X2 axis: N +231
Y2 axis: N +247
X1 axis: N +200
Y1 axis: N +216
(Low bit) -99999999
X2 axis: N +232
N to 99999999
Y2 axis: +248 Target coordinate 2-word signed "Coordinate
X1 axis: N +201 (moving direction) binary system Unit"
$80000000 to
$8000000F)
Y2 axis: N +249
9-35
9-4 DM List
Control
mode
Manual pulse
Data form/
Position
Torque
Speed
bit
X1 axis: N +202
Y1 axis: N +218
X2 axis: N +234
Y2 axis: N +250
X1 axis: N +203
Y1 axis: N +219
X2 axis: N +235
Y2 axis: N +251
X1 axis: N +204
Y1 axis: N +220
X2 axis: N +236
Y2 axis: N +252
X1 axis: N +205 -32000
Y1 axis: N +221 1-word signed to 32000
9 X2 axis: N
N
+237
Dwell time
binary system (Indirect assignment:
ms ○ - - -
Y2 axis: +253 $FFF0 to $FFFF)

DEVICE ASSIGMENT
X1 axis: N +206
Y1 axis: N +222
X2 axis: N +238
Y2 axis: N +254
X1 axis: N +207
Y1 axis: N +223
X2 axis: N +239
Y2 axis: N +255
X1 axis: N +208
Y1 axis: N +224
(Low bit)
X2 axis: N +240 0 to 99999999
N Stop sensor 2-word
Y2 axis: +256 (Indirect assignment: "Coordinate
Moving amount unsigned ○ - - -
X1 axis: N +209 $FFFFFFF0 to Unit"
after inputting binary system
Y1 axis: N +225 (High $FFFFFFFF)
Y2 axis: N +257
X1 axis: N +210
1-word
Y1 axis: N +226
Reserved unsigned - - User cannot use. - - - -
X2 axis: N +242
binary system
Y2 axis: N +258
X1 axis: N +211
Y1 axis: N +227
X2 axis: N +243
Y2 axis: N +259
9-36
9-4 DM List
■ Point parameter at "line/Position"

● Interpolation master axis
Note
Y1 and Y2 axis canít be used as an interpolation master axis.
Control mode
Manual pulse
Data form/
Position
Torque
Speed
bit
15:14
13
12
11
0:WITH
M code mode 6 0 to 1 -
1:AFTER 9
0 (00): Standby (no return)
DEVICE ASSIGMENT
X1 axis: N +196
Continuous operation 1 (01): Standby (return)
Y1 axis: ( N +212) 5:4 0 to 3 -
mode (return) 2(10): Continuous 1
X2 axis: N +228
Y2 axis: ( N +244) 3(11): Continuous 2
Absolute/incremental 0 (00): absolute ○ - - -

3:2 0 to 1 -
system 1 (01): incremental
0 (00): (Single/Position)
1 (01): (Position type speed/
Operation mode 1:0 0 to 3 - deceleration)
2 (10): (Position type speed/inching)
3(11): Line/Position
X1 axis: N +197
1-word
Y1 axis: ( N +213)
X2 axis: N +229
binary system
Y2 axis: ( N +245)
X1 axis: N +198
1-word
Y1 axis: ( N +214)
X2 axis: N +230
binary system
Y2 axis: ( N +246)
X1 axis: N +199
1-word 1 to 16
Y1 axis: ( N +215) The speed is vector one
X2 axis: N +231 at interpolation.
Y2 axis: ( N +247)
X1 axis: N +200
Y1 axis: ( N +216)
(Low bit) -99999999 to
X2 axis: N +232
Target 99999999
Y2 axis: ( N +248) 2-word signed "Coordinate
coordinate of (Indirect assignment: ○ - - -
X1 axis: N +201 binary system Unit"
master axis $80000000 to
Y1 axis: ( N +217) (High
$8000000F)
Y2 axis: ( N +249)
9-37
9-4 DM List
Control mode
Manual pulse
Data form/
Position
Torque
Speed
bit
X1 axis: N +202
Y1 axis: ( N +218)
(Low bit) -99999999 to
X2 axis: N +234 Repeating
99999999
Y2 axis: ( N +250) master axis 2-word signed "Coordinate
X1 axis: N +203 Relative moving binary system Unit"
$80000000 to
Y1 axis: ( N +219) amount (High
$8000000F)
Y2 axis: ( N +251)
X1 axis: N +204
1-word 0 to 65000
Y1 axis: ( N +220)
Cycle no.s unsigned (Indirect assignment: -
X2 axis: N +236
Y2 axis: ( N +252)
○ - - -
X1 axis: N +205
-32000 to 32000
Y1 axis: ( N +221) 1-word signed
9 X2 axis: N +237
Y2 axis: ( N +253)
Dwell time
binary system
(Indirect assignment:
$FFF0 to $FFFF)
ms
N
DEVICE ASSIGMENT
X1 axis: +206
Y1 axis: N +222
Reserved - - - User cannot use.
X2 axis: N +238
Y2 axis: N +254
X1 axis: N +207
Y1 axis: N +223
X2 axis: N +239
Y2 axis: N +255
X1 axis: N +208
Y1 axis: N +224
X2 axis: N +240
Y2 axis: N +256
X1 axis: N +209
Y1 axis: N +225
X2 axis: N +241
Y2 axis: N +257
X1 axis: N +210
Y1 axis: N +226
X2 axis: N +242
Y2 axis: N +258
$0003: 2-axis interpolation
(set value in DM used in X1 axis
for X1/Y1. Set value in DM used
X1 axis: N +211 in X2 axis for X2/Y2.)
1-word
Y1 axis: ( N +227) $0003/$0007/$000F $0007: 3-axis interpolation
Interpolation axis setting unsigned - ○ - - -
X2 axis: N +243 (Hexadecimal) (set value in DM used in X1
binary system
Y2 axis: ( Ν +259) axis.)
$000F: 4-axis interpolation
(set value in DM used in X1
axis.)
9-38
9-4 DM List
● Interpolation slave axis
Note
X1 axis canít be used as an interpolation slave axis.
Control mode
Manual pulse
Data form/
Position
Torque
Speed
bit
Reserved 15:2 - - User cannot use.

X1 axis: ( N +196)
Y1 axis: N +212 0 (00): (Single/Position)
X2 axis: N +228 1 (01): (Position type speed/deceleration) ○ - - -
Operation mode 1:0 0 to 3 -
Y2 axis: N +244 2 (10): (Position type speed/inching)
3(11): Line/Position
X1 axis: N +197
Y1 axis: N +213
X2 axis:
Y2 axis:
N
N
+229
+245
9
X1 axis: N +198
DEVICE ASSIGMENT
Y1 axis: N +214
X2 axis: N +230
Y2 axis: N +246
X1 axis: N +199
Y1 axis: N +215
X2 axis: N +231
Y2 axis: N +247
X1 axis: ( N +200)
Y1 axis: N +216
(Low bit) -99999999 to
X2 axis: N +232
Y2 axis: N +248 Target 99999999
2-word signed "Coordinate
coordinate of (Indirect assignment:
X1 axis: ( N +201) binary system Unit"
slave axis $80000000 to
Y1 axis: N +217 (High $8000000F)
Y2 axis: N +249
○ - - -
X1 axis: ( N +202)
Y1 axis: N +218
(Low bit) -99999999 to
X2 axis: N +234 Repeating slave
Y2 axis: N +250 99999999
axis 2-word signed "Coordinate
(Indirect assignment:
X1 axis: ( N +203) Relative moving binary system unit"
$80000000 to
Y1 axis: N +219 amount (High $8000000F)
Y2 axis: N +251
X1 axis: N +204
Y1 axis: N +220
X2 axis: N +236
Y2 axis: N +252
- - - -
X1 axis: N +205
Y1 axis: N +221
X2 axis: N +237
Y2 axis: N +253
9-39
9-4 DM List
Control mode
Manual pulse
Data form/
Position
Torque
Speed
bit
X1 axis: N +206
Y1 axis: N +222
- - -
X2 axis: N +238
Y2 axis: N +254
Reserved User cannot use.
X1 axis: N +207
Y1 axis: N +223
- - -
X2 axis: N +239
Y2 axis: N +255
X1 axis: N +208
Y1 axis: N +224
X2 axis: N +240
Y2 axis: N +256
- - - -
X1 axis: N +209
Y1 axis: N +225
9 X2 axis: N
N
+241
Y2 axis: +257
DEVICE ASSIGMENT
X1 axis: N +210
Y1 axis: N +226
X2 axis: N +242
Y2 axis: N +258
X1 axis: N +211
Y1 axis: N +227
X2 axis: N +243
Y2 axis: N +259
9-40
9-4 DM List
System Parameter Area
TIP As for details of system parameter, please refer to "10-6 System Parameter"(page 10-72).
Control
mode
Manual pulse
Data form/
Position
Torque
bit
Speed
Reserved 15 - - User cannot use. - - - -
0: No
Auto home position movement 12 0 to 1 - ○ - - -
1: Yes
0: No
Auto zero return 11 0 to 1 - ○ - - -
Reserved 10 - -
1: Yes
User cannot use. - - - -
9
DEVICE ASSIGMENT
0: a contact
stop sensor polarity 9 0 to 1 - ○ ○ ○ ○
1: NC

X1 axis: N +260
Y1 axis: N +300
X2 axis: N +340 0: a contact
limit switch polarity 6 0 to 1 - ○ ○ ○ ○
Y2 axis: N +380 1: NC
0: a contact
origin sensor polarity 5 0 to 1 - ○ ○ ○ ○
1: NC
0: [-] Direction
(Decreasing direction of
current coordinate)
zero return direction 4 0 to 1 - ○ - - -
1: [+] direction
(Increasing direction of
current coordinate)
0:CW
Coordinate increase direction 3 0 to 1 - ○ ○ ○ ○
1:CCW
9-41
9-4 DM List
Control
mode
Manual pulse
Data form/
Position
Torque
bit
Speed
0 (000): Linear
JOG deceleration curve 14:12 0 to 1 - ○ - - -
1 (001): Sine
X1 axis: N +261 0 (000): Linear

JOG acceleration curve 10:8 0 to 1 - ○ - - -
Y1 axis: N +301 1 (001): Sine
X2 axis: N +341 Reserved 7 - - User cannot use. - - - -
Y2 axis: N +381
0 (000): Linear
Operation deceleration curve 6:4 0 to 1 - ○ - - -
1 (001): Sine
0 (000): Linear
Operation acceleration curve 2:0 0 to 1 - ○ - - -
9 Reserved 15:13 - -
1 (001): Sine
User cannot use. - - - -

DEVICE ASSIGMENT
0(00):mm
1(01):deg
Coordinate unit 12:11 0 to 3 - ○ ○ ○ ○
2(10):
3(11):PLS
It is up to 5 bits for nearest

rotary angle control. If 6 bits
are set, it will alarm in
progress at starting.
0 (000): No. decimal point

X1 axis: N +262 position of decimal point 10:8 0 to 7 - 1 (001): 1 decimal place. ○ ○ ○ ○
Y1 axis: N +302 2 (010): 2 decimal places.
X2 axis: N +342 3 (011): 3 decimal places.
Y2 axis: N +382 4 (100): 4 decimal places.
5 (101): 5 decimal places.
0 (000): Linear
zero return deceleration curve 6:4 0 to 1 - ○ - - -
1 (001): Sine
0: No
Nearest rotation angle control 3 0 to 1 - ○ - - -
1: Yes
0 (000): Linear
zero return acceleration curve 2:0 0 to 1 - ○ - - -
1 (001): Sine
X1 axis: N +263
Y1 axis: N +303
X2 axis: N +343
Y2 axis: N +383
9-42
9-4 DM List
Control
mode
Manual pulse
Data form/
Position
Torque
bit
Speed
X1 axis: N +264 Operation S-shape
15:8 1 to 100 % ○ - - -
Y1 axis: N +304 deceleration slope
X2 axis: N +344 Operation S-shape
Y2 axis: N +384 7:0 1 to 100 % ○ - - -
acceleration slope
X1 axis: N +265 JOG S-shape deceleration

15:8 1 to 100 % ○ - - -
Y1 axis: N +305 slope
X2 axis: N +345 JOG S-shape acceleration
Y2 axis: N +385 7:0 1 to 100 % ○ - - -
slope
X1 axis: N +266 zero return S-shape

15:8 1 to 100 % ○ - - -
Y1 axis: N +306 deceleration slope
X2 axis: N +346 zero return S-shape
Y2 axis: N +386 7:0 1 to 100 % ○ - - -
acceleration slope
X1 axis:
Y1 axis:
N
N
+267
+307
1-word 1 to 65000
Unit of
9
Operation acceleration unsigned (Indirect assignment: ○ - - -
N
DEVICE ASSIGMENT
X2 axis: +347 coordinate/s/ms
Y2 axis: N +387
X1 axis: N +268
1-word 1 to 65000
Y1 axis: N +308 Unit of
Operation deceleration unsigned (Indirect assignment: ○ - - -
X2 axis: N +348 coordinate/s/ms
Y2 axis: N +388
X1 axis: N +269
1-word
JOG acceleration unsigned 1 to 65000 ○ - - -
binary system
Y2 axis: N +389
X1 axis: N +270
1-word
JOG deceleration unsigned 1 to 65000 ○ - - -
binary system
Y2 axis: N +390
X1 axis: N +271
1-word
zero return acceleration unsigned 1 to 65000 ○ - - -
binary system
Y2 axis: N +391
X1 axis: N +272
1-word
zero return deceleration unsigned 1 to 65000 ○ - - -
binary system
Y2 axis: N +392
9-43
9-4 DM List
Control
mode
Manual pulse
Data form/
Position
Torque
bit
Speed
0: a contact
Emergency stop polarity 5 0 to 1 - ○ ○ ○ ○
1: NC
X1 axis: N +273 Reserved 4 - - User cannot use. - - - -
Y1 axis: N +313
0: Normal
X2 axis: N +353 Changeover of limit switch 3 0 to 1 - ○ ○ ○ ○
1: reverse
Y2 axis: N +393
X1 axis: N +274
Y1 axis: N +314
(Low bit)
9 X2 axis: N +354 0 to 99999999
Y2 axis: N +394 2-word
Operation startup (Indirect assignment: Unit of
unsigned ○ - - -
X1 axis: N +275 speed $FFFFFFF0 to coordinate/s
DEVICE ASSIGMENT
binary system
Y1 axis: N +315 (High $FFFFFFFF)
Y2 axis: N +395
X1 axis: N +276
Y1 axis: N +316
(Low bit)
X2 axis: N +356
Unit of
JOG startup speed unsigned 1 to 99999999 ○ - - -
X1 axis: N +277 coordinate/s
binary system
Y2 axis: N +397
X1 axis: N +278
Y1 axis: N +318
(Low bit)
X2 axis: N +358
zero return startup Unit of
unsigned 0 to 99999999 ○ - - -
X1 axis: N +279 speed coordinate/s
binary system
Y2 axis: N +399
X1 axis: N +280
Y1 axis: N +320
(Low bit)
X2 axis: N +360
zero return creep Unit of
unsigned 1 to 99999999 ○ - - -
binary system
Y2 axis: N +401
9-44
9-4 DM List
Control
mode
Manual pulse
Data form/
Position
Torque
bit
Speed
X1 axis: N +282
Y1 axis: N +322
(Low bit)
X2 axis: N +362
Unit of
JOG max. speed unsigned 1 to 99999999 ○ - - -
binary system
Y2 axis: N +403
X1 axis: N +284
Y1 axis: N +324
(Low bit)
X2 axis: N +364
zero return running Unit of
unsigned 1 to 99999999 ○ - - -
Y1 axis:
X2 axis:
N
N
+325
+365
(High
bit)
binary system
9
Y2 axis: N +405
DEVICE ASSIGMENT
X1 axis: N +286
Y1 axis: N +326
(Low bit)
X2 axis: N +366
Operation max. Unit of
unsigned 1 to 99999999 ○ - - -
binary system
Y2 axis: N +407
X1 axis: N +288
1-word
Y1 axis: N +328 Backlash
unsigned 0 to 65535 ENC_PLS ○ - - -
X2 axis: N +368 Corrective moving amount
binary system
Y2 axis: N +408
9-45
9-4 DM List
Control
mode
Manual pulse
Data form/
Position
Torque
bit
Speed
0: External input
* Servo ON mode 8 0 to 1 - ○ ○ ○ ○
1: PLC device
* Absolute position detection 0: Not used

7 0 to 1 - ○ ○ ○ ○
system 1: used
0(00):250μs
* Origin/stop sensor input 1(01):1ms
6:5 0 to 3 - ○ ○ ○ ○
Filter 2(10):2ms
X1 axis: N +289
3(11):5ms
Y1 axis: N +329
X2 axis: N +369 * Input Filter 0(00):3ms
Y2 axis: N +409 (Other than origin/stop 4:3 0 to 2 - 1(01):5ms ○ ○ ○ ○
sensor) 2(10):10ms
9 0 (00) : External input

1 (01): PLC device
* Position operation mode 2:1 0 to 2 - 2 (10) : External input ○ - - -
DEVICE ASSIGMENT
(no
deceleration&stop)
* Control mode alarm in 0: No
0 0 to 1 - - ○ ○ ○
progress 1: Yes
X1 axis: N +290
Y1 axis: N +330
(Low bit)
X2 axis: N +370
Y2 axis: N +410 -99999999 to
2-word signed "Coordinate
origin coordinates 99999999 ○ - - -
X1 axis: N +291 binary system Unit"
Y2 axis: N +411
X1 axis: N +292
Y1 axis: N +332
(Low bit)
X2 axis: N +372
Y2 axis: N +412 -99999999 to
home position 2-word signed "Coordinate
99999999 ○ - - -
X1 axis: N +293 Coordinate binary system Unit"
Y2 axis: N +413
X1 axis: N +294
Y1 axis: N +334
(Low bit)
X2 axis: N +374
Y2 axis: N +414 Software limit 2-word signed -99999999 to "Coordinate
○ - - -
X1 axis: N +295 [-] Coordinate binary system 99999999 Unit"
Y2 axis: N +415
9-46
9-4 DM List
Control
mode
Manual pulse
Data form/
Position
Torque
bit
Speed
X1 axis: N +296
Y1 axis: N +336
(Low bit)
X2 axis: N +376
Y2 axis: N +416 Software limit 2-word signed -99999999 to "Coordinate
○ - - -
X1 axis: N +297 [+] Coordinate binary system 99999999 Unit"
Y2 axis: N +417
X1 axis: N +298
1-word
Y1 axis: N +338
INPOS detection time unsigned 0 to 5000 X10ms ○ - - -
X2 axis: N +378
binary system
Y2 axis: N +418
0 (000): ORG edge
(no Z phase)
X1 axis: N +299
1 (001): ORG middle
(no Z phase)
9
Y1 axis: N +339 zero return in progress way 15:13 0 to 4 - ○ - - -
2 (010): [-]no LS
DEVICE ASSIGMENT
X2 axis: N +379
ORG edge (no Z phase)
Y2 axis: N +419 3 (011): Z phase normal
4 (100): Z phase rear
9-47
9-4 DM List
Speed Parameter Area
TIP As for details of speed parameter, please refer to "10-7 Speed Parameter"(page 10-96).
In speed parameter area, it is possible to read speed parameter from MV-L40.
In addition, after writing speed in speed parameter area, it is possible to change speed parameter of MV-L40.
Control mode
Manual pulse
Data form/
Position
Torque
Speed
bit
X1 axis: N +420
Y1 axis: N +452
(Low bit)
X2 axis: N +484
Speed No.1 unsigned ○ - - -
X1 axis: N +421 binary system
9 Y2 axis: N
N
+517
X1 axis: +422
DEVICE ASSIGMENT
Y1 axis: N +454
(Low bit)
X2 axis: N +486
Y2 axis: N +519
X1 axis: N +424
Y1 axis: N +456
(Low bit)
X2 axis: N +488
N 2-word
Y2 axis: +520 Unit of
Speed No.3 unsigned 1 to 99999999 ○ - - -
binary system
Y2 axis: N +521
X1 axis: N +426
Y1 axis: N +458
(Low bit)
X2 axis: N +490
Y2 axis: N +523
X1 axis: N +428
Y1 axis: N +460
(Low bit)
X2 axis: N +492
Y2 axis: N +525
9-48
9-4 DM List
Control mode
Manual pulse
Data form/
Position
Torque
Speed
bit
X1 axis: N +430
Y1 axis: N +462
(Low bit)
X2 axis: N +494
Y2 axis: N +527
X1 axis: N +432
Y1 axis: N +464
(Low bit)
X2 axis: N +496
X2 axis:
Y2 axis:
N
N
+497
+529
bit)
9
X1 axis: N +434
DEVICE ASSIGMENT
Y1 axis: N +466
(Low bit)
X2 axis: N +498
Unit of
Speed No.8 unsigned 1 to 99999999 ○ - - -
binary system
Y2 axis: N +531
X1 axis: N +436
Y1 axis: N +468
(Low bit)
X2 axis: N +500
Y2 axis: N +533
X1 axis: N +438
Y1 axis: N +470
(Low bit)
X2 axis: N +502
Y2 axis: N +535
9-49
9-4 DM List
Control mode
Manual pulse
Data form/
Position
Torque
Speed
bit
X1 axis: N +440
Y1 axis: N +472
(Low bit)
X2 axis: N +504
Y2 axis: N +537
X1 axis: N +442
Y1 axis: N +474
(Low bit)
X2 axis: N +506
9 X2 axis:
Y2 axis:
N
N
+507
+539
bit)
X1 axis: N +444
DEVICE ASSIGMENT
Y1 axis: N +476
(Low bit)
X2 axis: N +508
1 to 99999999
Y1 axis: N +478
(Low bit)
X2 axis: N +510
Y2 axis: N +543
X1 axis: N +448
Y1 axis: N +480
(Low bit)
X2 axis: N +512
Y2 axis: N +545
X1 axis: N +450
Y1 axis: N +482
(Low bit)
X2 axis: N +514
X1 axis: N +451
binary system
Y2 axis: N +547
*1 It is active temporarily when reaching value of "Speed controlî under torque control mode.
9-50
9-4 DM List
Servo Parameter Area
TIP As for details of servo parameter, please refer to "10-4 Servo Parameter"(page 10-26).
Control mode
Manual pulse
Position
DM No. DM name Data form/bit Scope Unit description
Torque
Speed
X1 axis: N +548
Y1 axis: N +610 *Electronic Gear
X2 axis: N +672 (numerator)
Y2 axis: N +734 1-word unsigned
1 to 65535 - ○ ○ ○ ○
Y1 axis: N +611 *Electronic Gear
X2 axis: N +673 (denominator)
Y2 axis: N +735
X1 axis:
Y1 axis:
N
N
+550
+612 1-word unsigned 0: Manual tune
9
Tune mode 0 to 1 - ○ ○ ○ ○
X2 axis: N +674 binary system 1: Auto tuning
DEVICE ASSIGMENT
Y2 axis: N +736
X1 axis: N +551
Response
characteristic for 1 to 15 - ○ ○ ○ ○
automatic tune
Y2 axis: N +737
X1 axis: N +552
Position gain 1 to 3000 1/s ○ - - ○
Y2 axis: N +738
X1 axis: N +553
Y1 axis: N +615 1-word unsigned *1
Speed Gain 1 to 2000 Hz ○ ○ ○
X2 axis: N +677 binary system -
Y2 axis: N +739
X1 axis: N +554
Y1 axis: N +616 Integral Time 1-word unsigned *1
5 to 10000 X0.1ms ○ ○ - ○
X2 axis: N +678 Constant binary system
Y2 axis: N +740
X1 axis: N +555
Feedfoward gain 0 to 100 % ○ - - ○
Y2 axis: N +741
X1 axis: N +556
Y1 axis: N +618 Position instruction 1-word unsigned
0 to 20000 X0.1ms ○ - - ○
X2 axis: N +680 LPF binary system
Y2 axis: N +742
X1 axis: N +557
Speed instruction LPF 1 to 2000 Hz ○ ○ - ○
Y2 axis: N +743
9-51
9-4 DM List
Control mode
Manual pulse
Position
Torque
Speed
X1 axis: N +558
Y1 axis: N +620 Torque instruction 1-word unsigned
1 to 2000 Hz ○ ○ ○ ○
X2 axis: N +682 LPF binary system
Y2 axis: N +744
X1 axis: N +559
Feedforward LPF 1 to 2000 Hz ○ - - ○
Y2 axis: N +745
X1 axis: N +560
Step noise filter 1 10 to 200 X10Hz ○ ○ ○ ○
Y2 axis: N +746
X1 axis: N +561
9 Y1 axis:
X2 axis:
N
N
+623
+685
Step noise filter 2
1-word unsigned
binary system
10 to 200 X10Hz ○ ○ ○ ○
Y2 axis: N +747
DEVICE ASSIGMENT
X1 axis: N +562
Y1 axis: N +624 Load of torque of 1-word unsigned *1
1 to 15000 % ○ ○ - ○
X2 axis: N +686 inertia ratio binary system
Y2 axis: N +748
X1 axis: N +563
Position gain 2 1 to 3000 1/s ○ - - ○
Y2 axis: N +749
X1 axis: N +564
Speed gain 2 1 to 2000 Hz ○ ○ - ○
Y2 axis: N +750
X1 axis: N +565
Y1 axis: N +627 Integral time constant 1-word unsigned *1
5 to 10000 X0.1ms ○ ○ - ○
X2 axis: N +689 2 binary system
Y2 axis: N +751
X1 axis: N +566
1 to 2000 Hz ○ ○ ○ ○
X2 axis: N +690 LPF 2 binary system
Y2 axis: N +752
X1 axis: N +567
Load moment of
inertia 1 to 15000 % ○ ○ - ○
Instantaneous ratio 2
Y2 axis: N +753
X1 axis: N +568
Y1 axis: N +630 Positioning 1-word unsigned
1 to 65535 ENC_PLS ○ - - ○
X2 axis: N +692 completion range binary system
Y2 axis: N +754
9-52
9-4 DM List
Control mode
Manual pulse
Position
Torque
Speed
X1 axis: N +569
Y1 axis: N +631 Too-high-deviation 1-word unsigned X256
1 to 65535 ○ - - ○
X2 axis: N +693 set value binary system ENC_PLS
Y2 axis: N +755
X1 axis: N +570
Zero speed detection 0 to 65535 r/min ○ ○ ○ ○
Y2 axis: N +756
X1 axis: N +571
Speed limit 0 to 65535 r/min ○ ○ ○ ○
Y2 axis: N +757
X1 axis: N +572
Y1 axis:
X2 axis:
N
N
+634
+696
乵+] side torque limit
1-word unsigned
binary system
0 to 5000 X0.1% ○ ○ ○ ○
9
Y2 axis: N +758
DEVICE ASSIGMENT
X1 axis: N +573
[-] side torque limit 0 to 5000 X0.1% ○ ○ ○ ○
Y2 axis: N +759
X1 axis: N +574
Electromagnetic
brake 0 to 5000 X0.1% ○ ○ ○ ○
wait time
Y2 axis: N +760
X1 axis: N +575
Electromagnetic
brake hold 1 to 250 X4ms ○ ○ ○ ○
wait time
Y2 axis: N +761
X1 axis: N +576
Electromagnetic
brake open 1 to 250 X4ms ○ ○ ○ ○
wait time
Y2 axis: N +762
X1 axis: N +577
Y1 axis: N +639 1-word unsigned 0: Yes
仏Speed 0 at servo ON 0 to 1 - ○ ○ - ○
X2 axis: N +701 binary system 1: No
Y2 axis: N +763
X1 axis: N +578
Y1 axis: N +640 *Brake Resistance 1-word unsigned 0: internal
0 to 1 - ○ ○ ○ ○
X2 axis: N +702 Select binary system 1: external
Y2 axis: N +764
N 0:8μs
X1 axis: +579
*Time Constant for 1:4μs
Burst Input 0 to 4 - 2:2μs - - - ○
Constants 3:1μs
Y2 axis: N +765
4:0.5μs
9-53
9-4 DM List
Control mode
Manual pulse
Position
Torque
Speed
X1 axis: N +580
0: Double-pulse input
Y1 axis: N +642 *Format for Burst 1-word unsigned
0 to 2 - 1: A/B phase pulse input - - - ○
X2 axis: N +704 Input binary system
2: Single pulse input
Y2 axis: N +766
X1 axis: N +581
Y1 axis: N +643 1-word unsigned 0: Positive logic
*Logic for Burst Input 0 to 1 - - - - ○
X2 axis: N +705 binary system 1: Negative logic
Y2 axis: N +767
X1 axis: N +582
Y1 axis: N +644 *Rotary Direction for 1-word unsigned 0: Positive
0 to 1 - - - - ○
X2 axis: N +706 Burst binary system 1: reverse
Y2 axis: N +768
X1 axis: N +583
9 Y1 axis:
X2 axis:
N
N
+645
+707
*Servo OFF
Deviation clear
1-word unsigned
binary system
0 to 1 -
0: No
1: Yes
- - - ○
Y2 axis: N +769
DEVICE ASSIGMENT
X1 axis: N +584
Y1 axis: N +646 Manual pulse 1-word unsigned
1 to 63 - - - - ○
X2 axis: N +708 Input override binary system
Y2 axis: N +770
X1 axis: N +585
Y1 axis: N +647 Speed instruction 1-word unsigned *1
0 to 65535 r/min ○ ○ - ○
X2 axis: N +709 match range binary system
Y2 axis: N +771
X1 axis: N +586
Speed reach setting 0 to 65535 r/min ○ ○ ○ ○
Y2 axis: N +772
0: always invalid
1: always valid
2: valid in zero speed state
3: invalid in zero speed state
4: invalid in speed-reaching state
X1 axis: N +587 6: valid in speed-consistence state
Automatic
Y1 axis: N +649 1-word unsigned 7: invalid in speed-consistence state
changeover between 0 to 13 - ○ ○ - ○
X2 axis: N +711 binary system 8: valid when positioning ends
proportion control
Y2 axis: N +773 9: invalid when positioning ends
10: valid in at torque limiting
11: invalid in at torque limiting
12: valid in at speed limiting
13: invalid in at speed limiting
The setting is invalid at command track
controlling.
9-54
9-4 DM List
Control mode
Manual pulse
Position
Torque
Speed
0: always invalid
1: always valid
2: valid in zero speed state
3: invalid in zero speed state
X1 axis: N +588 6: valid in speed-consistence state
Y1 axis: N +650 Automatic gain 1-word unsigned 7: invalid in speed-consistence state
0 to 13 - ○ ○ ○ ○
X2 axis: N +712 switching binary system 8: valid when positioning ends
Y2 axis: N +774 9: invalid when positioning ends
10: valid in at torque limiting
11: invalid in at torque limiting
12: valid in at speed limiting
13: invalid in at speed limiting
The setting is invalid at command track
controlling.
9
N
DEVICE ASSIGMENT
X1 axis: +589
Y1 axis: N +651 1-word unsigned 0: Unit of coordinate/s
Speed Command Unit 0 to 1 - - ○ - -
X2 axis: N +713 binary system 1: r/min
Y2 axis: N +775
X1 axis: N +590
Speed Command
Y1 axis: N +652 1-word unsigned 0: Coordinate unit/s/ms
Acceleration/ 0 to 1 - - ○ - -
X2 axis: N +714 binary system 1: ms
deceleration Unit
Y2 axis: N +776
X1 axis: N +591
N It is enabled when selecting 搈sî for
Y1 axis: +653 Speed control 1-word unsigned
0 to 24000 ms "Speed command acceleration/ - ○ - -
X2 axis: N +715 acceleration time binary system
deceleration unitî.
Y2 axis: N +777
X1 axis: N +592
N It is enabled when selecting 搈sî for
Y1 axis: +654 Speed control 1-word unsigned
0 to 24000 ms "Speed command acceleration/ - ○ - -
X2 axis: N +716 deceleration time binary system
deceleration unitî.
Y2 axis: N +778
X1 axis: N +593
It is enabled when selecting
Y1 axis: N +655 Speed control 1-word unsigned Unit of
1 to 65000 (coordinate unit/s/ms) for "Speed - ○ - -
X2 axis: N +717 acceleration binary system coordinate/s/ms
command acceleration/deceleration unitî.
Y2 axis: N +779
X1 axis: N +594
It is enabled when selecting
Y1 axis: N +656 Speed control 1-word unsigned Unit of
1 to 65000 (coordinate unit/s/ms) for "Speed - ○ - -
X2 axis: N +718 deceleration binary system coordinate/s/ms
command acceleration/deceleration unitî.
Y2 axis: N +780
X1 axis: N +595
0 to 20000 ms - - ○ -
X2 axis: N +719 acceleration time binary system
Y2 axis: N +781
9-55
9-4 DM List
Control mode
Manual pulse
Position
Torque
Speed
X1 axis: N +596
0 to 20000 ms - - ○ -
X2 axis: N +720 deceleration time binary system
Y2 axis: N +782
X1 axis: N +597
Y1 axis: N +659 *Overload alarm in 1-word unsigned
1 to 100 % ○ ○ ○ ○
X2 axis: N +721 progress binary system
Y2 axis: N +783
X1 axis: N +598
Y1 axis: N +660 Deviation too large 1-word unsigned X256
1 to 65535 ○ - - ○
X2 axis: N +722 warning binary system ENC_PLS
Y2 axis: N +784
X1 axis: N +599
9 Y1 axis:
X2 axis:
N
N
+661
+723
Electromagnetic
brake engages
1-word unsigned
binary system
0 to 65535 ms ○ ○ ○ ○
Starting time
Y2 axis: N +785
DEVICE ASSIGMENT
X1 axis: N +600
0: Dynamic brake
Stop Way 0 to 2 - 1: Servo brake ○ ○ ○ ○
2: free running
Y2 axis: N +786
X1 axis: N +601
0: Dynamic brake
State after Stop 0 to 2 - 1: free ○ ○ ○ ○
2: free (DB invalid)
Y2 axis: N +787
X1 axis: N +602
Y1 axis: N +664 Anti-resonance 1-word unsigned
0 to 100 Hz 0 to 4: Invalid ○ - - ○
X2 axis: N +726 frequency binary system
Y2 axis: N +788
X1 axis: N +603
Set gain 0 to 9 - 0: Invalid ○ - - ○
Y2 axis: N +789
X1 axis: N +604
Path gain 0 to 9 - 0: Invalid ○ - - ○
Y2 axis: N +790
X1 axis: N +605
Y1 axis: N +667
X2 axis: N +729
Y2 axis: N +791
X1 axis: N +606
Y1 axis: N +668
X2 axis: N +730
Y2 axis: N +792
9-56
9-4 DM List
Control mode
Manual pulse
Position
Torque
Speed
X1 axis: N +607
Y1 axis: N +669
X2 axis: N +731
Y2 axis: N +793
X1 axis: N +608
Y1 axis: N +670
X2 axis: N +732
Y2 axis: N +794
X1 axis: N +609
Y1 axis: N +671
X2 axis: N +733
Y2 axis: N +795
DEVICE ASSIGMENT
9-57
9-4 DM List
Common Set Parameter Area
TIP As for details of common set parameter, please refer to "10-8 Common Set
Parameters"(page 10-97).
Control
mode
Manual pulse
DM No. DM name Data form/bit Scope Description
Position
Torque
Speed
0: Immediately stop
1-word unsigned 1: Immediately stop only when
N +796 *alarm in progress stop mode 0 to 2 ○ - - -
Binary limit switch is ON.
2: deceleration&stop
0: Stop all axes

1-word unsigned
N +797 *alarm in progress Stop Axis Select 0 to 1 1: only axes for which alarm in ○ ○ ○ ○
9
Binary
progress occurs will stop
N +798 (Low bit) 2-word unsigned
Label No. 0 to 999999 ○ ○ ○ ○
DEVICE ASSIGMENT
N +799 (High bit) Binary
1-word unsigned 0: No
N +800 KV-HPD1 Write Protect 0 to 1 ○ ○ ○ ○
Binary 1: Yes
1-word unsigned 0: Japanese

N +801 KV-HPD1 language 0 to 1 ○ ○ ○ ○
Binary 1: English
1-word unsigned 0:OFF

N +802 KV-HPD1 Buzzer 0 to 1 ○ ○ ○ ○
Binary 1:ON
KV-HPD1 Demo Operation/JOG 1-word unsigned 0: No

N +803 0 to 1 ○ ○ ○ ○
Prohibition Binary 1: Yes
1-word unsigned 0: Yes

N +804 SRAM Backup alarm in progress 0 to 1 ○ ○ ○ ○
Binary 1: No
N +805 Reserved - - User cannot use. - - - -
Other (alarm in progress log, operation point log, etc.)
■ Reserved for system

Control
mode
Manual pulse
DM name Data form/

DM No. Defaults description
Position
Torque
ADD functions bit

Speed
N +806 to N +821 Reserved for system - - User cannot use. - - - -
9-58
9-4 DM List
■ alarm in progress log

Control mode
Manual pulse
DM name
Position
Torque
DM No. Data form/bit Defaults Description
Speed
ADD functions
alarm in progress log 1 piece

alarm in progress log 1 (new)
N +822 1-word unsigned binary system 0
alarm in progress No. Save alarm in progress No. when
alarm in progress occurs.
Save axis for which alarm in

progress occurs.
alarm in progress log 1 Including alarm in progress of
N +823 Axis for which alarm in 1-word unsigned binary system 0 MV-L40 unit.
progress occurs MV-L40:0
X1 axis: 1 Y1 axis: 2 X2 axis: 3
Y2 axis: 4
alarm in progress log 1 Save point No. for which alarm

N +824 1-word unsigned binary system 0
Occurrence point No. in progress occurs.
N +825
alarm in progress log 1
Save month in which alarm in
9
Month in which alarm in 1-word unsigned binary system 0
progress occurs (1 to 12).
DEVICE ASSIGMENT
progress occurs

Save date on which alarm in
N +826 Date on which alarm in 1-word unsigned binary system 0
progress occurs

Save hour at which alarm in
N +827 Hour at which alarm in 1-word unsigned binary system 0
progress occurs (0 to 23). ○ ○ ○ ○
progress occurs

Save minute at which alarm in
N +828 Minute at which alarm in 1-word unsigned binary system 0
progress occurs
N +829 to N +835 alarm in progress log 2 1-word unsigned binary system 0
The detailed description are
N +871 to N +877 alarm in progress log 8 1-word unsigned binary system 0 same with that for alarm in
N +878 to N +884 alarm in progress log 9 1-word unsigned binary system progress log 1.
0
The detailed description are

N +920 to N +926 alarm in progress log 15 1-word unsigned binary system 0 same with that for alarm in ○ ○ ○ ○
progress log 1.

N +927 to N +933 alarm in progress log 16 1-word unsigned binary system 0 ○ ○ ○ ○
pieces (old)
9-59
9-4 DM List
■ Log of operation point

Control
mode
Manual pulse
DM name
DM No. Data form/bit Defaults Description
Position
Torque
Speed
ADD functions
Log of operation point 1 piece (new)

Log of operation point 1 1-word unsigned Save operated axis.
N +934 0
Operation axis binary system X1 axis: 1 Y1 axis: 2
X2 axis: 3 Y2 axis: 4
Log of operation point 1 1-word unsigned
N +935 0 Save operated point NO.(0～100).
Log of operation point No. binary system
N +936 0 Save operation month (1 to 12).
Month binary system
N +937 0 Save operation date (1 to 31).
Date binary system
N +938 0 Save operation hour (0 to 23).
Hour binary system
9 N +939
Log of operation point 1
Minute
1-word unsigned
binary system
0 Save operation minute (0 to 59).
DEVICE ASSIGMENT
1-word unsigned
N +940 to N +945 Log of operation point 2 0
binary system
1-word unsigned
binary system
1-word unsigned
binary system
1-word unsigned
N +958 to N +963 Log of operation point 5 0 ○ ○ ○ ○
binary system
1-word unsigned
binary system
1-word unsigned
binary system
1-word unsigned
binary system The detailed description are same with
1-word unsigned that for operation point log 1.
binary system
1-word unsigned
binary system
1-word unsigned
binary system
1-word unsigned
binary system
1-word unsigned
binary system
1-word unsigned
binary system
1-word unsigned
binary system
1-word unsigned
N +1024 to N +1029 Log of operation point 16 0 Log of operation point 16 pieces (old) ○ ○ ○ ○
binary system
9-60
9-4 DM List
■ Others
Control
mode
Manual pulse
DM name
DM No. Data form/bit Defaults description
Position
Torque
ADD functions
Speed
alarm in progress 1-word
N +1030 No. unsigned 0 To save alarm in progress No. ○ ○ ○ ○
(MV-L40) Binary of MV-L40.
N +1031 to N +1199 Reserved for system - - User cannot use. - - - -
DEVICE ASSIGMENT
9-61
9-5 DM/Relay Function
This section describes the DM/Relay function.
"9-1 Device Assignment Overview"(page 9-2), Please also see "9-2 List Of Input Relays"(page 9-4),
"9-3 List of Output Relays"(page 9-15), "9-4 DM List"(page 9-25).
Note
In KV BUILDER, "R" will not be displayed before relay No..
When look up reference ladder, please take notice.
DM/Relay Function Table
Function See page

Operation enable/Servo ON 9-63
Start operation 9-64
Emergency stop 9-66
Deceleration stop/Restart Operation 9-68
Standby release 9-71
M code 9-72
9 Cycle interrupt
JOG operation
9-73
9-76
Teaching 9-79
DEVICE ASSIGMENT
zero return 9-81

Move to home position 9-83
Change current coordinate 9-85
Change speed 9-87
Write flash ROM 9-90
Read/Write parameters (change parameters) 9-91
AT parameter reflection 9-99
Changing control modes 9-101
Restart Servo Amplifier 9-103
alarm in progress/alarm in progress reset 9-105
Read/clear alarm in progress log 9-107
Read operating point log 9-110
Verify whether in process of operation 9-112
Verify whether in return to operation 9-112
Verify whether in progress of dwell 9-113
Verify cycle operation times 9-113
Verify completion of point operation 9-114
Verify point No. in process of operation 9-114
Verify current coordinate 9-115
Verify current speed 9-115
Verify I/O 9-116
Verify the state of teaching unit (KV-HPD1) 9-117
Verify control mode 9-117
alarm in progress 9-118
Verify set time of positioning 9-118
9-62
Operation Enable/Servo ON
Servo motor may be converted to run at servo ON state.

System parameter "*servo ON mode" must be set to "PLC device" first.
Procedures
1 "Operation enable relay" ON.

"Operation ready relay" ON.
Note
Generally, if "Operation ready relay" is ON, all functions are available.
For functions available when "Operation ready relay" is not ON, please see "9-2
List Of Input Relays"(page 9-4).
2 Turn on "Servo ON Relay".

9
DEVICE ASSIGMENT
3 When "operation ready relay" is ON, if "servo ON relay" is also ON, it is in servo ON state (servo motor
is in excitation state), after electromagnetic brake release wait time, "servo ready relay" is ON.
● Action of operation enable relay and operation ready relay

Ԙ(1) Ԝ
(5)
ON10
Operation enable relay
േ૞⸵น࡝࡟࡯ 1((
OFF (2)
ԙ
Operation ready relay ON10 (6)
േ૞น⢻࡝࡟࡯ 1(( Ԛ ԝ
OFF (3)
Servo ON Relay 10
ON
ࠨ࡯ࡏࠝࡦ࡝࡟࡯
1((
OFF
Electromagnetic
㔚⏛ࡉ࡟࡯ࠠ brake ON
10
timing relay
࠲ࠗࡒࡦࠣ࡝࡟࡯ OFF
1(( (4)
ԛ (7)
Ԟ
10
ON
Servoࠨ࡯ࡏ࡟࠺ࠖ࡝࡟࡯
ready relay
1((
OFF
㔚⏛ࡉ࡟࡯ࠠ㐿᡼ᓙߜ
Electromagnetic
ᤨ㑆 brake release wait time
10
ON
Servo motor State
ࠨ࡯ࡏࡕ࡯࠲ߩ⁁ᘒ ബ⏛⁁ᘒ
Excitation status
OFF
1((
(1) "Operation enable relay" ON.
(2) "Operation ready relay" ON.
(3) "Operation ready relay" ON, "Servo ON relay" ON. In servo ON state.
(4) After electromagnetic brake release wait time, "servo ready relay" ON.
(5) "Operation enable relay" OFF.
(6) "Operation ready relay" OFF.
(7) After "Servo ready relay" turns OFF, it is in Servo OFF state.
Note
In case of servo OFF, in electromagnetic brake wait time, even if "servo ON relay" is
turned ON again, "servo operation ready relay" will not turn on immediately.
9-63
Start Operation
Position control
Start point operation. Operation is carried out according to point parameter of set point No. specified
DM". Operation of starting to run is carried out in state of rest.
System parameter "*position operation mode" must be set to "PLC device" first.
Note
Running start function is available only in position control mode.
"Control mode alarm"(page 10-95)
Procedures
1 Set operation start point No. in "point No. specified DM".

For "point No. specified DM", please see "Normal Communication Area"(page 9-30). The
9 specified range is decimal 1 to 100.
2 After verifying whether "servo ready relay" is ON, turn on "request start operation relay".
DEVICE ASSIGMENT
3 Verify whether "starting running request acceptance relay" is ON.

If it cannot run, turn on "start to malfunction relay".
4 "Request starting running relay" OFF.
● Action of request starting running relay and start to run request acceptance relay
(4)
ON (1)
Request Starte Operation relay
OFF
(2)
ON (5)
Operation start request accept relay OFF
(3)
ON
Moving in progress relay
OFF
ON
Positioning completion relay
OFF
(1) Turn on "Request starting running relay".

(2) If start to run request is accepted, MV-L40 will turn on "start to run request acceptance relay". Now,
if operation start point No. is not within in range of 1 to 100, it will not run, but turns on "start to
malfunction relay".
(3) If start to run request is accepted, it will run, and "moving relay" is ON.
(4) After "start to run request acceptance relay" is ON, ladder program is used to turn off "request
starting running relay".
(5) If "request starting running relay" is OFF, "start to run request acceptance relay" is OFF.
9-64
When it cannot start running
In the following conditions, even if start running operation is carried out, it will not run.
• In progress of running (the motor is rotating) • JOG operation • Positively Move to home position in progre
• zero return in progress • alarm in progres • dwell in progress (also including INPOS ch
Synchronization with other servo amplifiers
For multiple axes rotating separately, even if orders are input simultaneously, synchronization cannot be guaranteed.
Example X1 axis starts operation from point No.5.

leading DM No. 10000
leading relay No. 30000
X1 axis "Request starting running relay" : R32003

X1 axis "Start to run request acceptance relay" : R30010
X1 axis "Start to malfunction relay" : R30210
X1 axis "Point No. specified DM" : DM10114 9
DEVICE ASSIGMENT
Reference
CR2002 R32000
Default setting
Always ON X1 operation
enable
R32010
Default setting
X1 servo ON
R30000 R30108 R00500

Verify preparation for operation
X1 operation ready X1 servo ready Operation ready
end display
R10000 R30000 R30108 R30001 R30010 R30210 DM10025 #00005 R32003 In X1 axis "point No. specified DM"
Ė DW SET Save point No. 5, "request starting
Operation X1 operation X1 servo X1 axis moving X1 operation X1 operation #00000 DM10114 X1 operation start running relay" ON.
start command ready ready in progress start request start error X1 current X1 point No. request
accept control mode specification
R30010 R32003 "Request starting running relay" OFF
RES by ON of X1 axis "start to run request
X1 operation start X1 operation acceptance relay".
request accept start request
R30210 4
Ė SET Verify start to malfunction of X1
X1 operation start ㆇォ㐿ᆎstart
Operation
error ࠛ࡜࡯⴫␜
error display
TIP Please also see system macro created by simple ladder program.
"A-7 System Macro for MV-L40"(page A-55)
PLS-L40 (start running)

MSTRT PLS-L40
Unit No. selection Select axis Force completion
Error No. notice Start point No.
9-65
Emergency Stop
If "force stop relay" is ON, it will stop immediately and give out emergency stop alarm in progress
whatever the content of common setup parameter "*alarm in progress stop mode" is set.
Enable of "force stop relay" is independent of operation enable/disable.
Procedures
1 Turn on "Force stop relay".
● Action of force stop relay, alarm in progressing relay, alarm in progress

reset relay
9
(1) (3)
ON
Force stop relay
OFF
DEVICE ASSIGMENT
ON (2)
Alarm in progress relay (5)
OFF
ON (6)
Alarm Reset relay
OFF
(4)
Operation status In progress of Alarm in progress relay

(Servo OFF) *1
(Include return operation, interval time) Running
(1) Use ladder program to turn on "force stop relay".

(2) If "force stop relay" is ON, "alarm in progressing relay" is on, in servo OFF state.
(3) In order to clear emergency stop alarm in progress, ladder program must be used to turn off "force
stop relay".
(4) After verifying "alarm in progressing relay" ON with ladder program, turn on "alarm in progress reset relay".
(5) If "alarm in progress reset relay" is ON, alarm in progress resets, and "alarm in progressing relay" is OFF.
(6) If "alarm in progressing relay" is OFF, "alarm in progress reset relay" is OFF through ladder program.
"Alarm in Progress/alarm in Progress Reset"(page 9-105)
*1 If it is in servo ON state, conditions of individual control modes are as follows, please take notice.
In speed control/torque control mode, operate according to instruction value.
In manual pulse mode, operate according to pulse input.
In position control mode, keep stop until it is requested to start to run.
9-66
Action after emergency stop
In case of emergency stop, operation state is shown as follows.

Operation state Action after emergency stop
In progress of Running Immediate stop
In progress of dwell standby Finish after release from dwell
INPOS inspecting Release positioning, finish after waiting is ended
zero return in progress Immediate stop
Move to home position in progress Immediate stop
M code output (WITH) No change in state
M code output (AFTER) No
* When "dwell time" is set by point parameter, if emergency stop occurs in dwell time, dwell time is interrupted. If
emergency stop occurs before dwell time, there is no dwell time.
* When "M code No." is set by point parameter, M code will not be written in "M code No. DM". However, M
code already written in "M code No. DM" will not be eliminated.
* After emergency stop, "restart running relay" cannot be used to start operation again.
Note
Emergency stop input (EMG)from I/O connector is effective.
9
DEVICE ASSIGMENT
9-67
Deceleration Stop/Restart Operation
Position control
Note
Running start function is available only in position control mode.
Deceleration stop
Deceleration stops in process of operation. Generally it is not only limited to localized operation, in
progress of zero return etc also deceleration.
Each servo motors may also decelerate respectively.
● Procedures
Turn on "Deceleration stop relay".
● Action of deceleration stop relay

9 (1)
(1)Turn on "Deceleration stop
ON
DEVICE ASSIGMENT
Deceleration stop relay

relay".
OFF
(2) If in progress of operation, it
ON
Moving in progress relay begins to deceleration.
OFF (3) (2)If deceleration stop is
finished, "Relay in moving î
Speed
OFF.
(3)If "Relay in moving" is OFF,
ladder program is used to turn
off "Deceleration stop relay".
Time
Speed stop
● Action after deceleration stop

State after deceleration stop subjects to different operating states.
Operation state Action after deceleration stop
In progress of Running Deceleration stop
In progress of dwell standby Finish after release from dwell
INPOS inspecting Release positioning, finish after waiting is ended
zero return in progress Deceleration stop
Move to home position in progress Deceleration stop
M code output (WITH) No change in state
M code output (AFTER) No
* When point parameter is set to "dwell time", dwell time after deceleration is released. If deceleration stop
occurs in dwell time, dwell time is released.
* If point parameter is set to "M code No.", even if deceleration stop occurs, M code already written in "M code
No. DM" will not be cleared.
9-68
Restart running after deceleration stops
During operation, once deceleration stop occurs, it will restart running and move to target coordinate.
● Procedures
1 Turn on "Deceleration stop relay".
2 Turn on "Restart running relay".
3 Verify whether "starting running request acceptance relay" is ON.

If it cannot restart running, "start to malfunction relay" ON.
● Action of restart running relay and start to run request acceptance relay
(1)
ON
Operation Restart relay
(3)
OFF
ON
(2) (4)
9
Operation start request accept relay
DEVICE ASSIGMENT
OFF
(1) Turn on "Restart running relay".

(2) If "Restart running relayî is ON, "start to run request acceptance relay" is ON.
Restart running.
(3) If "start to run request acceptance relay" is ON, ladder program is used to turn off "Restart running
relay".
(4) If "Restart running relay" is OFF, "start to run request acceptance relay" is OFF.
● When it cannot restart running

In the following condition, even if restart running operation is carried out, it is still ineffective.
• In progress of running (the motor is rotating) • JOG operation • Positively Move to home position in pro
• zero return in progress • alarm in progre • dwell in progress (including INPOS insp
9-69
Example Deceleration stop/Restart Operation of X1 axis.

X1 axis "Deceleration stop relay" : R32002

X1 axis "Restart running relay" : R32005
X1 axis "start to run request acceptance relay" : R30010
X1 axis "start to malfunction relay" : R30210
Reference
CR2002 R32000
Default setting
enable
R32010
Default setting
X1 servo ON
9 R30000 R30108 R00500

DEVICE ASSIGMENT
X1 operation X1 servo ready Operation ready

ready
end display
R10000 R30000 R30108 R30001 R30010 R30210 DM10025 #00005 R32003

Ė DW SET X1 axis starts operation from point
Operation X1 operation X1 servo X1 axis X1 operation X1 operation #00000 DM10114 No.5.
X1 operation
start command ready ready moving in start request start error X1 current X1 point No. start request
progress control mode specification
accept
R30010 R30210 R32003
RES
X1 operation X1 operation X1 operation
start request start error start request
accept
R10001 R32002
X1 axis stops deceleration.
Deceleration stop command X1 Deceleration
stop
R10002 R30000 R30108 R30001 R30010 R30210 R32005

Ė SET X1 axis "restart running relay" is ON.
Operation X1 operation X1 servo X1 axis X1 operation X1 operation X1 Restart
restart available ready moving in start request start error
command progress accept running
R30010 R32005 "Restart running relay" OFF by ON of

RES X1 axis "start to run request
X1 operation start X1 Restart acceptance relay".
request accept running
R30210 R00501
Ė SET Verify operation start malfunction
X1 operation start error Operation start
error display
9-70
Standby Release
Position control
When point parameter "continuous operation mode" is set to "standby (non return)/standby (return)",
after current point operation is finished, it will not go to return operation, cycle operation, next point
operation, but standby.
Speed
Time
Standby Standby
"Standby release relay" ON/OFF through ladder program. 9

• In case of ON, before return operation, cycle operation, next point operation, it is not standby, but
DEVICE ASSIGMENT
executes immediately.
• In case of OFF, it will not go to return operation, cycle operation, next point operation, but standby.
Note
Standby release is enabled only in position control mode.
● Action of standby release relay

Cancel standby relay‫ޓޓޓ‬
ON
OFF
ON
OFF
In progress
Operation of Running Standby Next point, return, repeat
9-71
M code
Position control
During or after point operation, output M code, acquire to ladder program. M code is set by point parameter.
Please also see "M Code Mode"(page 10-67).
Note
M code is enabled only in position control mode.
Procedures
1 Start running.
2 Verify whether "M code output in progress relay" is ON.

For "M code No. DM", please see "Normal Read Area"(page 9-25).
9 • If "M code output relay" ON, M code is written into "M code No. DM".
• During linear interpolation, only "M code output in progress relay" interpolating master axis unit is
ON.
DEVICE ASSIGMENT
3 Acquire M code written in "M code No. DM".

• M code is within the range of decimal 1 to 255.
• If M code is not written in, keeps it as 0.
• During linear interpolation, only "M code No. DM" interpolating master axis unit is written in.
Example DM is started from DM10000, X1 axis M code is written into "M code No. DM" DM10012.
4 Control as per instruction of M code.
5 "M code ON instruction relay" ON.
9-72
● If "M code output relay" ON, M code is written into "M code NO. DM".
(1)
M-code outputting relay ON
(4)
(2)
OFF
Write M code of 0 is written into "M code No. DM".
M-code ON command relay ON current point into
"M code No. DM".
OFF (3)
Control as per command of M code Possible
(1) MV-L40 "M code output in progress relay" ON.

• When point parameter "M code mode" is set to WITH, if point operation is to begin, ON. When it is
set to AFTER, if point operation is finished, ON.
• If "M code OFF instruction relay ì is already ON, only after "M code OFF instruction relay" is OFF,
"M code output in progress relay" will become ON.
(2)If "M code output relay" ON, M code is written into "M code NO. DM".
In PLC, control as per instruction of M code.
(3)After verifying "M code output in progress relay" ON, by control of M code, "M code ON instruction
relay is" ON.
• If return operation, next point operation are set, it will begin return operation, next point operation.
9
DEVICE ASSIGMENT
(4)If "M code OFF instruction relay" is ON, "M code output relay" is OFF. In addition, 0 is written into "M
code No. DM".
TIP For"M code output in progress relay", please also see system parameter "INPOS inspection
time".
"INPOS detection time"(page 10-90)
Cycle interrupt
Position control
Interrupt cycle operation during cycle operation. If cycle operation is to be interrupted, during interrupt,
keep ongoing cycle operation, and do not carry out cycle operation later.
Speed
Cycle operation
Time
Abort
When return operation is carried out after cycle operation, it will stop after return operation is finished.
After cycle operation is interrupted, "Restart running relay" cannot be used to start to run again.
Note
Cycle interrupt is enabled only in position control mode.
9-73
Procedures
1 Start running.
2 Turn on "Request cycle interrupt relay".
3 Verify whether "interrupt finish relay" is ON.

When cycle interrupt cannot be carried out, "cycle interrupt error relay" ON.
4 "Request cycle interrupt relay" OFF.
● Action of request cycle interrupt relay and cycle interrupt finish relay
(1)
ON
Request cycle interruption relay (3)
OFF
(4)
ON (2)
cycle interrupt complete relay
OFF
9 (1) Turn on "Request cycle interrupt relay".Cycle operation is interrupted.
(2) If "Request cycle interrupt relay "ON cycle interrupt completion relay" ON.
DEVICE ASSIGMENT
(3) If "Request cycle interrupt relay" ON, "Request cycle interrupt relay" OFF.
(4) If "Request cycle interrupt relay "OFF cycle interrupt completion relay" OFF.
Note
When "request cycle interrupt relay" ON, if "standby release relay" is not ON, "cycle
interrupt finish relay" will not become ON.
9-74
Example Interrupt X1 axis cycle operation

X1 axis "Request cycle interrupt relay": R32014

X1 axis "cycle interrupt finish relay" : R30004
X1 axis "cycle interrupt error relay" : R30211
Reference
CR2002 R32000
Default setting
enable
R32010
Default setting
X1 servo ON
9
R30000 R30108 R00500
X1 operation X1 servo ready Operation realy
realy
end dispaly
DEVICE ASSIGMENT
R10000 R30000 R30108 R30001 R30010R30210 DM10025 #00005 R32004 R32003
χ 㧩 DW SET SET X1 axis starts operation from point
No.5.
Operation X1 operation X1 servo X1 axis X1 operation X1 operation #00000 DM10114 X1 cancel X1 operation
start command ready ready moving start request start error X1 current X1 point No. standby start request
in progress accept control mode specification
R30010 R30210 R32003
RES
X1operation X1 operation X1 operation
accept
R10001 R30004 R30211 R32014 X1 axis "Request cycle interrupt
χ SET relay" ON.
Cycle X1 cycle X1 cycle X1 Cycle
interrupt interrupt interrupt interrupt
command finish error request
R30004 R32014 "Request cycle interrupt relay " turns
RES OFF by ON of X1 axis "cycle
interrupt finish relay"
X1 cycle X1 cycle
interrupt interrupt
finish request
R30211 R00501
χ SET Verify X1 axis cycle interrupt error
X1 cycle X1 cycle
interrupt interrupt
error error display
9-75
JOG Operation
Position control
JOG operation speed is set by system parameter "JOG starting speed" and "JOG high speed".
For system parameter, please see "10-6 System Parameter"(page 10-72).
For teaching method after JOG operation, please see "Teaching"(page 9-79).
Note
• JOG operation should begin after point operation stops.
• It is not allowed to switch to JOG operation during operation.
• "Backlash compensation" sets a non-zero value, when move in reverse direction to
previous movement, even in JOG operation, it will be output after adding backlash
compensation.
• OG running is enabled only in position control mode.
9 Procedures for (current coordinate increase direction) JOG operation in +

direction
DEVICE ASSIGMENT
Move towards + direction(current coordinate increase direction) in JOG starting speed.
1 "JOG [+] relay" ON.

For JOG operation at JOG starting speed, continuous ON for over 200ms is required.
During "JOG [+] relay" ON, operate in JOG starting speed.
If "JOG [+] relay" OFF, deceleration stops.
Trimmer has to be done when ON time does not exceed 200ms. By starting relay to move 1 coordinate
unit (system parameter "coordinate unit").
below 200ms 200ms
ON
OG >@relay
OFF
Move by 1 Move by 1 If exceeding 200ms, carry
coordinate unit coordinate unit out JOG operation at JOG
through ON. through ON. startup speed.
TIP If there is JOG instruction, move by 1 coordinate unit. If the instruction still exist, carry out
JOG operation at JOG starting speed. This trimming through JOG relay start is called trimmer.
Procedures for JOG operation in - direction (current coordinate decrease

direction)
Move towards - direction (current coordinate decrease direction) in JOG starting speed.
The method is the same as "Procedures for JOG operation in + direction (current coordinate increase
direction)", as long as [+] is changed to [-].
9-76
Procedures for movement at JOG high speed
1 Turn on "high speed JOG relay".

• After "JOG [+] relay" or "JOG [-] relay" ON, during operation at JOG starting speed, if "high speed JOG relay"
ON, accelerate to JOG high speed.
• After "high speed JOG relay" ON, if "JOG [+] relay" or "JOG [-] relay" ON, accelerate to JOG high
speed from JOG starting speed.
• In case deceleration to JOG starting speed, "high speed JOG relay" OFF.
• Even if only "high speed JOG relay" ON, JOG operation cannot be carried out.
JOG >@ relay or ON

JOG >@ relay OFF
ON
JOG high speed relay OFF
Speed
JOG startup speed
JOG high speed 9

Time
DEVICE ASSIGMENT
● When it cannot start JOG operation
In the following condition, even if starting to JOG operation is carried out, it is still ineffective.
• In progress of running (the motor is rotating) • JOG operation • Positively Move to home position in progre
• zero return in progress • alarm in progres • dwell in progress (also including INP
checking)
9-77
Example JOG operation of X1 axis

"JOG[+] relay" of X1 axis : R32111

"JOG[-] relay" of X1 axis : R32112
"high speed JOG relay" of X1 axis : R32113
Reference
CR2002 R32000
Default setting
always ON X1 operation
enable
R32010
Default setting
X1 servo ON
9
R30000 R30108 R00500
X1 operation X1 servo ready Operation ready
ready end display
DEVICE ASSIGMENT
R10000 R30000 R30108 DM10025R32112 R32111

"JOG [+] relay" ON.
JOG >@ X1 operation X1 servo #00000 X1JOG>@ X1JOG>@
operation ready ready X1 current
command control mode
R10001 R30000 R30108 DM10025R32111 R32112
"JOG [-] relay" ON.
JOG >@ X1 operation X1 servo #00000 X1JOG>@ X1JOG>@
R10002 R30000 R30108 DM10025 R32113
"High speed JOG relay" ON.
JOG X1 operation X1 servo #00000 X1 high speed
high-speed ready ready X1 current JOG
9-78
Teaching
If teaching is to be carried out, always move to target coordinate of JOG operation first.
Then, specify point No. for teaching, and "Request teaching relay" ON. Even if teaching point No.
"operation mode" is relative coordinate, it should also be written as absolute coordinate.
Note
Teaching is not available for moving progress in position control mode.
Procedures
1 JOG operation.
Move to target position (coordinate).
For JOG operation, please see "JOG Operation"(page 9-76).
2 Write point No. for teaching in ìpoint No. specified DM".

9
DEVICE ASSIGMENT
For "Point No. specified DM", please see "Normal Communication Area"(page 9-30).
3 Turn on "Request teaching relay".

Write current coordinate in point parameter "target coordinate" of the point specified in step 2.
4 Verify whether "teaching finish relay" is ON.

When teaching is impossible, "teaching error relay" ON.
5 "Request teaching relay" OFF.
● Action of request teaching relay

(2)
and teaching finish relay
ON
Request teach-in relay (4)
OFF
Write
ON (5)
Teaching completion relay (3)
OFF
(1)
Point No. specified data memory Prohibit change
(1)Write point No. for teaching in "Point No. specified DM".

(2)Turn on "Request teaching relay".
• Write current coordinate in "target coordinate" of the point specified in "Point No. specified DM".
(3)If writing is finish, "teaching finish relay" ON.
(4)If "teaching finish relay" ON, use ladder program for "Request teaching relay" OFF.
(5)If "Request teaching relay" OFF, "teaching finish relay" OFF.
9-79
Example Perform teaching for X1 axis point No.28

"Request teaching relay" of X1 axis : R32109

"teaching finish relay" of X1 axis : R30109
"teaching error relay" of X1 axis : R30209
X1 axis "Point No. specified DM" : DM10114
Reference
CR2002 R32000
Default setting
enable
R32010
Default setting
X1 servo ON
9 R30000 R30108 R00500

DEVICE ASSIGMENT
X1 operation X1 servo ON Operation ready

ready end display
R10000 R30000 R30108 DM10025 R32112 R32111

"JOG [+] relay" ON.
JOG >@ X1 operation X1 servo #00000 X1JOG >@ X1JOG[+]
R10001 R30000 R30108 DM10025 R32111 R32112
"JOG [-] relay" ON.
JOG>@ X1 operation X1 servo #00000 X1JOG[+] X1JOG[-]
R10002 R30000 R30108 DM10025 R32113
"High speed JOG relay" ON.
JOG X1 operation X1 servo #00000 X1 high speed
high-speed ready X1 current
command ready JOG
control mode
R10003 R30000 R30001 R30109R30209 #00028 R32109 Save X1 axis teaching point No. in
Ė DW SET "point No. specified DM", "request
X1 current X1 operation X1 axis X1 teaching X1 teaching DM10114 X1 teaching teaching relay" ON
control mode ready moving complete error X1 point No. request
in progress specification
R30109 R32109 "Request teaching relay" OFF
RES through ON of X1 axis "teaching
X1 teaching complete X1 teaching finish relay"
request
R30209 R00501
Ė SET Verify teaching error
X1 teaching error X1 teaching error
9-80
zero return
Position control
zero return in progress. Each axis performs zero return respectively. In case of stop, if zero return
signal is given, start zero return immediately. During alarm in progress, during zero return, during
operation (motor rotating) etc, request for zero return is neglected.
Note
• zero return, only after limit switch action is verified to be correct, could zero return
begin.
Action of limit switch may be verified by bit01 (CCW limit switch), bit02 (CW limit
switch) of "I/O state 1DMî in regular time reading area.
"Verify I/O"(page 9-116)
• zero return is enabled only in position control mode.
Procedures
9
DEVICE ASSIGMENT
1 Turn on "Request zero return relay".
2 Verify whether "zero return in progress relay" is already ON.
● Action of request zero return relay and zero return progress relay
(1) (3)
Request zero return relayON
OFF
(2) (4)
Zero return in progress relay ON
OFF
ON
OFF
ON
Positioning completion relay
OFF
Operation status Zero return in progress
(1)Turn on "Request zero return relay".

During stop, zero return begins (including standby progress).
During moving, dwell in progress (including in progress of INPOS inspection), action of "Request
zero return relay" is neglected.
(2)If zero return starts, "zero return in progress relay" ON. At the same time, "Relay in moving" is also
ON.
(3)If "zero return in progress relay" ON, use ladder program for "Request zero return relay" OFF.
(4)When "Request zero return relay" OFF, if in progress of zero return, after zero return is finished,
"zero return in progress relay" OFF.
9-81
Note
If zero return is finished, "positioning finish relay" ON.
When system parameter is used to set "automatically move to home position", after
zero return, move to home position, "positioning finish relay" ON.
Repeat "relay in moving" ON, OFF synchronous with operation and stop of zero
return. When zero return is finished, ìzero return in progress relay" OFF, "relay in
moving" is also OFF. At the same time, "positioning finish relay" ON.
Example X1 axis performs zero return.

X1 axis "Request zero return relay" : R32008

X1 axis "zero return in progress relay" : R30008
X1 axis "zero return error relay" : R30406
Reference
9
CR2002 R32000
Default setting
DEVICE ASSIGMENT
enable
R32010
Default setting
X1 servo ON
R30000 R30108 R00500

X1 operation ready X1 servo ready Operation
ready
end display
R10000 R30000 R30108 R30001 DM10025 R32008
Ė SET X1 axis "request zero return relay"
Zero return X1 operation X1 servo X1 axis #00000 X1 zero ON.
command ready ready moving X1 current return request
in progress control mode
R30008 R32008
"Request zero return relay" OFF
RES
through ON of X1 axis "zero return in
X1 zero return request X1 zero progress relay"
return request
R30406 R00501 R32008

Ė SET RES Verify X1 axis zero return error
X1 zero return error X1 zero return error X1 zero
return request
ORG1-L40 (contact type zero return) ORG2-L40 (direction switchover zero return)
MSTRT ORG1-L40 MSTRT ORG2-L40
Unit No. selection Select axis Force completion Unit No. selection Select axis Force completion
Error No. notice Parameter Error No. notice
origin return direction
9-82
Move to Home Position
Position control
Move to home position.
Note
Move to home position is effective only in position control mode.
Procedures
1 Turn on "Request move to home position relay".
2 Verify whether "Move to home position in progress relay" is already ON.
● Action of request move home position relay and move to home position progress relay 9
(1)
DEVICE ASSIGMENT
Request move to home ON
(3)
position relay OFF
ON (4)
Moving to home (2)
position relay OFF
Moving in ON
progress relay OFF
ON
Positioning
OFF
completion relay
Operation status Home position moving
(1)Turn on "Request move to home position relay".

• In case of stop, it begins to move to home position.
• If in progress of operation, movement toward home position will be neglected.
(2)If it begins to move to home position, "move to home position progress relay" ON.
(3)If "Move to home position in progress relay" ON, use ladder program for "Request move to home
position relay" OFF.
(4)When "Request move to home position relay" OFF, and Move to home position in progress is
finished, "Move to home position in progress relay" OFF.
• When "Request move home position relay" OFF, if movement toward home position is finished,
"Move to home position in progress relay" is OFF immediately.
• hile "Move to home position in progress relay" OFF, "Positioning finish relay" ON.
9-83
When it is impossible to move to home position
In the following state, it is impossible to move to home position.

• In progress of running (the motor is rotating) • JOG operation • positively move to home position in progress
• zero return in progress • alarm in progressi • dwell in progress (also including INPOS checking)
TIP For "Move to home position in progress relay", please also see system parameter "INPOS
inspection time".
Example X1 axis move to home position

X1 axis "Request move to home position relay": R32009

X1 axis "Move to home position in progress relay": R30009
9 X1 axis "move to home position error" : R30414
DEVICE ASSIGMENT
Reference
CR2002 R32000
Default setting
enable
R32010
Default setting
X1 servo ON
R30000 R30108 R00500

X1 operation X1 servo ready Operation
ready ready end
display
R10000 R30000 R30108 R30001 R30009 DM10025 R32009
X1 axis "move to home position
Ė SET request relay" ON
Move to X1 operation X1 servo X1 axis moving X1 home #00000 X1 move to
home position ready ready in progress position X1 current home position
command moving control mode request
R30009 R32009
X1 axis "move to home position
RES
request relay" ON
X1 move to home position request X1 move to X1 axis "move to home position
home position request relay" OFF
request
R30414 R00501 R32009
Ė X1 axis move to home position
SET RES
Error verify
X1 move to home X1 move to home XX1 move to
position error position error display home position
request
9-84
Changing Current Coordinate

Change current coordinate. Before starting position type speed control operation, always use this item
to set current coordinate to 0 first.
Note
• During movement in position control mode, current coordinate cannot be changed.
• Current coordinate change is carried out with reference to encoder coordinate (return position).
Therefore, current coordinate change in servo ON state will produce position deviation, subject to
different change time. Please change current coordinate in servo OFF state as possible.
• Every time when positioning action is finished, current coordinate change is carried out, please
pay attention to change current coordinate time. If current coordinate is changed when
"Positioning finish relay" starts, position deviation error will appear. In order to avoid error,
always change current coordinate after position deviation is verified to be 0.
Procedures
9
1 Write new current coordinate in "current coordinate change DM".
DEVICE ASSIGMENT
For "current coordinate change DM", please see "Normal Communication Area"(page 9-30).
• The range is -99999999 to 99999999.
• Unit should be determined according to system parameter "coordinate unit".
2 Turn on "Request changing current coordinate relay".
3 Verify whether "current coordinate change finish relay" is already ON.

If it cannot restart running, "current coordinate change error relay" ON.
4 "Request changing current coordinate relay" OFF.
● Action of request changing current coordinate relay and current coordinate change finish relay
(2)
Home position moving ON (4)
OFF
ON
Current coordinate (3) (5)
change finish relay OFF
(1)
Change current coordinate Prohibit change
data memory
(1)Write into new coordinate in "current coordinate change DM".

(2)Turn on "Request changing current coordinate relay".
• Write the value of "current coordinate change DM" into MV-L40, and change current coordinate.
• It is disabled in progress of operation even in ON.
(3)If current coordinate change is finished, "current coordinate change finish relay" ON.
(4)After "current coordinate change finish relay" ON, use ladder program for "Request changing current
coordinate relay" OFF.
(5)If "Request changing current coordinate relay" OFF, "current coordinate change finish relay" OFF.
* When "Request changing current coordinate relay" and "Request starting running relay" start
simultaneously, it begins to run after current coordinate is changed.
9-85
Example X1 axis current coordinate is changed to 1000

X1 axis "Request changing current coordinate relay": R32106

X1 axis "current coordinate change finish relay": R30106
X1 axis "current coordinate change error relay": R30206
X1 axis "current coordinate change DM": DM10116/DM10117
Reference
CR2002 R32000 Default setting
always ON X1 operation enable
*1
R10000 R30000 R30001 R30106R30206 +1000 R32106 Save current coordinate in X1 axis
Ė DW.L SET ìcurrent coordinate change DMî,
Change current X1 X1 axis X1 change X1 change DM10116 X1 change current ìrequest changing current
coordinate operation moving current current coordinate X1 change coordinate request relayî ON
ready in progress
9
command coordinate error current coordinate
R30106 complete R32106 ìRequest changing current
RES coordinate relay î turns OFF through
X1 change current ON of X1 axis ìcurrent coordinate
DEVICE ASSIGMENT
X1 change current change finish relay

coordinate complete coordinate request
R30206 R00501
Ė SET Verify current coordinate change
X1 change current error
X1 change current
coordinate error
coordinate error
*1 NC contact of "moving in progress relay"will be needed in position control mode.
PADJ-L40 (coordinate change)

MSTRT PADJ-L40
Error No. notice Change coordinate
9-86
Changing Speed
Position control
Point operation (including position type speed control) or speed change during JOG operation. Speed
may be changed during acceleration and deceleration.
However, it is impossible to change speed in progress of force stop/deceleration stop. Speed cannot be
changed in progress of interpolation operation.
Note
• Speed change is enabled only in position control mode.
• Speed in speed control mode may be changed in "Speed instruction /speed limit value
at time of torque control DM" through write in regular time communication area.
• Within 50ms after speed change, another speed change is not accepted.
Procedures
9
1 Start point operation.
DEVICE ASSIGMENT
2 Write new speed in "speed change DM".
For "speed change DM", please see "Normal Communication Area"(page 9-30).
• The range is -99999999 to 99999999 (however, direction subjects to symbol. Use absolute value).
• When converting to r/min, please change to a value less than servo parameter "Speed limit" set point.
Electronic Gear (numerator)
Speed (coordinate unit/s) Electronic Gear (denominator)
Speed (r/min) = X60
131072
• When set to 0, it stops deceleration.

• Unit should be determined according to system parameter "coordinate unit".
• If a value greater than system parameter "max. operation speed" is set, change over to max. operation speed.
3 Turn on "Request change speed relay".
4 Verify whether "speed change finish relay" is ON.

If it is impossible to change speed, "speed change error relay" ON
5 "Request changing speed relay" OFF.
9-87
● Action of request changing speed relay and speed change finish relay
(1)
ON
Request change speed relay (3)
OFF
ON
Speed change complete relay (2) (4)
OFF
(1)Write new speed in "speed change DM". Turn on "Request change speed relay". Change operating speed.
(2)If speed is changed, "speed change finish relay" ON.
(3)If "speed change finish relay" ON, use ladder program for "Request changing speed relay" OFF.
(4)If "Request changing speed relay" OFF, "speed change finish relay" OFF.
9
DEVICE ASSIGMENT
9-88
Example X1 axis speed is changed to 30000

X1 axis "Request changing speed relay" : R32107

X1 axis "Speed change finish relay" : R30107
X1 axis "Speed change error relay" : R30207
X1 axis "Speed change DM" : DM10118/DM10119
Reference
CR2002 R32000 Default setting
enable
R32010
Default setting
X1 servo ON
R30000 R30108 R00500

9
X1 operation X1 servo ready
DEVICE ASSIGMENT
Operation ready
ready end display
R10000 R30000 R30108 R30001 R30010R30210 DM10025 #00024 R32003

Ė X1 axis starts operation from point
DW SET
No.24
Operation 1 operation X1 servo X1 axis X1 operation X1 operation#00000 DM10114 X1 operation
start command ready ready moving start request start error X1 current X1 point No. start request
in progress accept control mode specification
R30010 R30210 R32003
RES
accept accept
R10001 R30107 R30207 #0000030000 R32107 After saving 30000 in X1 axis "speed
Ė DW.L SET change DM", "request changing
Speed change X1 speed X1 speed DM10118 X1 speed speed relay" ON
command change change error X1 speed change change
complete request
R30107 R32107 "Request changing speed relay"
RES turns OFF through ON of X1 axis
X1 speed change complete X1 speed "speed change finish relay"
change request
R30207 R00501
Ė SET Verify speed change error
X1 speed change error X1 speed
change request
VADJ-L40 (speed change)

MSTRT VADJ-L40
Error No. notice Change speed
9-89
Write Flash ROM
Position control Speed control Torque control Manual pulse
Set points of each parameter are written in flash memory ROM.
Note
• When writing in through servo parameter, point parameter, system parameter, speed
parameter, common setup parameter write in request relay, only write to MV-L40 SRAM.
• Write in of unit flash memory ROM needs about 40s.
• Write times of flash memory ROM is about 100,000 times. Please pay attention to write
times of flash memory ROM.
• When "Relay in moving" ON in position control mode, it is impossible to write in flash
memory ROM.
Procedures
9
1 Turn on "Request writing-in flash memory ROM relay".
DEVICE ASSIGMENT
2 Verify "flash memory ROM write in finish relay" ON.

If it is impossible to write in flash memory ROM, "flash memory ROM write in error relay" ON.
3 "Request writing-in flash memory ROM relay" OFF.
● Action of request writing-in flash memory ROM relay and flash memory ROM write into finish relay
Request writing-in flash ON (1) (3)

memory ROM relay OFF
Flash ROM write complete relay
(2)
ON (4)
Flash ROM Writing
OFF
(1)Turn on "Request writing-in flash memory ROM relay".

(2)If "Request writing-in flash memory ROM relay" ON, begin to write in parameter flash memory ROM.
if writ-in is finished, "flash memory ROM write into finish relay" ON.
(3)If "flash memory ROM write into finish relay" ON, use ladder program for "Request writing-in flash
memory ROM relay" OFF.
(4)If "flash memory ROM write-in request relay" ON, "flash memory ROM write-in finish relay".
9-90
Read/Write Parameters (change parameters)
Parameter read and parameter write into (parameter change) may be performed via ladder program.
Servo /point/system /speed /common setup may be filled in □□□□ below.
DANGER • When writing in parameter, please firstly read parameter, write parameter.
If parameters are written directly without reading, set points of all
parameters might not be able to set to (□□□□parameter area)data
memory correctly, unexpected dangerous action might occur.
(Especially when only a part of parameter set points is changed, current
value of CPU unit data memory in unchanged parameter set point is written
in MV-L40 as parameter set point.)
• In position control mode, the following parameters cannot be written in
progress of operation.
• Point parameter
9
DEVICE ASSIGMENT
• Speed Parameter
Note
• Any parameter written by " □□□□ parameter write into request relay" will be
written in SRAM of MVL40. Then, when power supply is turned on, it will be
written in flash memory ROM automatically.
If required, it is unnecessary to power on again, ladder program may be used to
write in flash memory ROM.
"Write Flash ROM"(page 9-90)
• To change parameter, compare the content of SRAM and flash memory ROM at next
power ON, only when there is difference, will SRAM content be written in flash
memory ROM.
9-91
Point parameter read/write (change)
CPU unit MV-L40

MV-L40
SRAM
Point parameter zone Point parameter zone
(1)
Ė
(2) Change a part of point parameter
(3)
¡´Ladder program¡µ
(1) Read after specifying Flash ROM Ę (4)
Point No.
(2) ReWrite Write
(3) Write back to SRAM
(4) Turn on "Writing-in flash
ROM relay", meanwhile
write into flash ROM.
Startup serial operation by ladder program.
9 ● Procedures
DEVICE ASSIGMENT
(Point parameter reading)

Read point parameter set point of specified point No. from MV-L40.
1 Set point No. to be read to "point No. specified DM".

For "Point No. specified DM", please see "Normal Communication Area"(page 9-30).
2 Turn on "Request reading point parameter relay".
3 Verify whether "point parameter reading finish relay" is already ON.

Point parameter set point is read to point parameter area (data memory).
When it is impossible to read point parameter, "Point parameter reading error relay" ON.
Action of request reading point parameter relay and point parameter reading finish relay
(1) (3)
ON
Request read point parameter (4)
relay OFF
(2)
ON
Point parameter read complete
OFF
relay
Parameter with specified point Reading

No.
(1)Turn on "Request reading point parameter relay".

(2)If point parameter is read out, "Point parameter reading finish relay" ON.
(3)If "Point parameter reading finish relay" ON, use ladder program for "Point parameter reading
request relay" OFF.
(4)If "Request reading point parameter relay" OFF, "Point parameter reading finish relay" OFF.
9-92
(Point parameter change)
4 Write new set point in point parameter area.

For specific content of point parameter, please see "10-5 Point Parameter"(page 10-53).
For point parameter area, please see "Point Parameter area"(page 9-33).
(Write into Point Parameter)
5 Turn on "Request write into point parameter relay".
6 Verify whether "point parameter write finish relay" is already ON.

When it is impossible to write point parameter, "Point parameter write-in error relay" ON.
Action of request write point parameter relay and point parameter write finish relay
ON (2) (4)
Point parameter write request relay
OFF
ON Write
Point parameter write complete relay
OFF
(3) (5) 9
(1)
DEVICE ASSIGMENT
Parameter with specified point No. Prohibit change
(1)Write new set point in point parameter area (data memory).

(2)Turn on "Request write into point parameter relay".
(3)If MV-L40 point parameter is written, "Point parameter write into finish relay" ON.
(4)If "Point parameter write finish relay" ON, use ladder program for "Point parameter write request
relay" OFF.
(5)If "Request write point parameter relay" OFF, "Point parameter write finish relay" OFF.
(Write in flash memory ROM)

If flash memory ROM is not to be written, the following Procedures are not required.

9-93
● Action of request writing-in flash memory ROM relay and flash memory ROM write into finish relay

(2)
ON (4)
Flash ROM Writing
OFF

Example X1 axis point parameter change
9 Point No.10 "next point No." is changed to 5, and write it into flash memory ROM.

DEVICE ASSIGMENT
X1 axis "Request reading point parameter relay" : R32103

X1 axis "Point parameter reading finish relay" : R30103
X1 axis "Point parameter reading error relay" : R30203
X1 axis "Point No. specified DM" : DM10114
X1 axis "next point No. DM" : DM10197
X1 axis "Request write point parameter relay" : R32100

X1 axis "Point parameter write finish relay" : R30100
X1 axis "Point parameter write error relay" : R30200
"Request write flash memory ROM relay" : R32200

"flash memory ROM write completion relay" : R30300
"flash memory ROM write error relay" : R30304
9-94
Reference
1 Save point No.10 read to X1 axis

"point No. specified DM", "point
R10000 R30001 R32103 R30203 #00010 R32103
parameter reading request relay"
Ė DW SET ON
DM10114 X1 point
Changing point X1 X1 point X1 point X1 point No.
parameter command Moving parameter parameter parameter "Point parameter reading request relay"
in progress read request read error specification read request turns OFF through ON of X1 axis "point
parameter reading finish relay"
R30103 R32103 R30203 R30100 R30200 #00005 R32100
Ė RES DW SET After 5 is saved in X1 axis "next point
DM10197 No. DM", "point parameter write
X1 point X1 point X1 point X1 point X1 point X1 point request relay" ON
parameter parameter parameter parameter parameter X1 next point No. parameter
read complete read request read error write complete write error write request "Point parameter write request relay" turns
R30100 R32100 R30200 R30300 R30304 R32200 OFF through ON of X1 axis "point
Ė RES SET parameter write finish relay"
X1 point parameter X1 point X1 point Write flash Write flash Write flash ROM "Request writing-in flash memory ROM
write complete parameter parameter ROM complete ROM error request relay" ON.
write request write error
"Request writing flash memory ROM
R30300 R32200 relay" turns OFF through ON of "flash
RES memory ROM write finish relay"
Write flash ROM Write flash ROM
complete request
R30304 R00501 Write flash ROM
Ė SET Error verify
Write flash ROM Write flash ROM
error error display
9
*1 NC contact of "moving in progress relay" will be needed in position control mode.
DEVICE ASSIGMENT
Read/write parameter (change) other than point parameter
○○○○parameter may be changed into "servo /speed /system /common setup" parameter.
CPU unit MV-L40

MV-L40
SRAM
ƻƻƻƻparameter zoneĖ ƻƻƻƻparameter zone
(1)
(2) ReWrite part ƻƻƻƻparameter (3)
ǇLadder programǈ
(1) read
Flash ROM Ę (4)
(2) ReWrite
(3) Write to SRAM
Write
(4) Turn on "Writing-in flash
ROM relay" to write into
flash ROM.
Startup serial operation by ladder program.
9-95
● Procedures
(○○○○parameter area)
Read parameter set point from MV-L40.
1 "○○○○arameter reading request relay" ON.
2 Verify whether "○○○○ parameter reading finish relay" is already ON.

○○○○parameter set point is read to ○○○○ parameter area (data memory).
When it is impossible to read ○○○○parameter, "○○○○parameter reading error relay" ON.
Action of ○○○○ parameter reading request relay and ○○○○ parameter reading finish relay
(1) (3)
ON
ƻƻƻƻParameter read request relay (4)
OFF
(2)
ON
ƻƻƻƻparameter read complete relay
OFF
Reading
9 ƻƻƻƻParameter
DEVICE ASSIGMENT
(1) "○○○○ parameter reading request relay" ON.

(2) If "○○○○ parameter is read out, "○○○○ parameter reading finish relay" ON.
(3) If " ○○ ○ ○ parameter reading finish relay" ON, use ladder program for " ○ ○ ○○ parameter
reading request relay" OFF.
(4)If "○○○○ parameter reading request relay" OFF, "○○○○ parameter reading finish relay" OFF.
(○○○○ parameter change)
3 Write new set point in ○○○○ parameter area.

For specific content of ○○○○ parameter, please see the content below:
"10-4 Servo Parameter"(page 10-26)
"10-6 System Parameter"(page 10-72)
" Speed Parameter"(page 10-96)
"10-8 Common Set Parameters"(page 10-97)
For specific content of ○○○○ parameter area, please see the content below:
"System Parameter Area"(page 9-41)
"Speed Parameter Area"(page 9-48)
"Servo Parameter Area"(page 9-51)
"Common Set Parameter Area"(page 9-58)
(Write into ○○○○ Parameter)
4 "○○○○ parameter write request relay" ON.
9-96
5 Verify whether "○○○○ parameter write finish relay" is already ON.

When it is impossible to write ○○○○ parameter, "○○○○ parameter write-in error relay" ON.
Action of ○○○○ parameter write request relay and ○○○○ parameter write finish relay
ON (2) (4)
ʌʌʌʌparameter write request
relay OFF
ON Write
ʌʌʌʌparameter write complete
relay OFF
(3) (5)
(1)
ʌʌʌʌParameter Prohibit change
(1) Write new set point in ○○○○ parameter area (data memory).
(2) "○○○○arameter write request relay" ON.
(3) If MV-L40 ○○○○ parameter is written, "○○○○ parameter write into finish relay" ON.
(4) If " ○ ○ ○ ○ parameter write finish relay" ON, use ladder program for " ○ ○ ○ ○ parameter write
request relay" OFF.
(5) If "○○○○ arameter write request relay" OFF, "○○○○ arameter write finish relay" OFF.
9
(Write in flash memory ROM)
DEVICE ASSIGMENT
If flash memory ROM is not to be written, the following Procedures are not required.

Action of request writing-in flash memory ROM relay and flash memory ROM write into finish relay

(2)
ON (4)
Flash ROM Writing
OFF

9-97
Example X1 axis servo parameter change

Servo parameter "auto-tuning response" is changed to 8, write in flash memory ROM.

X1 axis "Request reading servo parameter relay" : R32115

X1 axis "Servo parameter reading finish relay" : R30115
X1 axis "Servo parameter reading error relay" : R30215
X1 axis "auto-tuning response DM" : DM10551
X1 axis "Request write servo parameter relay" : R32114

X1 axis "Servo parameter write finish relay" : R30114
X1 axis "Servo parameter write error relay" : R30214
"Request write flash memory ROM relay" : R32200

"flash memory ROM write completion relay" : R30300
9 "flash memory ROM write error relay" : R30304
Reference
DEVICE ASSIGMENT
*1
R10000 R30000 R30115R30215 R32115

Ė SET X1 axis "request reading servo
Changing X1 operation X1 servo X1 servo X1 servo parameter relay" ON.
servo parameter ready parameter parameter parameter
command read complete read error read request "Request reading servo parameter
R30115 R32115 R30215 R30114R30214 #00008 R32114 relay" turns OFF through ON of X1 axis
Ė RES DW SET "servo parameter reading finish relay"
X1 servo X1 servo X1 servo X1 servo X1 servo DM10551 X1 servo After 8 is saved in X1 axis "auto-tuning
parameter parameter parameter parameter parameter X1 Auto tuning parameter response DM", "request write servo
read complete read request read error write complete write error response write request parameter relay" ON
characteristic
R30114 R32114 R30214 R30300R30304 R32200 "Request write servo parameter relay"
Ė RES SET
turns OFF through ON of X1 axis
X1 servo X1 servo X1 servo Write flash Write flash Write flash ROM "servo parameter write finish relay"
parameter parameter parameter ROM complete ROM error request
write complete write request write error "Request writing-in flash memory
ROM relay" ON.
R30300 R32200
RES "Request writing flash memory ROM
relay" turns OFF through ON of "flash
Write flash ROM complete Write flash ROM memory ROM write finish relay"
request
R30304 R00501
Ė SET Write flash ROM
Write flash ROM error Write flash ROM Error verify
error display
* Used for changing system parameter or speed parameter in position

control mode Moving in progress
TIP Change "Servo parameter" listed in ladder into system parameter, speed parameter, common
setup parameter, replace corresponding relay /DM No., ladder program common to servo
parameter may be used for parameter read, write.
9-98
AT Parameter Reflection

Setting of servo parameter should be adjusted according to mechanical property.
If operate in set auto-tune state, set/update parameter automatically according to the following
mechanical property.
• Position gain • Speed gain
• Integral Time Constant • Load of torque of inertia
• Torque instruction LPF
Next time when power on, adjust from servo parameter set point in MV-L40 memory (SRAM).
From next power on, when auto-tune is used to obtain better result, perform AT parameter reflection,
which is reflected to servo parameter set point in MV-L40 memory (SRAM).
Note
• AT parameter reflection may also be performed during operation.
• Parameter written through "AT parameter reflection request relay" is written into MV-
L40 SRAM. Then, when power supply is turned on, it will be written in flash memory
ROM automatically. If required, it can write into flash memory ROM without power on
9
again.
DEVICE ASSIGMENT
"Write Flash ROM"(page 9-90)
Procedures
1 Turn on "AT parameter reflection request relay".
2 Verify whether "AT parameter reflection finish relay" is already ON.

When AT parameter reflection is impossible, "AT parameter reflection error relay" ON.
3 "AT parameter reflection request relay" OFF.
● Action of AT parameter reflection request relay and AT parameter reflection finish relay
ON Ԙ
(1) Ԛ
(3)
Auto-tuning reflect request relay
OFF
#6ࡄ࡜ࡔ࡯࠲෻ᤋ
ON Auto-tuning parameter reflect
Auto-tuning parameter reflect
request relay OFF
ԙ
(2) ԛ
(4)
Auto-tuning parameter reflect
complete relay
(1)Turn on "AT parameter reflection request relay".
(2)If MV-L40 AT parameter reflection is finished, "AT parameter reflection finish relay" ON.
(3)If "AT parameter reflection finish relay" ON, use ladder program for "AT parameter reflection request
relay" OFF.
(4)If "AT parameter reflection request relay" OFF, "AT parameter reflection finish relay" OFF.
9-99
Example X1 axis AT parameter reflection

X1 axis "AT parameter reflection request relay" : R32213

X1 axis "AT parameter reflection finish relay" : R30113
X1 axis "AT parameter reflection error relay" : R30213
Reference
R10000 R30113R30213 R32113 X1 axis "AT parameter reflection

Ė SET request relay" ON.
X1 X1 X1
AT parameter AT parameter AT parameter AT parameter
reflection reflection reflection reflection
command completion error request
R30113 R32213 "AT parameter reflection request relay"
RES turns OFF through ON of X1 axis "AT
X1 X1 parameter reflection finish relay"
AT parameter AT parameter
reflection reflection
9
completion reques
R30213 R00501
Ė SET Verify AT parameter reflection error
X1 X1
DEVICE ASSIGMENT
AT parameter AT parameter
reflection error reflection error
display
9-100
Changing Control Modes
4 control modes are available in MV high speed linking system.

• Position control mode • Speed control mode
• Torque control mode • Manual pulse mode
These control modes may be changed using ladder program.
Note
It is very dangerous to change control mode, please do it in case of stop.
Procedures
1 Set control mode No. in "control mode specified DM".

Schedule of control mode No. is shown as follows. For "control mode specified DM", please see
"Normal Communication Area"(page 9-30). 9
Control mode Control Mode No. Note
DEVICE ASSIGMENT
If any value greater than 4 is saved,
Position control mode 0
it is in position control mode.
Speed control mode 1
Torque control mode 2
Manual pulse mode 3
2 "Request changing control mode relay" ON.
3 Verify whether "change control mode finish relay" is already ON.

When control mode cannot be changed, "change control mode error relay" ON.
4 "Request changing control mode relay" OFF.
● Action of request changing control mode relay and change control mode finish relay
ON (2) (4)
Request Change Control Mode
relay OFF
೙ᓮࡕ࡯࠼ᄌᦝਛ
ON Changing control mode
Change Control Mode Complete
relay OFF
(3) (5)
(1)
Control Mode Prohibit change
(1)Write new set point in "control mode specified DM".

(2)"Request changing control mode relay" ON.
(3)If MV-L40 control mode change is finished, "change control mode finish relay" ON.
(4)After "change control mode finish relay" ON, use ladder program for "Request changing control
mode relay" OFF.
(5)If "Request changing control mode relay" OFF, "change control mode finish relay" OFF.
9-101
● Precautions for changing control mode

Refer to "Control Mode"(page 7-2).
Example X1 axis control mode is changed to speed control mode

X1 axis "Request changing control mode relay": R32212

X1 axis "change control mode finish relay": R30112
X1 axis "change control mode error relay": R30212
X1 axis "control mode specified DM" : DM10120
Reference
CR2002 R32000
Default setting
9
enable
R32010
DEVICE ASSIGMENT
X1 servo ON Default setting
R30000 R30108 R00500
X1 operation X1 servo ready Operation Verify preparation for operation

ready ready end
*1 display
R10000 R30000 R30112 R30212 +0 #00001 R32212
Ė DW.L DW SET Save 1 in X1 axis "control mode
Change X1 control X1 control DM10122 DM10120 X1 control specified DM" (speed control mode),
control X1 operation
ready mode change mode change X1 speed X1 control mode change "request changing control mode
mode complete error command mode request
command /limit value specification relay" O
R30112 R32212
RES "Request changing control mode relay
X1 control mode X1 control " turns OFF through ON of X1 axis
change complete mode change "change control mode finish relay"
request
R30212 R00501
Ė SET
X1 control mode Change control Verify changing control mode error
change error mode error
display
*1 It differs according to the control mode to be changed.

gChange to be position gChange to be torque gChange to be manual
control mode control mode pulse mode
#00000 +0 #00002 #00003
DW DW.S DW DW
DM10120 DM10121 DM10120 DM10120
X1 control mode specification X1 Torque X1 control mode X1 control mode
command/limit value specification specification
9-102
Restart Servo Amplifier
When set point is changed, some parameters require power on again (MV-L40 and servo amplifier).
Parameters that require power on again (MV-L40 and servo amplifier) have "*" in front of their names.
Refer to "10-3 Parameter List"(page 10-4).
If not power on again, servo amplifier may also be restarted from ladder program to reflect parameter.
Note
Restart of servo amplifier may be performed only when all axis servos are in OFF
state. However, X1 axis "operation enable relay" must be ON firstly.
Procedures
1 Verify whether in all axis servos OFF state.

If "servo ready relay" OFF, it is in servo OFF state. 9
2
DEVICE ASSIGMENT
Write ì5555 (hexadecimal) into"servo amplifier restart keyword DM”.
For "servo amplifier restart keyword DM", please see "Normal Communication Area"(page 9-30).
3 Turn on “Request restarting servo amplifier relay”.
4 Verify whether "servo amplifier restart finish relay" is already ON.

When it is impossible to restart, "servo amplifier restart error relay" ON.
5 "Request restarting servo amplifier relay" OFF, write "0" in "servo amplifier restart keyword
DM".
● Action of request restarting servo amplifier relay and servo amplifier restart finish relay
(1) (3)
ON
Request restarte servo amplifier relay (4)
OFF
(2)
ON
Servo amplifier restart finish relay
OFF
servo amplifier restart keyword DM (0=>5555=>0) restart
(1)Write "5555(hexadecimal)" in "servo amplifier restart keyword DM", "Request restarting servo
amplifier relay " ON.
(2)If servo amplifier is restarted, "servo amplifier restart finish relay" ON.
(3)If "servo amplifier restart finish relay " ON, use ladder program for "Request restarting servo
amplifier relay" OFF, write "0" in "servo amplifier restart keyword DM".
(4)If "Request restarting servo amplifier relay " OFF, "servo amplifier restart finish relay " OFF.
9-103
Example Restart Servo Amplifier

"Request restarting servo amplifier relay": R32208

"Servo amplifier restart finish relay" : R30308
"Servo amplifier restart error relay" : R30311
"Servo amplifier restart keyword DM" : DM10115
Reference
CR2002 R32000 Default setting (X1 axis "operation

enable relay" ON)
enable
R30000 R00500
X1 operation ready Operation ready

end display
9 R10000 R30308 R30311 R30108 R30608 R31108 R31608

Ė
Servo Servo
ˀ5555
DW
R32208
SET
Save 5555 in "servo amplifier restart
keyword DM", "request restarting
servo amplifier relay" ON
Servo DM10115
Amplifier Amplifier X1 Y1 X2 Y2 Servo Amplifier
Amplifier
DEVICE ASSIGMENT
restart restart Servo Servo Servo Servo Servo amplifier restart request
command completion restart error ready relay ready relay ready relay ready relay restart keyword
R30308 R32208 "Request restarting servo amplifier
RES relay" turns OFF through ON of
Servo Amplifier "servo amplifier restart finish relay"
Servo Amplifier
restart completion restart request
$0000
Save 0 in "servo amplifier restart
DW keyword DM"
DM10115
Servo amplifier
restart keyword
R30311 R00501
Ė Verify servo amplifier restart error
SET
Servo Amplifie Servo Amplifier
restart error restart error display
9-104
Alarm in Progress/alarm in Progress Reset
Before start to run etc. actions, verify alarm in progress, and reset. alarm in progress reset is needed for
each servo amplifier alarm in progress respectively.
Procedures
1 Verify "alarm in progressing relay".

If alarm in progress occurs, ON, ongoing alarm in progress No. is saved in "alarm in progress No. DM".
For "alarm in progress No. DM", please see "Normal Read Area"(page 9-25).
If normal, keep OFF state.
TIP Normal, alarm in progressing output (alarm in progress) is ON state.
2 Cause of clear alarm in progress.

9
3
DEVICE ASSIGMENT
alarm in progress reset.
If after "alarm in progress reset relay " ON, OFF, alarm in progress is reset, operation is permitted.
Some alarm in progresss require to power on again when alarm in progress is reset.
"A-4 Alarm and Remedy"(page A-33)
● Action of alarm in progressing relay and alarm in progress reset relay

(1) (3)
ON
Alarm in progress relay
OFF
ON (4)
Alarm reset relay
OFF
(2)
ON 40ms
ALARM
OFF
(1)If alarm in progress occurs, "alarm in progressing relay " ON, alarm in progress No. is written in
"alarm in progress No. DM".
(2)After verifying "alarm in progressing relay" ON with ladder program, turn on "alarm in progress reset
relay".
(3)If "alarm in progress reset relay" is ON, alarm in progress resets, and "alarm in progressing relay" is
OFF.
(4)If "alarm in progressing relay" is OFF, "alarm in progress reset relay" is OFF through ladder program.
For action of "alarm in progressing relay " and "alarm in progress reset relay " when "force stop relay "
ON/OFF, please see "Action of force stop relay, alarm in progressing relay, alarm in progress
reset relay"(page 9-66).
9-105
CAUTION When alarm in progress does not occur, in case servo ON input is ON, if
“alarm in progress reset relay “ ON, during ON, servo motor is forced to be
in servo OFF state.
Example X1 axis alarm in progress reset

"alarm in progressing relay" : R30006

"alarm in progress reset relay" : R32006
Reference
9 R10000 R30006
Ė
R32006
SET
In process of alarm in progress,
"alarm in progress reset relay" ON
Alarm reset X1 X1
DEVICE ASSIGMENT
command Alarm in progress relay Alarm reset
R30006 R32006
RES "alarm in progress reset relay" OFF
X1 X1
Alarm rese Alarm reset
9-106
Read/Clear Alarm in Progress Log
Up to 16 alarm in progress logs may be saved in MV-L40.
Note
alarm in progress log will also be backed up when MV-L40 power is OFF.
Read alarm in progress log
Read alarm in progress log (16 pcs) from MV-L40.
● Procedures
1 Turn on “Request reading alarm in progress log relay”.
2 Verify whether “alarm in progress log reading finish relay ” is already ON. 9
alarm in progress log is read to alarm in progress log area (data memory).
DEVICE ASSIGMENT
For alarm in progress log area, please see "alarm in progress log"(page 9-59).
When alarm in progress log cannot be read, "alarm in progress log reading error relay" ON.
3 “Request reading alarm in progress log relay” OFF.
● Action of request reading alarm in progress log relay and alarm in progress log
reading finish relay
(1) (3)
ON
Request reading alarm log relay OFF (4)
(2)
ON
Alarm log reading finish relay OFF
Alarm log Reading
(1)Turn on "Request reading alarm in progress log relay".

(2)If alarm in progress log is read out, "alarm in progress log reading finish relay ON.
(3)If "alarm in progress log reading finish relay ON, use ladder program for "request reading alarm in
progress log relay OFF.
(4)If "Request reading alarm in progress log relay " OFF, "alarm in progress log reading finish relay "
OFF.
9-107
Clear alarm in progress log
Clear alarm in progress log saved in MV-L40.
● Procedures
1 Turn on "Request clear alarm in progress log relay".
2 Verify whether "alarm in progress log clear finish relay " is already ON.
When alarm in progress log cannot be cleared completely, "alarm in progress log clear error relay" ON.
3 Turn off "Request clear alarm in progress log relay".
● Action of request clear alarm in progress log relay and alarm in progress log
clear finish relay
(1) (3)
ON
Request reading alarm log relay (4)
9 Alarm log reading finish relay
OFF
ON
(2)
OFF
DEVICE ASSIGMENT
Alarm log Reading
(1)Turn on "Request clear alarm in progress log relay".

(2)If alarm in progress log is cleared, "alarm in progress log clear finish relay ON.
(3)If "alarm in progress log clear finish relay" ON, use ladder program for "Request clear alarm in
progress log relay" OFF.
(4)If "Request clear alarm in progress log relay " OFF, "alarm in progress log clear finish relay"OFF.
9-108
Example Read/clear alarm in progress log

"Request reading alarm in progress log relay" : R32209

"alarm in progress log reading finish relay" : R30309
"alarm in progress log reading error relay" : R30312
"Request clear alarm in progress log relay" : R32201

"alarm in progress log clear finish relay" : R30301
"alarm in progress log clear error relay" : R30305
Reference
R10000 R30309 R30312 R32209 "Request reading alarm in progress

Ė SET log relay" ON.
Alarm log read Alarm log Alarm log Alarm log read
/clear command read completionread error request
R30309 R32209 R30312

RES
R30301 R30305 R32201
SET
"Request reading alarm in progress
log relay " turns OFF through ON of
"alarm in progress log reading finish
9
relay"
DEVICE ASSIGMENT
Alarm log Alarm log Alarm log Alarm log Alarm log larm log read/ "Request clear alarm in progress log
read completion read request read error read/clear clear error clear request
completion "Request clear alarm in progress log
R30301 R32201
RES relay" turns OFF through ON of
"alarm in progress log clear finish
Alarm log read Alarm log read/ relay"
/clear completion clear request
R30305 R00501
Ė SET Verify alarm in progress log
Alarm log Alarm log read/clear elimination error
clear error error display
9-109
Read Operating Point Log
Up to 16 alarm in progress operating point logs may be saved in MV-L40.
Note
Operating point log will be cleared when MV-L40 is power OFF.
Please note that there is no backup.
Read operating point log
Read operating point log (16 pcs) from MV-L40.
● Procedures
9 1 Turn on “Request reading operating point log relay”.
2 Verify whether “Οperating point log reading finish relay” is already ON.
DEVICE ASSIGMENT
Operating point log is read to operating point log area (data memory).
For operating point log area, please see "Log of operation point"(page 9-60).
When operating point log cannot be read, "operating point log reading error relay" ON.
3 “Request reading operating point log relay” OFF.
● Action of request reading operating point log relay and operating point log
reading finish relay
(1) (3)
ON
Request reading operating point log relay OFF (4)
(2)
ON
Operating point log reading finish relay OFF
Operation point log Reading
(1)Turn on "Request reading operating point log relay".

(2)If operating point log is read out, "operating point log reading finish relay" ON.
(3)If "operating point log reading finish relay" ON, use ladder program for "Request reading operating
point log relay" OFF.
(4)If "Request reading operating point log relay" OFF, "operating point log reading finish relay" OFF.
9-110
Example Read operating point log

"Request reading operating point log relay" : R32210

"Operating point log reading finish relay" : R30310
"Operating point log reading error relay" : R30313
Reference
R10000 R30310 R30313 R32210 “Request reading operating point

Ė SET log relay” ON.
Operating Operating Operating point Operating point
point log point log log read error log read request
read command read completion
R30310 R32210 “Operating point log reading request
RES relay” turns OFF through ON of
Operating point
“operating point log reading finish
Operating point
relay”
log read completion log read reques
R30313 R00501
9
Verify operating point log reading
Ė SET error
Operating point Operating point
log read error log read error
DEVICE ASSIGMENT
9-111
Verify Whether in Process of Operation
In order to verify whether it is operating, monitor "Relay in moving".
TIP Please also see system parameter "INPOS inspection time".

ON : (In position control mode)

In progress of Running. In progress of linear interpolating operation, "Relay in moving " of X
axis and Y axis will both be ON. In progress of interpolating operation, even if speed of one
axis is 0, it continues to ON.
(Condition other than position control mode)

Non-zero speed state.
9 OFF : (In position control mode)

Non operating state (positioning finish, force to stop, deceleration stop, alarm in progress,
DEVICE ASSIGMENT
standby, M code ON instruction waiting).
(Condition other than position control mode)

Zero speed state.
Verify Whether in Return to Operation
Position control
In order to verify whether in return operating, monitor "Return performing relay".
ΟΝ : Just performing return operation. Even if return operation is finished, ON state still continues.
In linear interpolating operation, "Return performing relay " of each axis will be ON.
ΟΦΦ : Non performing return operation state.
TIP Please also see system parameter "INPOS inspection time ".
9-112
Verify Whether in Progress of Dwell
Position control
In order to verify whether in dwell in progress, monitor "dwell in progress relay ".
ON : dwell in progress. It will be ON in dwell in progress or in INPOS inspecting. In linear

interpolating operation, "dwell in progress relay "of all axes related with interpolating operation
is ON.
OFF : State other than dwell in progress.
TIP Please also see system parameter "INPOS inspection time".

Verify Cycle Operation Times
Position control
9
DEVICE ASSIGMENT
In order to verify repeated times of cycle operation, monitor "cycle times DM". The monitoring range is
0 to 65535. It will return to 0 if 65535 times is exceeded.
For "repeat counts DM", please see "Normal Read Area"(page 9-25).
TIP The setting range of "repeat counts" is 0 to 65000.
Example DM is started with DM10000, repeat counts of X1 axis is written in DM10013 of

"repeat counts DM".
9-113
Verify Completion of Point Operation
Position control
In order to verify whether point operation is finished, whether positioning is finished, monitor
"Positioning finish relay".
TIP Please also see servo parameter "Positioning finish range" and system parameter "INPOS
inspection time".
"Positioning completion range"(page 10-47)
ON :"positioning finish relay" is ON when point operation is finished and no next point is
specified. In standby progress or in M code OFF instruction waiting progress, if point
operation is finished, "Positioning finish relay" ON.
"positioning finish relay" will not be ON after JOG operation, after deceleration stop using
"Deceleration relay", after emergency stop. However, after deceleration, when it restart
9 running using "Restart running relay", it will be ON after operation is finished. It will also be
ON after zero return/move to home position is finished.
DEVICE ASSIGMENT
OFF : If point operation, JOG operation, zero return, move to home position begin, OFF.
Verify Point No. in Process of Operation
Position control
In order to verify point No. during operation, monitor "current point No. DM".
For "current point No. DM", please see "Normal Read Area"(page 9-25).
Value of point No. written in "current point No. DM" is shown as follows.
Point No. Operation state
• In case of independent operation, point No. is written in rotating axis "current point No.
DM".
1 to 100
• In case of linear interpolation, the same point Nos. are written in "current point No. DM"of
individual axes.
After power on, it will be 0 when no point is operated, or in standby progress, JOG
0
operation, move to home position, zero return.
* If operation is finished, write 0 in "current point No. DM".
Example DM starting is set to DM10000, when current X1 axis performs point 20, write 20 into X1
axis "current point No. DM" DM10010.
9-114
Verify Current Coordinate
In order to verify current coordinate, monitor "current coordinate DMî.

For "current coordinate DM", please see "Normal Read Area"(page 9-25).
The range of values written in "current coordinate DMî is -2147483648 to 2147483647.
TIP When used in operation under position type speed control, read actual deceleration
position, check pertinence of position. Read out after value of current coordinate delays by
"max. 10ms (when scanning time of CPU exceeds 10ms, take CPU scanning time)".
Example DM starts from DM10000, when read X1 axis current coordinate, read DM10000, DM10001
value of X1 axis "current coordinate DM".
Verify Current Speed

9
DEVICE ASSIGMENT
In order to verify current speed, monitor "current speed DM".
For "current speed DM", please see "Normal Read Area"(page 9-25).
"current speed DM" value is converted return speed value using electronic gear.
Speed unit is set by system parameter "coordinate unit" (coordinate unit /s).
In case of stop, "current speed DM" value is 0.
Example When DM starts from DM10000, write X1 axis current speed in DM10006, DM10007 of "current
speed DM".
9-115
Verify I/O
In order to verify I/O state of emergency stop switch, origin sensor, stop sensor, limit switch etc, monitor
"I/O state 1 DM" or "I/O state 2 DM".
For "I/O state 1DM", "I/O state 2DM", please see "Normal Read Area"(page 9-25).
The read value delays "max. 10ms (when CPU scanning time exceeds 10ms, it takes CPU scanning
time)".
Chapter 6 "DETAILED I/O FUNCTIONS"(page 6-1)
bit bit
15 0
I/O state 1 DM I/O state 2 DM

Terminal for Terminal for
9 bit
short
Name bit
short
Name
Emergency stop*1 Origin Sensor*1/-

DEVICE ASSIGMENT
bit00 EMG CCW Limit switch*1 Stop sensor*1/-

*1
ORGS/-
bit01 CCW_LS CW Limit switch bit00 Standby release
STOP/-
bit02 CW_LS alarm in progress reset bit01 instruction/-
RESUM/-
bit03 RESET Servo ON bit02 Reserved
-
bit04 SVON Start running instruction / bit03 alarm in progress
alarm in
bit05 START/CLR deviation clear bit04 Positioning finish/positioning
progress
bit06 ORG/- zero return instruction/- bit05 end
FIN/INPOS
bit07 JOG/- JOG operation instruction/- bit06 Moving
MOVE
bit08 TEACH Teaching instruction bit07 M code output in progress/
MCODE/TLM
bit09 GAIN Gain switchover bit08 torque limiting
M0/Å|
bit10 DT0/PCN Data 0/proportional control bit09 M-code 0/-
M1/Å|
bit11 DT1 switch bit10 M-code 1/-
M2/Å|
bit12 DT2 data 1 bit11 M-code 2/-
M3/Å|
bit13 DT3 data 2 bit12 M-code 3/-
M4/Å|
bit14 DT4 data 3
bit15 MOFF/- data 4
M Code No. instruction/-
*1 system parameter may be used to change polarity.
Note
• indicates"0: OFF state /1: ON state".
When system parameter is used to set polarity as b contact point, it indicates"0:
ON state / 1: OFF state".
• alarm in progress output (alarm in progress) is b contact point output, so when
there is no alarm in progress, in ON state.
9-116
Verify the State of Teaching Unit (KV-HPD1)
When KV-HPD1 is connected to MV-L40 in demonstration operating mode or HP-JOG mode, "teaching
unit state relay" ON.
If not in demonstration operating mode or HP-JOG mode, OFF.
CAUTION In demonstration operating mode or HP-JOG mode, please do not pull out
connecting cable of KV-HPD1.
If connecting cable is pulled out, "teaching unit state relay " OFF.
Example Start of relay is set to R30000, when KV-HPD1 is in demonstration operating mode or HP-
JOG mode, R30314 of "teaching unit state relay" will be ON.
Verify Control Mode

9
DEVICE ASSIGMENT
In order to verify current control mode, monitor "current control mode DM".
For "current control mode DM", please see "Normal Read Area"(page 9-25).
Written value of "current control mode DM" value is shown as follows.
Value Control mode
0 Position control
1 Speed Control
2 Torque control
3 Manual pulse
Example DM starts from DM10000, when current X1 axis control mode is speed control mode, write 1
in DM10025 of X1 axis "current control mode DM".
9-117
Alarm in Progress
It will be in alarm in progress state when position deviation is larger or in overload state.
In order to verify whether in alarm in progress state, verify "alarm in progress relay".
If in alarm in progress state, after "alarm in progress relay" ON, bit12 to 15 of "Positioning set time /
alarm in progress No. DM" ON according to alarm in progress content. If normal, "alarm in progress
relay" keeps OFF.
For "Positioning set time/alarm in progress No. DM", please see "Normal Read Area"(page 9-25).
Positioning set
alarm in
time /alarm in Description
progress
progress No. DM
bit12 Battery Battery voltage reduces to below 3.0V.*1
Exceeding position Position deviation exceeds set value of "deviation larger than
bit13
deviation alarm in progress".
9 bit14 Overload
Actual torque exceeds set value of"*overload alarm in
progress ".
Regeneration Output alarm in progress at alarm in progress end of
DEVICE ASSIGMENT
bit15
overload regeneration overload.
*1 Absolute position detection system uses lithium battery (OP-51422)

Only limited to "*absolute position detection system " set to use"
Positioning set time /alarm in progress No. DM
bit bit bit bit

15 12 11 0
alarm in progress No. Positioning set time
Verify Set time of Positioning
Position control
Positioning set time refers to the time from completion of positioning instruction to first "positioning
finish relay" ON. In order to verify Positioning set time, monitor bit 0 to 11 of "Positioning set time /alarm
in progress No. DM".
For "positioning set time/alarm in progress No. DMî, please see "Normal Read Area"(page 9-25).
Unit of Positioning set time is 1ms, numeric range is 0 to 4095ms.
Positioning set time /alarm in progress No. DM
bit bit bit bit

15 12 11 0
alarm in progress No. Positioning set time
9-118
10
PARAMETER SETUP
This chapter describes parameters used in MV high speed link system.
10-1 Parameter Type ••••••••••••••••••••••••••••••••••••••••••• 10-2

10-2 Parameter Setup Method•••••••••••••••••••••••••••••••• 10-3
10-3 Parameter List ••••••••••••••••••••••••••••••••••••••••••••• 10-4
10-4 Servo Parameter •••••••••••••••••••••••••••••••••••••••••10-26
10-5 Point Parameter ••••••••••••••••••••••••••••••••••••••••••10-53
10-6 System Parameter •••••••••••••••••••••••••••••••••••••••10-72
10-7 Speed Parameter ••••••••••••••••••••••••••••••••••••••••10-96
10-8 Common Set Parameters ••••••••••••••••••••••••••••••10-97
10-9 Indirect Parameter Specification •••••••••••••••••••• 10-100
10-10 Vibration Control And Instruction Tracking Control10-104
10-1
10-1 Parameter Type
In this example, after operation of point 80, it outputs M code 1, running tool; after operation of point 81,
it outputs M code 2, running cylinder.
Parameter Type
Parameters may be divided into five categories as follows.

Type Description Setup
Set parameter of drive servo motor such as electronic gear
Servo parameter Required for each axis
and adjustment, etc.
Set the target coordinate, operation mode and speed no.
etc. Also set specified action to a specified point parameter,
next action of specified point parameter (specify up to 100
Point parameter Required for each axis
points *1).
It may also have parameter needing no setting depending
on the setting of "Operation mode".
Set such basic actions as running speed, JOG speed,
System parameter Required for each axis
Homing, etc.
In speed parameter, set corresponding value of point
Speed Parameter parameter "Speed No.". 16 speeds may be entered in Required for each axis
10 advance.
Set common contents for all axes.
Common set
Set parameters for display/alarm of KV-HPD1 function. It All axes are common
PARAMETER SETUP
parameter
can also set parameter relative with alarm.
*1 MV-L40 host may save up to 100 points for individual axes, but rewrite MVL40 point parameters from
CPU unit, action of over 100 points may be set.
"Read/Write Parameters (change parameters)" (9-91)
"10-9 Indirect Parameter Specification"( page 10-100 )
10-2
10-2 Parameter Setup Method
Parameters must be set up for motor control.
Parameter Setup Method
WARNING
• Please do not adjust, change parameter threshold. Otherwise machine
might operate unstably and cause injury to working personnel.
• Please verify whether parameter setting is correct. Otherwise machine
might operate unstably and cause injury to working personnel.
Set parameters from servo amplifier access window, teaching unit (KV-HPD1), or PC with MV LINK
STUDIO (parameter setting/monitoring software).
■ Setup of parameter setting/monitoring software "MV LINK STUDIO-MV-L40

parameter setup software"
Connect CPU unit to PC, startup parameter setting/monitoring software. Set/change parameters
through software. 10
For parameter setting/monitoring software, please see MV LINK STUDIO User Manual.
PARAMETER SETUP
■ Access window setting
Parameter setup /change may be done through servo amplifier access window.
For access window, please see Chapter 11 ACCESS WINDOW"( page 11-1 ).
■ Teaching unit (KV-HPD1) setting

Set/change parameters through teaching unit.
For teaching unit, please see Chapter 12 HOW TO OPERATE THE TEACHING UNIT"( page 12-1 ).
10-3
10-3 Parameter List
■ Legends
Control Mode
Position: Position control mode Speed: Speed control mode
Torque: Torque control mode MI: Manual impulse mode
For AW/KV-HPD1 corresponding content
A / H ：Display/change may be done through access window and KV-HPD1.
A / - ：Display/change may be done through access window.
- / H ：Display/change may be done through KV-HPD1.
Note
The parameter values that start with the character " * " will only be enabled when the
power is restarted (MV-L40 and the servo amplifier) or the " Zervo amplifier restart
relay " is restarted. It can also restart servo amplifier from MV LINKSTUDIO.
"Action of request restarting servo amplifier relay and servo amplifier
restart finish relay" ( page 9-106 )
MV LINK STUDIO User Manual, "7-3 Writing unit"
Servo Parameter List

10 Servo parameter is the parameter for driving servo motor. It should be set for each axis sperately.
PARAMETER SETUP
TIP For indirect specification of parameter, please see "10-9 Indirect Parameter
Specification" ( page 10-100 ) .
■ Electronic Gear
Control mode Indirect
Parameter specific
Description Setting range Unit Remarks Manual ation
name Position Speed Torque
pulse
*Electronic Gear
*1 *1
(numera to r) Convert position 1 to 65535
- - ○ ○ ○ ○ -
A / H instruction (45 : Defaults)
4
( 10-27) (movement) based on
*Electronic Gear ratio of Electronic
(denomina to r) Gear and then run 1 to 65535 *1 *1
servo motor. - - ○ ○ ○ ○ -
A / H (1: Defaults)
( 10-27)
*1 In speed control /Torque control mode, for displaying current coordinate.

In speed control mode, when " Speed instruction unit ì is set to "Coordinate unit /S", setup is required.
In addition, when " Speed instruction acceleration/deceleration unit" is set to "Coordinate unit /s/ms ", setup is required.
10-4
Servo 10-3 Parameter List
■ Tuning
Indirect
Control mode specification
Parameter
Description Setting range Unit Remarks
name
Manual
pulse
Tuning mode Set Auto • Manual tuning
A / H
tuning, • Auto tuning
- - ○ ○ ○ ○ -
manual ( (Auto tuning:
( 10-30) tuning. defaults)
Auto tuning
response Enable only
characteristic Set response 1 to 15 when " tuning
- ○ ○ ○ ○ -
A / H
characteristic. (5: Defaults) mode " is set to
" Auto tuning ".
( 10-31)
Enable only
Position gain Set the gain when " tuning
A / H
1 to 3000
of position 1/s mode " is set to ○ - - ○ -
(30: Defaults)
( 10-32) control cycle. " manual tuning
".
Enable only
Speed gain Set the gain when " tuning
A / H
1 to 2000 *1
of speed Hz mode " is set to ○ ○ - ○ -
(50: Defaults) *
( 10-32) control cycle. " manual tuning
".
Integral time Set integral

Enable only
when " tuning 10
constant mode " is set to
time constant 5 to 10000 ×
PARAMETER SETUP
*1
A / H
" manual tuning ○ ○ - ○ -
of speed (200: Defaults) 0.1ms
".
( 10-33) control cycle.
Disable when
set to 10000.
Feedforward Set the gain
gain Disable when
of speed
0 to 100 set to "Set
control ％ ○ - - ○ -
A / H
(0: Defaults) gain", " Path
feedforward
gain".
( 10-33) cycle.
Position Set low-pass Disable when

instruction LPF filter of 0 to 20000 × set to "Set
A / H ○ - - ○ -
position (0: Defaults) 0.1ms gain", " Path
( 10-34) control cycle. gain".
Disable when
Speed command set to 2000.
LPF Set low-pass
1 to 2000 Disable when *1
A / H
filter of speed Hz ○ ○ - ○ -
(2000: Defaults) set to " Set 3
control cycle.
( 10-34) gain", " Path
gain".
Torque Set low-pass Enable only
instruction LPF filter of 1 to 2000 when " tuning
A /H
Hz ○ ○ ○ ○ -
current (600: Defaults) mode" is set to "
( 10-35) control cycle. manual tuning".
Disable when
Torque Set low-pass set to 2000.
instruction LPF filter of 1 to 2000 Disable when
A /H
Hz ○ - - ○ -
current (2000: Defaults) set to " Set
( 10-35) control cycle. gain", " Path
gain".
*1 In Torque control mode, temporarily enable when speed reaches "Speed limit" value.
10-5
10-3 Parameter List Servo
Indirect
Control mode specification
Parameter
Description Setting range Unit Remarks
name
Manual
pulse
Set low-pass
Notch filter 1 filter of speed
A /H
10 to 200 Disable when
control ×10Hz ○ ○ ○ ○ -
(200: Defaults) set to 200.
( 10-36) feedforward
cycle.
Notch filter 2 The same
A /H
10 to 200 Disable when
function as ×10Hz ○ ○ ○ ○ -
(200: Defaults) set to 200.
( 10-36) notch filter 1.
Set
Load inertia load inertia Enable only
moment ratio moment ratio 1 to 15000 when " tuning *1
A / H ％ ○ ○ - ○ -
for servo (100: Defaults) mode" is set to " 3
( 10-36) motor inertia manual tuning".
moment
Antiresonance Set the

frequency antiresonanc
0 to 100
A / H
e frequency Hz 0 to 4 disabled ○ - - ○ -
(0: Defaults)
for vibration
( 10-37) control.
Set gain Set set gain

Adjust with
10 (
A / H
10-37)
of instruction 0 to 9
tracking (0: Defaults)
- reference to
gain 1.
○ - - - -
control.
PARAMETER SETUP
Path gain Set path gain

Adjust with
A / H
of instruction 0 to 9
- reference to ○ - - - -
tracking (0: Defaults)
( 10-37) gain 1.
control.
*1 In Torque control mode, temporarily enable when speed reaches " Speed limit " value.
10-6
■ Position gain 2
Parameter Setting specifi
Description Unit Remarks Manual cation
Name range Position Speed Torque
pulse
Position gain 2 Enable when " gain

The same function 1 to 3000
A /H 1/s switchover relay " or gain ○ - - ○ -
as " Position gain ". (30: Defaults)
( 10-38) switchover (GAIN) ON.
Speed gain 2 Enable when " gain

The same function 1 to 2000 *1
A /H Hz switchover relay "or gain ○ ○ - ○ -
as " Speed gain ". (50: Defaults)
( 10-38) switchover (GAIN) ON.
Disable when set to

Integral time
The same function as 5 to 10000 10000.
constant 2 × *1
" Integral time (200: Enable when " gain ○ ○ - ○ -
A /H 0.1ms
constant ". Defaults) switchover relay " or gain
( 10-38)
switchover (GAIN) ON.
Torque command
The same function 1 to 2000 Enable when " gain
LPF2
as " Torque (600: Hz switchover relay "or gain ○ ○ ○ ○ -
A /H
specified LPF ". Defaults) switchover (GAIN) ON.
( 10-38)
Load inertia
moment ratio 2
The same function
as " load inertia
1 to 15000
(100: ％
Enable when " gain
switchover relay " or gain ○ ○
*1
- ○ -
10
A /H
moment ratio ". Defaults) switchover (GAIN) ON.
PARAMETER SETUP
( 10-38)
10-7
■ Manual Pulse
Parameter
Description Setting range Unit Remarks Manual specification
Name Position Speed Torque
pulse
Set input time
• 8 μs
constant of pulse
* pulse train • 4μs
input (CW+,
input time • 2μs
CW-, CCW+,
constant • 1μs - - - - - ○ -
CCW-)
A / H • 0.5μs
terminal in
( 10-39)
manual pulse (0.5μs :
defaults)
mode.
• 2-pulse input
*Pulse train
• A/B phase pulse
input Set pulse input
input
format format in manual - - - - - ○ -
• 1-pulse input
A / H pulse mode.
(A/B phase pulse
( 10-39)
input: defaults)
Set input logic of

pulse input
* pulse train • positive logic
(CW+, CW-,
input logic • negative logic
10 A / H
CCW+, CCW-)
terminal in
((positive logic
- - - - - ○ -
( 10-40) : defaults)
manual
PARAMETER SETUP
pulse mode.
Set pulse input Current coordinate

rotation increase/decrease
* pulse train
instruction and direction is
rotating • +
actual servo determined by
direction • - - - - - ○ -
motor rotating system parameter
A / H (+: defaults)
direction in "Coordinate
( 10-40)
manual pulse increase direction "
mode. setting.
Manual pulse
input % Set manual 1 to 63
- - - - - ○ -
A / H pulse input %. (1: Defaults)
( 10-41)
10-8
■ Speed
Parameter Setting
Description Unit Remarks Manual specification
name range Position Speed Torque
pulse
If servo motor
Zero speed revolution is lower
detection relay than " Zero 0 to 65535
A / H
speed detection " (50: r/min - ○ ○ ○ ○ -
set value, " Zero Defaults)
( 10-41) speed detection
relay " ON.
Speed limit Set servo motor Set a value above 50 in

0 to 65535
A / H
speed upper limit Torque control mode.
(65535 : r/min ○ ○ ○ ○ -
value to limit (If 0 to 49 is set, it will
( 10-41) Defaults)
speed. be deemed as 50.)
If speed deviation
Speed command corresponding to
match range speed instruction 0 to 65535
*1
A / H
is within this (50 : r/min - ○ ○ - ○ -
setting range, " Defaults)
( 10-42) Speed instruction
match relay " ON
Speed reach setting If return speed 0 to 65535

A / H
exceeds this set
(1000 : r/min - ○ ○ ○ ○ -
value, " Speed
( 10-42) Defaults)
arrival relay " ON.
Select the unit of
• r/min
10
Speed command value set in "
Speed instruction • coordinate
PARAMETER SETUP
unit
/Torque control unit/s - - - ○ - - -
A / H
speed threshold ((r/min
( 10-43) DMî in speed :defaults)
control mode.
• ms
Speed instruction Select
(defaults)
acceleration/ acceleration/ • Coordinate
deceleration unit deceleration unit - - - ○ - - -
unit/s/ms
A / H in speed control
mode. (ms:
( 10-43)
defaults)
Enable when
Speed control "(coordinate unit) /s/
acceleration Set acceleration Coordin
1 to 65000 ms" is selected in "
A / H
in speed control ate unit/ - ○ - - -
(10: Default) Speed instruction
mode. s/ms
( 10-43) acceleration/
deceleration unit".
Enable when
Speed control "(coordinate unit) /s/
deceleration Set deceleration Coordin
1 to 65000 msî is selected in "
A / H
in speed control ate unit/ - ○ - - -
(10: Default) Speed instruction
mode. s/ms
( 10-43) acceleration/
deceleration unit".
Speed control Enable when " ms" is

acceleration time Set 0→3000r/min 0 to 24000 selected in "Speed
A / H
ms instruction - ○ - - -
time. (0: Default)
acceleration/
( 10-43) deceleration unit".
Speed control Enable when " ms" is

deceleration time Set 0→3000r/min 0 to 24000 selected in " Speed
A / H
ms instruction - ○ - - -
time. (0: Default)
acceleration/
( 10-43) deceleration unit".
10-9
■ Torque
Control mode
Parameter Setting Indirect
Description Unit Remarks Manual specification
name range Position Speed Torque
pulse
Limit the torque
[+] side Torque "[+] side
generated by servo 0 to 5000
limit Torque limit
motor when moving (5000: ×0.1％ ○ ○ ○ ○ -
A / H enable relay"
in [+] side coordinate Default)
( 10-44) must be ON.
direction.
Limit the torque "[-] side

[-] Torque limit generated by servo 0 to 5000 Torque limit
A / H motor when moving (5000: ×0.1％ enable ○ ○ ○ ○ -
( 10-44) in [-] side coordinate Default) relay" must be
direction. ON.
Torque command
acceleration time Set 0→Rated torque 0 to 20000
ms - - - ○ - -
A / H time. (0: Default)
( 10-44)
Torque command
deceleration time Set 0→Rated torque 0 to 20000
ms - - - ○ - -
10 A / H
( 10-44)
time. (0: Default)
PARAMETER SETUP
10-10
■ Brake/Stop
Parameter
Description Setting range Unit Remarks Manual specification
pulse
Limit the Torque
Electromagnetic generated by servo
brake wait motor in
Torque limit 0 to 5000
electromagnetic ×0.1％ - ○ ○ ○ ○ -
A / H
(1200: Default)
brake release
( 10-45) waiting/holding
waiting progress.
Electromagnetic When servo ON→ Set wait time

brake hold wait servo OFF, within set until
time 1 to 250 electromagnetic
time, continue to ×4ms ○ ○ ○ ○ -
A / H
(75: Default) brake holding
excite servo motor at
power is
( 10-45) instruction speed 0. produced.
When servo OFF→

servo ON, within set
Electromagnetic time, continue to Set wait time
brake release before
excite servo motor at
wait time 1 to 250 electromagnetic
instruction speed 0, ×4ms ○ ○ ○ ○ -
A / H
(75: Default) brake holding
and " Servo ready
10
power
( 10-45) relay ", operation disappears.
ready (RDY) output
keeps OFF.
PARAMETER SETUP
* Brake resistor • Build-in
selection Select brake resistor •
external
A / H
used in regenerative - - ○ ○ ○ ○ -
(Build-in:
brake.
( 10-46) defaults)
Set the time from

Electromagnetic servo OFF or main
brake operation circuit power OFF to "
start time electromagnetic 0 to 65535
ms - ○ ○ ○ ○ -
A / H
brake time relay ", (0: Default)
electromagnetic
( 10-46) brake time output
(BRAKE) OFF.
• dynamic brake In Torque control

stop Way Select how to stop • servo brake mode, even if "
A / H
servo motor from • free operation Servo brake " is
- ○ ○ ○ ○ -
servo OFF or main selected, it will
( 10-46) circuit power OFF. (servo change in to "
brake:defaults) dynamic brake ".
• dynamic brake " free (DB

• free disable) " is
State after stop
• free (dynamic enabled only
A / H Select state after stop. - ○ ○ ○ ○ -
brake disabled) when " stop
( 10-47) methodî is "
(dynamic
brake:defaults) free running ".
10-11
■ Others
Parameter
Description Setting range Unit Remarks Manual specific
pulse ation
Positioning will be
complete when
Positioning the position
Unit is pulse
completion range deviation is 1 to 65535 ENC_P
number of ○ - - ○ -
A /H smaller than the (4500: Default) LS
encoder.
( 10-47) setting of the
positioning
completion range.
If position
deviation exceeds
Deviation larger
" deviation larger
than settingset × Unit is pulse
than setting" 1 to 65535
value 256EN number of ○ - - ○ -
value, deviation (5120: Default)
A /H C_PLS encoder.
larger than
( 10-50)
alarm will occur
(alarm No.209)
If position
10 Bias to o large
deviation exceeds
" deviation larger × Unit is pulse
warning 1 to 65535
PARAMETER SETUP
than alarm" value, 256EN number of ○ - - ○ -

A /H (65535: Default)
deviation larger C_PLS encoder.
( 10-50)
than alarm will
occur.
Set overload In case of

* Overload alarm
alarm output 1 to 100 100, no
A /H ％ ○ ○ ○ ○ -
value.If 100%, it is (90: Default) alarm is
( 10-50)
overload alarm. given.
In electromagnetic
* Speed 0 when brake release wait
• Yes
servo ON time, whether
• No - - ○ ○ - ○ -
A /H forcedly set
(Yes: defaults)
( 10-51) instruction speed
to 0.
Whether position
* Bias clear when deviation set in
• No
servo OFF servo OFF, kept
• Yes - - - - - ○ -
A /H within servo
(Yes: defaults)
( 10-51) amplifier is cleared
as 0.
10-12

Parameter
pulse ation
• Always disabled
• Always enabled
• Enable in zero speed
state
• Disable in zero speed
state
• Enable in speed arrival
state
• Disable in speed arrival
state
• Enable in speed match
Select the
condition state
Proportional switching from • Disable in speed match
control Auto Disable
proportional / state
switching when set to "
integral (PI) • Enable in positioning - ○ ○ - ○ -
A /H Set gain ",
control to
completion state " Path gain ".
( 10-51) proportional (P)
control Auto • Disable in positioning
matically. completion state
• Enable in Torque limit
action state
• Disable in Torque limit
10
action state
• Enable in speed limit
action state
• Disable in speed limit
PARAMETER SETUP
action state
(always disable:
defaults)
• Always disabled
• Always enabled
• Enable in zero speed
state
• Disable in zero speed
state
• Enable in speed arrival Disable when
state set to
• Disable in speed arrival
" Set gain ",
state
" Path gain " .
• Enable in speed match
state Disable when
• Disable in speed match setting
Gain Auto switch Select condition
state "enable in
A /H for Auto switch to • - ○ ○ ○ ○ -
Enable in positioning speed limit
( 10-52) gain 2. completion state action state"
• Disable in positioning
and " disable
completion state
• Enable in Torque limit in speed limit
action state action state"
• Disable in Torque limit in Torque
action state control mode.
• Enable in speed limit
action state
• Disable in speed limit
action state
(always disable:
defaults)
10-13
10-3 Parameter List Point
Point Parameter Table
Point parameter refers to specific point action parameter when setting position control mode.
It should be set for each axis sperately.
TIP For indirect specification of parameter, please see "10-10 Vibration Control And Instruction
Tracking Control" ( page 10-104 ) .
Parameter specific
name Description Setting range Unit Remarks Manual ation
Position Speed Torque pulse
• [Single/Position/
Absolute]
• [Single/Position/
Increment]
• [Position type
speed/
Operation Deceleration]
mode Set the operation • [Position type
A / H speed/Inching] - - ○ - - - -
mode.
( 10-53) • [Linear/Position/
Absolute]
• [Linear/Position/
Increment]
10 ([Single/Position/
Increment]:
defaults)
PARAMETER SETUP
target
coordinates -99999999 is determined by
Set the target Coordin
A / H
to 99999999 system parameter ○ - - - ○
coordinates. ate unit
(0: Default) "Coordinate unit".
( 10-58)
Speed No. Operation speed is

A / H
set to speed 1 to 16
- - ○ - - - ○
parameter No.1 to (1: Default)
( 10-59) 16.
When "Operation
Mode "
is " Position Type
stop Sensor Speed Control ", it
Set is enabled. Set to
Set stop sensor to • enable
- enable/disable ○ - - - -
A / H enable /disable. • disable
only when "
( 10-59) [single/position/
absolute /
increment "
.
Movement after Only set when "
stop Sensor stop sensor
Input Set movement after 0 to 99999999 Coordin
setting " is set " ○ - - - ○
A / H
stop sensor input. (0: Default) ate unit
enable "
( 10-60) .
Set the stop

Dwell Time (standby) time after
A / H
arriving at the " -32000 to 32000
ms - ○ - - - ○
target coordinates " (0: Default)
( 10-60) and before the next
point operation.
10-14
Point 10-3 Parameter List

Parameter specific
name Description Setting range Unit Remarks Manual ation
Position Speed Torque pulse
Set to perform next • Standby (no

Continuous operation or return)
Operation continuous • Standby (return)
Mode operation after • cont 1 - - ○ - - - -
A / H standby (return) • cont 2
( 10-62) when continuous (Standby (no
operation. return): defaults)
When set to
continuously running
Next point No. multiple point When set to 0, the
A / H
0 to 100
parameters, set next - next point will not ○ - - - -
(0: Default)
( 10-65) point parameter be performed.
point No. to be
performed.
Cyclic Specify additional
Incremental action movement by -99999999 is determined by
Movement Coordin
incremental value to 99999999 system parameter ○ - - - ○
A / H
ate unit
based on target (0: Default) "coordinate unit".
( 10-66) coordinate.
Specify additional
repeat counts action (stack) times When set to
A / H
to specified position 0 to 65000 65000,
- ○ - - - ○
( 10-66)
after target
coordinate is
(0: Default) cycle times is
innumerable. 10
reached.
PARAMETER SETUP
M Code Mode • WITH
A / H
Set the time for • AFTER - - ○ - - - -
outputting M-code.
( 10-67) (WITH : defaults)
M code No. Control output M

A / H
0 to 255 code (M0 to M4)
Output M-code No.. - ○ - - - -
(0: Default) corresponding to 0
( 10-71) to 31
10-15
10-3 Parameter List System
System Parameter List
System parameters mainly require basic setting in position control mode. It should be set for each axis
sperately.
TIP For indirect specification of parameter, please see "10-9 Indirect Parameter
Specification" ( page 10-100 ) .
■ Unit
Parameter
pulse ation
• mm
Coordinate unit
Set coordinate • deg
A /H - - ○ ○ ○ ○ -
unit. • PLS
( 10-73)
(PLS : defaults)
0 represents no
position of decimal
decimal point.
point Set the digit 0 to 7digits
- When "nearest rotary ○ ○ ○ ○ -
10 (
A /H
10-73)
behind decimal. (0: Default)
angle controllî is "Yes",
0 to 5 digit(s).
PARAMETER SETUP
10-16
System 10-3 Parameter List
■ Operating speed
Parameter
Description Setting range Unit Remarks Manual specifi
pulse cation
Operation Set startup speed
startup speed when operating. 0 to 99999999 coordinate
- ○ - - - ○
A / H stop speed is the (0: Default) unit/s
( 10-76) same value.
Operation max.
Servo parameter
speed Set upper limit 1 to 99999999 coordinate
" Speed limit" is ○ - - - -
A / H operating speed. (500000: defaults) unit/s
also limited.
( 10-76)
Operation Set the ratio from

acceleration operation startup 1 to 65000 Coordinate
- ○ - - - ○
A / H speed to operation (10: Default) unit/s/ms
( 10-77) speed.
Operation
Set the speed
acceleration • Linear
change from start
curve • Sine - - ○ - - - -
speed to operation
A / H (Sine: defaults)
speed.
( 10-78)
Operation S-
10
Enable only when
shape
PARAMETER SETUP
Set the range of "operating
acceleration 1 to 100
acceleration curve ％ acceleration ○ - - - -
slope (100: Default)
when operating. curve" is set to "
A / H
Sine".
( 10-79)
Operation
Set the ratio from
deceleration 1 to 65000 Coordinate
operation speed to - ○ - - - ○
A / H (10: Default) unit/s/ms
stop speed.
( 10-77
Operation
Set the speed
deceleration • Linear
change from
curve • Sine - - ○ - - - -
operation speed to
stop speed.
( 10-78)
S-shape Enable only when

Set the range of
deceleration "operation
deceleration curve 1 to 100
slope ％ deceleration ○ - - - -
when operating. (100: Default)
A / H curve" is set to "
( 10-79) Sineî.
10-17
■ JOG speed
Parameter
Description Setting range Unit Remarks Manual specifi
pulse cation
JOG startup Set startup speed
speed when operating. 1 to 99999999 coordinate
- ○ - - - -
A /H stop speed is the (500: Default) unit/s
( 10-80) same value.
JOG high speed

Set startup speed at 1 to 99999999 coordinate
A /H - ○ - - - -
JOG operation. (5000: Default) unit/s
( 10-80)
JOG
Set the ratio from
acceleration 1 to 65000 Coordinate
JOG start speed to - ○ - - - -
A /H (10: Default) unit/s/ms
JOG high speed.
( 10-80)
JOG acceleration
Set the change from • Linear
curve
JOG start speed to • Sine - - ○ - - - -
A /H
JOG high speed. (Sine: defaults)
( 10-81)
JOG S-shape
10
Enable only
acceleration Set the range of
when "JOG
slope JOG acceleration 1 to 100
％ acceleration ○ - - - -
curve at JOG (100: Default)
PARAMETER SETUP
curve" is set to
A /H operation.
"Sine".
( 10-81)
JOG deceleration Set the ratio from

1 to 65000 Coordinate
A /H JOG high speed to - ○ - - - -
(10: Default) unit/s/ms
( 10-80) JOG start speed.
JOG deceleration
Set the change from • Linear
curve
JOG high speed to • Sine - - ○ - - - -
A /H
JOG start speed. (Sine: defaults)
( 10-81)
JOG S-shape Enable only

Set the range of
deceleration when "JOG
JOG deceleration 1 to 100
slope ％ deceleration ○ - - - -
curve at JOG (100: Default)
A /H curve" is set to
operation.
( 10-81) "Sine".
10-18
■ Zero return
Parameter
pulse ation
Set the start
speed when zero
Zero return
returning and
startup speed 0 to 99999999 coordinate
moving to home - ○ - - - -
A / H (0: Default) unit/s
position. stop
( 10-82)
speed is the same
value.
The speed used

Origin return when zero
creep speed returning to wards 1 to 99999999 coordinate
- ○ - - - -
A / H the origin. Set the (500: Default) unit/s
( 10-82) speed that may
stops immediately.
Zero return
Set operation
running speed 1 to 99999999 coordinate
speed at zero - ○ - - - -
A / H (5000: Default) unit/s
returing.
( 10-83)
Zero return
Set the ratio from 10
zero return start
acceleration 1 to 65000 Coordinate
PARAMETER SETUP
speed to zero - ○ - - - -
A / H (10: Default) unit/s/ms
return operation
( 10-83)
speed.
Origin return Set the change

acceleration from zero return • Linear
curve start speed to zero • Sine - - ○ - - - -
A / H return operation (Sine: defaults)
( 10-84) speed.
Origin return S- Enable only

shape Set the ratio from when " Zero
acceleration zero return 1 to 100 return
％ ○ - - - -
slope operation speed to (100: Default) acceleration
A / H stop speed. curve"is set to
( 10-84) "Sine".
Zero return Set the ratio from

deceleration zero return 1 to 65000 Coordinate
- ○ - - - -
A / H operation speed to (10: Default) unit/s/ms
( 10-83) stop speed.
Zero return
Set the change
deceleration • Linear
from zero return
curve • Sine - - ○ - - - -
operation speed to
stop speed.
( 10-84)
10-19

Parameter
pulse ation
Zero return S- Set when zero Enable only
shape returning, using when " Zero
deceleration range of zero 1 to 100 return
％ ○ - - - -
slope return (100: Default) deceleration
A / H deceleration curve" is set to
( 10-84) curve. "Sine".
zero return • [-] direction

Set the start
direction • [+] direction
direction for zero - - ○ - - - -
A / H ([-] direction:
return.
( 10-84) defaults)
• ORG edge (without

Z-phase)
• ORG middle
(without Z-phase)
Homing way
Set zero return • [-]LS edge (w/o Z-
A / H - - ○ - - - -
condition. phase)
( 10-85)
• Z-phase normal
• Z-phase rear
10 (ORG edge (without

Z-phase): defaults)
PARAMETER SETUP
origin Set current

-99999999 to specify using
coordinates coordinate when Coordinate
to 99999999 absolute ○ - - - -
A / H zero return is unit
(0: Default) coordinates.
( 10-86) complete.
Set auto zero

Auto zero return • No
return after power
A / H • Yes - - ○ - - - -
on when servo
( 10-86) (No: defaults)
ON.
Home
Set coordinate -99999999 to specify using
coordinate Coordinate
position of home to 99999999 absolute ○ - - - -
A / H unit
position. (0: Default) coordinates.
( 10-86)
Set to auto move

Auto moving to
to the home • No
home position
position when • Yes - - ○ - - - -
A / H
zero return is (No: defaults)
( 10-86)
complete.
10-20
■ Input signal
Control mode No
Parameter
Description Setting range Unit Remarks Torq Manual specifi
name Position Speed
ue pulse cation
origin sensor
• N.O. Only use in
polarity Set the input polarity of
• N.C. - position ○ ○ ○ ○ -
A / H the origin sensor.
• (N.O.) control mode.
( 10-87)
limit switch
• N.O.
polarity
Set limit switch polarity. • N.C. - - ○ ○ ○ ○ -
A / H
• (N.C.)
( 10-87)
Switch CCW limit

Limit switch
switch (CCW_LS) and • Normal
switch
CW limit switch • converse - - ○ ○ ○ ○ -
A / H
(CW_LS) wiring, use (Normal: defaults)
( 10-87)
software for switchover.
stop sensor
• N.O. Only use in
polarity Set the polarity of the
• N.C. - position ○ ○ ○ ○ -
A / H stop sensor.
(N.O. ) control mode.
( 10-88)
Emergency stop
10
• N.O.
polarity Set emergency stop
PARAMETER SETUP
• N.C. - - ○ ○ ○ ○ -
A / H polarity.
(N.C. )
( 10-88)
10-21
■ Others
Parameter
Description Setting range Unit Remarks Torq Manual specific
name Position Speed
ue pulse ation
Backlash offset
0 to 65535 Unit is pulse number of
A /H Set backlash offset. ENC_PLS ○ - - - -
(0: Default) encoder.
( 10-88)
In manual pulse mode, only

current coordinate
Set rotating direction
Coordinate increase/decrease
(CW/CCW) of motor • CW
increase direction changes. Actual
when current • CCW
direction - motor action of different ○ ○ ○ ○ -
coordinate changes (CCW :
A /H manual pulse signals is
to wards +direction defaults)
( 10-89) determined by servo
(increasing).
parameter "*pulse train
rotation direction".
Nearest
Set to Auto -select
rotation angle • No Enable only when
movement direction
control • Yes - "Coordinate unit" is set to " ○ - - - -
closer to current
A /H (No: defaults) deg ".
angle.
( 10-89)
10 Check whether in
In linear interpolation,
positioning
check " Positioning
PARAMETER SETUP
completion state
INPOS check completion relay" of all
after set time when
time 0 to 5000 axes related with
operation is ×10ms ○ - - - -
A /H (0: Default) interpolation. At the same
complete, ( "
( 10-90) time, check within the
Positioning
shortest time set in each
completion
axis.
Relayî ON).
In case of nearest rotation

[+] software
Set coordinate angle control, it cannot be
limit -99999999
threshold that may Coordinat used for linear
coordinate to 99999999 ○ - - - -
move to wards + e unit interpolation.
A /H (0: Default)
coordinate direction. to specify using absolute
( 10-93)
coordinates.
In case of nearest rotation

[-] software
Set coordinate angle control, it cannot be
limit -99999999
threshold that may Coordinat used for linear
coordinate to 99999999 ○ - - - -
move to wards - e unit interpolation.
A /H (0: Default)
coordinate direction. to specify using absolute
( 10-93)
coordinates.
* Servo ON • External input In case of external input,

Set where to receive
mode • PLC device even if "operation enable
servo ON - ○ ○ ○ ○ -
A /H (PLC device: relay" is not ON, servo will
instruction.
( 10-93) defaults) be ON.
* Absolute
position • Not used When operating under
detection Set whether to use • used absolute position detection
system absolute position - system, optional lithium ○ ○ ○ ○ -
detection system. (Not used: battery is required (OP-
A /H defaults) 51422).
( 10-94)
10-22

Parameter
name Position Speed
ue pulse ation
If sensor output is
mechanical type contact,
• 250μs
*Origin/stop reduce filter time constant,
• 1ms
sensor repetition of sensor output
Set origin/stop • 2ms
input filter - will sometimes lead to ○ ○ ○ ○ -
sensor input filter • 5ms
A /H wrong action. Please set to
(time constant). (250μs:
( 10-94) appropriate time.
defaults) Only use in position control
mode.
If sensor output is
＊Input filter • 3ms
(other than Set other than mechanical type contact,
• 5ms reduce filter time constant,
origin/stop origin/stop sensor
• 10ms - repetition of sensor output ○ ○ ○ ○ -
sensor) input filter (time
A /H (5ms: will sometimes lead to
constant).
defaults) wrong action. Please set to
( 10-94) appropriate time.
Set operation mode • External input

in position control • PLC device
＊Position • External input
operation mode.
Select (not
mode - - ○ - - - -
setting method of deceleration
A /H
start operation stop)
10
( 10-94) instruction, start (PLC device:
operation point No.. defaults)
When control mode
PARAMETER SETUP
is not position
control, when the
following action is
carried out,
select alarm or
neglect.
• Deceleration stop
• Operation Start
* Control Request • Yes
mode alarm • Standby release • No
• Restart Operation - - － ○ ○ ○ －
A /H (Yes:
• M-code OFF
( 10-95) instruction defaults)
• Zero return
request
• Request moving
to home
• Request cycle
interruption
• Speed change
request
• JOG+/JOG－
Access window • Japanese Set only in servo amplifier
language Set servo amplifier • English access window.
A /-
access window - ○ ○ ○ ○ -
(Japanese: (Impossible to set in MV
display language.
( 10-95) defaults) LINK STUDIO. )
Access window
contrast Set servo amplifier Set only in servo amplifier
access window 3 to ９ - access window. -
A /- ○ ○ ○ ○
(6: Default)
contrast. (Impossible to set in MV
( 10-95) LINK STUDIO. )
10-23
10-3 Parameter List Speed Common setting
Speed Parameter List
In speed parameter, set point parameter " Speed No." corresponding value in position control mode for
each axis.
■ Speed
Parameter
name Position Speed
ue pulse ation
No.1 to No.16
Set the operation coordinate System parameter
A /H 1 to 99999999 ○ - - - -
speed. unit/s "Coordinate unit"
( 10-96)
Common Set Parameters List
common parameters of all axes.
10 ■ KV-HPD1
Parameter
PARAMETER SETUP

Name Position Speed
ue pulse cation
Write protection Set write protection • No
May also set from
-/ H of teaching unit (KV- • Yes - ○ ○ ○ ○ -
MV LINK STUDIO.
( 10-97) HPD1). (No: defaults)
Demonstration
operation/JOG Prohibit action of KV- • No
May also set from
disable HPD1 demonstration • Yes - ○ ○ ○ ○ -
MV LINK STUDIO.
-/ H operation /HPJOG. (No: defaults)
( 10-97)
• Japanese
Language Set language
• English May also set from
-/ H displayed in teaching - ○ ○ ○ ○ -
(Japanese: MV LINK STUDIO.
( 10-97) unit (KV-HPD1).
defaults)
Set whether buzzer

Buzzer • OFF
of teaching unit May also set from
-/ H • ON - ○ ○ ○ ○ -
(KVHPD1) sounds or MV LINK STUDIO.
( 10-97) (ON: defaults)
not.
10-24
Common setting 10-3 Parameter List
■ Others
Control mode*1 Indirect
Parameter
name Position Speed
ue pulse cation
• Immediate stop
• Immediately stops
＊Alarm stop
only when limit switch
mode Set stop method at
ON - - ○ - - - -
-/ H alarm.
( 10-98)
(Immediate stop:
defaults)
• All axes stop

＊Alarm stop Set whether only one
• Only stop the axis for When a part
Axis Select axis or all axes will be
which alarm occurs - alarms, all axes ○ ○ ○ ○ -
-/ H stopped in case of
(All axes stop: will be stopped .
( 10-98) alarm.
defaults)
Label No.
0 to 999999
-/ H Set label No.. - - ○ ○ ○ ○ -
(0: Default)
( 10-98)
If MV-L40 power OFF
SRAM Backup
for continuously more
than 2 months (25°C),
• Yes
10
Alarm SRAM backup content
• No - - -
PARAMETER SETUP
○ ○ ○ ○
-/ H will sometimes
• (Yes: defaults)
( 10-99) disappear. Select
whether alarm is
required here.
10-25
10-4 Servo Parameter
Servo Parameter Structure
Parameter that sets basic action of servo system is called servo parameter.
Please refer to "A-1 Control Block Diagram" (pageA-2).
Note
The parameter values that start with the character"*" will only be valid when the
power is restarted (MV-L40 and the servo amplifier) or the ìservo amplifier restart
relayî is restarted.
Classification Parameter name See page

*Electronic Gear (numerator) 10-27
Electronic gear
*Electronic Gear (denominator) 10-27
Tune mode 10-30
Response characteristic for automatic tune 10-31
Position gain 10-32
Speed Gain 10-32
Integral Time Constant 10-33
10 Feedfoward gain
Position instruction LPF
10-33
10-34
Speed instruction LPF 10-34
PARAMETER SETUP
Tuning
Torque instruction LPF 10-35
Feedforward LPF 10-35
Step noise filter 1 10-36
Step noise filter 2 10-36
Load of torque of inertia ratio 10-36
Anti-resonance frequency 10-37
Set gain 10-37
Path gain 10-37
Position gain 2 10-38
Speed gain 2 10-38
Tuning gain 2 Integral time constant 2 10-38
Torque instruction LPF 2 10-38
Load of torque of inertia ratio 2 10-38
*Time Constant for pulse train Input 10-39
*Format for pulse train Input 10-39
Manual pulse *Logic for pulse train Input 10-40
*Rotary Direction for pulse train 10-40
Input override of manual pulse generator 10-41
Zero speed detection 10-41
Speed limit 10-41
Speed instruction match range 10-42
Speed reach setting 10-42
Speed Command Unit 10-43
Speed
Speed Command Acceleration/deceleration Unit 10-43
Speed control acceleration 10-43
Speed control deceleration 10-43
Speed control acceleration time 10-43
Speed control deceleration time 10-43
10-26

[+] side torque limit 10-44
[-] side torque limit 10-44
Torque
Torque instruction acceleration time 10-44
Torque instruction deceleration time 10-44
Electromagnetic brake wait torque limit 10-45
Electromagnetic brake hold wait time 10-45
Electromagnetic brake release wait time 10-45
Brake/stop *Brake Resistance Select 10-46
Start time for electromagnetic brake engages 10-46
Stop Way 10-46
State after Stop 10-47
Positioning completion range 10-47
Too-high-deviation set value 10-50
Too-high-bias alarming 10-50
*Overload alarm 10-50
Others
*Speed 0 at servo ON 10-51
* Bias clear when servo OFF 10-51
Automatic changeover between proportion control 10-51
Automatic gain switching 10-52
Electronic Gear 10
PARAMETER SETUP
■ Electronic gear (numerator)/*electronic gear (denominator)
To convert position instruction (movement) based on ratio of Electronic Gear and then run servo motor.
Calculation of Electronic Gear can be realized by MV LINK STUDIO electronic gear calculation function.
Defaults 45 (Electronic Gear Numerator), 1 (Electronic Gear Denominator)
Setting range 1 to 65535
Important
• For some setting, servo motor will run at high speed. In case of high speed rotation,
please pay attention when applying for dangerous machine or old machine.
• When set electronic gear, please take the following range as rough standard. If it is set
beyond the range, machine tends to vibrate, sometimes noise might occur to servo motor.
Electronic gear (numerator): Gn
Electronic Gear (denominator): Gd
)P
İ İ
)F
• Electronic gear setting change is enabled when power ON. When changing setting,
please arrange servo amplifier control circuit power OFF ®ON for the time being.
• If the result obtained after converted by electronic gear ratio is not exactly
divisible, only execute to decimal point when moving. However, error below
decimal point may be accumulated and corrected, so error above instruction 1
PLS(mm, deg) will not occur.
10-27
Setting of electronic gear numerator/denominator is performed in "1" state, one revolution of motor axis
is equivalent to "131072" pulse (17 bit encoder resolution). When coordinate unit is not [PLS], but set to
[mm], [deg], only change display unit of access window, [PLS] is used to show movement in servo
amplifier.
Therefore, one revolution of motor axis is still equal to "131072 pulse".
The following describes calculation procedures for electronic gear in ball screw drive and belt conveyer
drive.
Example 1: calculation example of ball

screw drive Lead (pitch) 10mm
Condition: ball screw lead: PbÅÅ10mm

Index table
Deceleration ratio: n
Servo motor
When moving 1mm at 1000PLS
Ball screw
Electronic gear numerator: Gn

10 Electronic Gear denominator: Gd
Lead of ball screw˙Movement per rotation Mechanical movement related to comm

PARAMETER SETUP
of servo motor axis
Pbmm Gn 1mm
h n h
131072PLS/rev Gd 1000PLS
Encoder resolution = Instruction pulse per rotation Specified movement
Gn 1 131072 1
h h
Gd 1000 Pb n
131072 1
h
10000 n
8192 1
625 h
n
According to calculation above, deceleration ratio: when n=1/3, set electronic gear numerator to
"24576", electronic gear denominator to "625".
10-28
Example 2: calculation
Timing belt
example of belt conveyer Timing belt pulley
drive
Condition: belt pulley diameter:
d=100mm
Deceleration ratio: n
When moving 1mm at 100PLS

Electronic Gear denominator: Gd
Movement per rotation of servo motor axis Mechanical movement related to command
Ǹ࡮d mm Gn 1mm
h n h =
10
131072PLS/rev Gd 100PLS
PARAMETER SETUP
Encoder resolution = Instruction pulse per rotation Specified movement
Gn 1 131072 1
= h h
Gd 100 Ǹ࡮d n
131072 1
= h
100 3.14 100 n
16384 1
= h
3925 n
According to calculation above, deceleration ratio: when n=1/3, set electronic gear numerator to
"49152", electronic gear denominator to"3925".
Note
• If electronic gear denominator/numerator may be abbreviated, mantissa might
appear. If index table control is not used, mantissa error will not be accumulated,
however if index table is used, continuous rotation control towards one direction
will accumulate error.
• When electronic gear denominator/numerator uses value that cannot be exactly
divisible (e.g.: "0" etc), error will not accumulated.
The method of calculating servo motor rotating speed according to specified speed
Specified speed : FM coordinate unit/s
Servo motor rotating speed: Ms r/min
Electronic Gear denominator: Gd
)P
/U (O h h
)F
10-29
Tuning
■ Tuning mode
Select gain tuning method of Servo Amplifier. Generally, please set to "auto tuning＂(default).
To trimmer gain etc set values manually, and operate fixed set value, please set to ìmanual tuningî.
For enlarging ratio adjustment method of servo amplifier, please see "Setting Procedures"
(page 1-21)
Defaults Automatic tune
Setting Item Auto tuning/Manual tuning
● Automatic tune
Servo amplifier will deduce Load of torque of inertia ratio of machines at real time, always automatically
update to auto tune response match gain. At auto tune, the parameters updated automatically include
the following:
• Position gain
10 • Speed Gain
• Integral Time Constant
PARAMETER SETUP
• Torque instruction LPF

• Load of torque of inertia ratio
In case of auto-tune, the above mentioned parameters will always be updated automatically, so manual
set values are disabled. However, values set manually are saved in SRAM of MV-L40.
There are three methods to write auto-tuned and updated value in MV-L40 SRAM as follows.
• Transfer servo parameter through MV LINK STUDIO
MV LINK STUDIOUser Manual, 9-2 tuning
• Carry out AT parameter reflection operation from access window
"11-2 Access Window(Servo Amplifier)" (page 11-7)
• AT parameter reflection relay
"9-5 DM/Relay Function" (page 9-62)
In case of auto-tuning, if better result cannot be achieved, or in order to further tune responses, ìtuning
modeî may also be changed into ìmanual tuningî for manual set.
Note
When set servo parameter by manual mode,please firstly perform auto-tuning, take
obtained value as reference to change set value.
CAUTION To change servo parameter, amplitude of change value should not be too
large, and verify control result. If amplitude of change value is too large,
unexpected action might occur.
10-30
Note
• If AT parameter reflection or host transmission cannot be operated, auto-tuning result
will not be written in MV-L40 SRAM as set value.
When power on or restart, start operation from each set value saved to SRAM, so in the
first several cycle operations, machine might vibrate, and positioning set time is
relatively long. In order to prevent such phenomenon, after AT parameter reflection or
host transmission is operated, please write auto-tuning result in MV-L40 SRAM.
• If auto-tune does not meet the following operating condition, normal operation is
impossible.
Now, please "set tuning mode" to"manual tuning", manually set gain etc.
• Load inertia instant corresponding to motor inertia instant (Load of torque
of inertia ratio) is lower than 30 times.
• Acceleration/deceleration exceeds 0.5r/min/ms after converted to servo
motor axis rotation.
• In the process of acceleration/deceleration, if external force is exerted to drive part,
or machine suffers from excessive vibration, auto-tune cannot be carried out
normally. Now, please set ìtuning modeî to ìmanual tuningî, manually set gain etc.
■ Response characteristic for automatic tune 10

PARAMETER SETUP
To set driving system response when setting "Tuning Mode" to "Auto tuning".
When running Auto Tune, one shall set parameters meeting rigidity of mechanical system.
Standard for tuning responses characteristic is as follows.
Please also see "Tuning" (page 1-23).
Response
Rigidity Example for using device
characteristic setting
1 to 4 Low Large-scale carrier etc using timing belt, chain etc
4 to 8 Medium General working machine/carrier etc using ball screw etc
8 to 15 High Chip assembler, bonder, high precision working machine
set value Advantages Disadvantages

• It is hard for machine to produce • Servo motor response corresponding to position
Less than vibration instruction becomes slow.
• Positioning set time becomes long.
• Servo motor response corresponding to • It is easy for machine to produce vibration
Larger
position instruction becomes fast.
than
• Positioning set time becomes short.
Defaults 5
Note
• When machine rigidity is not clear, please set set value to "1" (minimum value),
tune to larger value slowly.
• If mechanical vibration occurs, or there is strange noise, please reduce set value.
10-31
■Position gain
Position control Manual pulse
To set the gain of position control cycle.

When "Tuning Mode" is set as "Auto Tune", it will automatically update from time to time, hence the
settings are disabled in this case. However, values set manually are saved in SRAM of MV-L40.
• It is hard for machine to produce vibration. • Servo motor response corresponding to
Less than position instruction becomes slow.
Larger
than
Unit 1/s
Defaults 30
Setting
1 to 3000
range
Note
Please see content after "Tuning mode"(page 10-30)"Automatic tune".
10
PARAMETER SETUP
■ Speed Gain
Position control Speed Control Manual pulse
To set the gain of speed control cycle.

Larger
than
Unit Hz
Defaults 50
Setting
1 to 2000
range
Note
10-32
■ Integral Time Constant

To set integral time constant of speed control cycle.

Less than position instruction becomes fast.
Larger
position instruction becomes slow.
than
Unit × 0.1ms
Defaults 200
Setting
5 to 10000 (when set value is 10000, integral action is disabled)
range
Note
Please see content after "Tuning mode"(page 10-30)"Automatic tune". 10
PARAMETER SETUP
■ Feedfoward gain
To set the gain of speed control feedforward cycle.

Larger
than
Unit %
Defaults 0
Setting
0 to 100
range
Note
Disable when set to "set gain", "path gain".
10-33
■ Position instruction LPF

To set low-pass filter of position control cycle.

Less than position instruction becomes fast.
Larger
position instruction becomes slow.
than
Unit × 0.1ms
Defaults 0
Setting
0 to 20000 (when set value is "0", filter is disabled)
range
Note
10 ■ Speed instruction LPF

PARAMETER SETUP
To set low-pass filter of speed control cycle.

Larger
than
Unit Hz
Defaults 2000
Setting
range
Note
10-34
■ Torque instruction LPF

To set low-pass filter of current control cycle.

If response speed is increased, at higher frequency, sometimes resonance will occur. Torque
instruction LPF has a function to prevent the above mentioned phenomenon. By cutting off higher
frequency component in torque instruction, make it relatively smoother curve.
Larger
than
Unit Hz
Defaults 600
Setting
range
10
Note
PARAMETER SETUP
■ Feedforward LPF
To set low-pass filter of speed control cycle.

Larger
than
Unit Hz
Defaults 2000
Setting
range
Note
• This parameter is disabled when "Feedforward gain" is set to be "0" %.
• Disable when set to "set gain", "path gain".
10-35
■ Notch filter 1/Notch filter 2

In specific frequency band, suppress mechanical resonance by reducing current control loop gain.
By setting "notch filter 1", "notch filter 2", you can install filter at two different frequencies.
Characteristic of notch filter is shown as follows.
Filter gain(dB)
0
-3
Frequency (Hz)
-0.62fn fn 0.62fn
fn: setting vaue of notch filter
Unit × 10Hz
Defaults 200
10 Setting
range
PARAMETER SETUP
TIP Notch frequency may be calculated using MV LINK STUDIO frequency specific function.
For details, please see MV LINK STUDIO User Manual.
■ Load of torque of inertia ratio

Set load inertia moment ratio for servo motor inertia moment.
settings are disabled in this case. Values set manually are saved in SRAM of MV-L40.
Unit %
Defaults 100
Setting
1 to 15000
range
Note
10-36
■ Anti-resonance frequency
Set anti-resonance frequency of vibration control.

"10-10 Vibration Control And Instruction Tracking Control" (page 10-104)
It is also enabled under auto tune state.

Unit Hz
Defaults 0
Setting range 0 to 100 (disabled at 0 to 4Hz)
TIP Antiresonance frequency may be calculated using MV LINK STUDIO frequency specific function.
In MV LINK STUDIO, calculate within the range of 10 to 100.
For details, please see MV LINK STUDIO User Manual.
■ Set gain
Position control
To set set gain of instruction tracking control. Adjust with reference to gain 1.
The larger the value, the shorter the set time, vibration/over-tuning etc tend to occur, please take notice.
Disabled under auto tune state.
10
It is disabled when setting ìPath Gainî (value other than 0) etc.
PARAMETER SETUP
Defaults 0
Note
Proportional control switchover, gain auto switchover are disabled.
■ Path gain
Position control
To set path gain of instruction tracking control. Adjust with reference to gain 1.
The larger the value, the smaller the position deviation, vibration/over-tuning etc tend to occur, please
take notice.
Disabled under auto tune state.
Defaults 0
Note
Proportional control switchover, gain auto switchover are disabled.
10-37
Tuning gain 2
Items of "tuning 2" are enabled when "Gain switchover relay" , I/O connector gain switchover (GAIN)
input (pin No. 10) ON.
[For Gain switchover relay, Please see "9-3 List of Output Relays" (page 9-15).
For gain switchover (GAIN) input, please see "I/O Connector's Pin Arrangement"(page 4-30).
Note
• Auto-tuned and updated values should not be saved in MV-L40 SRAM as "position
gain 2" "speed gain 2" "integral time constant 2" "torque instruction LPF2" "Load
of torque of inertia ratio 2".
TIP When position gain 2, speed gain 2, integral time constant 2, Load of torque of inertia ratio 2
are used on machine with changed Load of torque of inertia ratio, when load changes, they
are used to switch gain, increase responses of servo motor, or suppress vibration.
■ Position gain 2
10 The same function as "position gain".

"Position gain" (page 10-32)
PARAMETER SETUP
■ Speed gain 2
The same function as "speed gain".

"Speed Gain" (page 10-32)
■ Integral time constant 2

The same function as "integral time constant".

"Integral Time Constant" (page 10-33)
■ Torque instruction LPF 2

The same function as "torque instruction LPF".

"Torque instruction LPF" (page 10-35)
■ Load of torque of inertia ratio 2

The same function as "load inertia moment ratio".

"Load of torque of inertia ratio" (page 10-36)
10-38
Manual Pulse
■ Time constant for pulse train Input

Manual pulse
Set input time constant of pulse input (CW+, CW-, CCW+, CCW-) terminal (pin No. 37 to 40) in
manual pulse generator mode.
The correspondence between pulse train input time constant and pulse frequency is as follows.
pulse train input time Input pulse frequency
constant (μs) (kHz)
0.5 500
1 250
2 125
4 62.5
8 31.25
Unit μs
Defaults 0.5
Setting range 0.5/1/2/4/8
10
■ Format for pulse train Input
PARAMETER SETUP
Manual pulse
Set pulse input format in manual pulse mode.
Defaults A/B phase pulse input
Setting Item 2-pulse input/A/B phase pulse input/single pulse input
For the wiring of pulse entry, please refer to "4-7 Wiring I/O Connector" (page 4-27).
● Double pulse input

Input pulse train in CCW direction and pulse train in CW direction.
CCW pulse input ON

(CCW+,CCW- terminal) OFF
ON
CW pulse input
(CW+,CW- terminal) OFF
Servo motor rotating stop CCW stop CW stop
In the graph above, set pulse train input logic as "positive logic",
and set pulse trainārotation direction as "positive".
10-39
● A/B phase pulse input

Input pulse train of phase difference.
Phase difference pulse acts by 4 times.
CCW pulse input ON
(CCW+, CCW- terminal)
OFF
CCW pulse input ON
(CW+,CW- terminal)
OFF
Servo motor rotating stop CCW stop CW stop
In the graph above, set "*pulse train input logic" as "positive logic",
and set "*pulse train rotation direction" as "positive".
● 1-pulse input
Input pulse train and rotation direction.
CCW pulse input ON

(CCW+CCW- terminal) Rotation direction
OFF
CW pulse input ON
(CW+CW- terminal) OFF Pulse train
10 Servo motor rotating stop CCW stop CW stop

PARAMETER SETUP
In the graph above, set "*pulse train input logic" as "positive logic",
and set "*pulse train rotation direction" as "positive".
● Logic for pulse train Input

Manual pulse
Set input logic of pulse input (CW+, CW-, CCW+, CCW-) terminal in manual pulse mode.
Defaults positive logic
Setting Item positive logic/negative logic
● Rotary direction for pulse train

Manual pulse
Set pulse input rotation instruction and actual servo motor rotating direction in manual pulse mode.
Positive: rotate servo motor in the same direction as rotation direction of pulse input instruction.
Negative: rotate servo motor in the direction reverse to rotation direction of pulse input instruction.
Defaults Positive
Setting Item Positive/negative
TIP Current coordinate increase/decrease direction is determined by system parameter

"coordinate increase direction " setting.
10-40
■ Input override of manual pulse generator

Manual pulse
Set manual pulse input %.

Add this set value in "electronic gear"ratio.
Defaults 1
TIP Irrelevant with KV-HPD1 HP-JOG.
Speed
■ Zero speed detection

If servo motor revolution is lower than "zero speed detection" set value, "zero speed detection relay "ON.
For "zero speed detection relay ", please see "9-2 List Of Input Relays" (page 9-4).
Unit r/min
Defaults 50
10
PARAMETER SETUP
Note
The part less than 1r/min is discarded.
E.g., when "zero speed detection " set value is set to 0, even if it actually rotates at
0.5 r/min, it will also be deemed as in zero speed state.
■ speed limit
Set servo motor speed upper limit value to limit speed.

If it is this set value, "speed limiting relay" ON.
For "speed limiting relay", please see "9-2 List Of Input Relays" (page 9-4).
Unit r/min
Defaults 65535
Note
When servo motor rotates at speed over 6000r/min, overspeed alarm will occur
(alarm No. 193), speed limit will be disabled.
10-41
● Precautions at torque control mode

• In order to avoid being out of control, please set "Speed Limit".
• The min. setting of "Speed Limit" is 50r/min. If 0 to 49 is set, it will be deemed as 50.
• Regarding "Speed Limit" in torque controlling
• The purpose is to avoid motor from being out of control.
• No speed limit is carried out when motor is driven through different loads (regeneration state).
• If exceeding "Speed Limit", correct from speed control loop, adjust torque, and limit the
speed.
• Correction in speed limit will be lagged, therefore it is expected that excessive case will occur?
• When changing torque command value, if no value highly different from actual torque
(decreased) is set, the speed limit loop will continue to correct the torque.
(However, when torque command value =0, no correction on speed control loop will be
done.)
• When "Speed Limit DM enabling relay at torque control" is OFF, the setting of "Speed Limit" is
effective.
• When "Speed Limit DM enabling relay at torque control" is ON, the smaller one among the setting of
"Speed Limit" and that of "Speed command/Speed Limit DM at torque control" is effective.
■ Speed instruction match range

10 Position control Speed Control Manual pulse
PARAMETER SETUP
If speed deviation corresponding to speed instruction is within this setting range, "speed instruction
match relay" ON.
For "speed instruction match relay", please see "9-2 List Of Input Relays" (page 9-4).
Unit r/min
Defaults 50
■ Speed reach setting

If return speed exceeds this set value, "speed reach relay" ON.
[For speed reach relay , Please see "9-2 List Of Input Relays" (page 9-4).
Unit r/min
Defaults 1000
10-42
■ Speed Command Unit

Speed Control
Select the unit of value set in "speed instruction /torque control speed threshold DM" in speed control mode.
[For "Speed instruction/speed threshold DM at torque control ", please see "Normal
Communication Area"(page 9-30).
Defaults r/min
Setting range r/min / coordinate unit/s
Note
If "coordinate unit /s" is selected, electronic gear should be set.
■ Speed Command Acceleration/deceleration Unit

Speed Control
Select acceleration/deceleration unit in speed control mode.

Defaults ms
Setting range ms / Coordinate unit/s/ms
10
Note
PARAMETER SETUP
If "coordinate unit /s/ms" is selected, electronic gear should be set.
■ Speed control acceleration/deceleration

Speed Control
Set acceleration/deceleration in speed control mode.

Enable when "(coordinate unit) /s/ms" is selected in "speed instruction acceleration/deceleration unit".
Unit Unit of coordinate/s/ms
Defaults 10
Note
"speed control acceleration " / "speed control deceleration" set value is small, when
acceleration/deceleration time of 0 → 3000r/minexceeds 24000ms, actual
acceleration/deceleration time is limited in 24000ms.
■ Speed control acceleration/deceleration time

Speed Control
Set the time required to reach 0→3000r/min. Speed up at this acceleration.
Enable when "ms" is selected in "speed instruction acceleration/deceleration unit".
Unit ms
Defaults 0
10-43
Torque
Note
Torque unit in previous MV series is 1%, however, torque unit in MV high speed link
system is 0.1%, please take notice.
■ "+" side torque limit/"-" side torque limit

Limit servo motor torque.

To set, rated torque of servo motor=100.0%.
Set as per "+" side, "-" side respectively. ([+]/[-] side refers to increase/decrease direction of current
coordinate. )
In torque limit state, "torque limiting relay", torque limiting (TLM) output (pin No. 27) will ON.
However, torque limiting (TLM) output will ON in "manual pulse generator mode", "speed control
mode", "torque control mode".
10 For "torque limiting relay", please see "9-2 List Of Input Relays" (page 9-4).
For torque limiting (TLM) output, please see "I/O Connector's Pin Arrangement"(page 4-30).
PARAMETER SETUP
Unit 0.1%
Defaults 5000
Note
• To make "'+'terminal torque limit" and "'-' terminal torque limit" enabled, "'+'
terminal torque limit enable relay", "'-' terminal torque limit enable relay" must be
ON.
• E.g., even if torque limit is set to 500.0%, servo motor torque will also be limited to
actual motor max. torque. Now, even if "+" / "-" torque limit enable relay is not ON,
"torque limiting relay" will be ON. Torque limit will has deviation of ±10%.
• Through torque limit function, servo motor acceleration /deceleration time might
be longer than the time calculated according to acceleration, deceleration of
system parameter setting.
■Torque Instruction Acceleration Time/Torque Instruction Deceleration Time

Torque control
Set the time required to reach 0→rated torque time.

Unit ms
Defaults 0
10-44
Brake/Stop
Parameters related with electromagnetic brake and stop.

Please also see "A-3 Operation Sequence at Power Up" (pageA-24).
■ Electromagnetic brake wait torque limit

Limit the torque generated by servo motor in electromagnetic brake release waiting/holding waiting
progress.
This function is enabled in electromagnetic brake release wait /hold waiting state.
To set, rated torque of servo motor=100.0%.
Settings for "+" side, "-" side are common. ([+]/[-] side refers to increase/decrease direction of current
coordinate. )
Unit 0.1%
Defaults 1200*1
* E.g., even if set to 500.0%, servo motor torque will also be limited to actual motor max. torque. The above
mentioned limit will have deviation of ±10%. 10
PARAMETER SETUP
■ Electromagnetic brake hold wait time
Set wait time before electromagnetic brake hold power is produced from servo ON to servo OFF. When "stop
method" is "servo brake", servo motor is still excited through this set time amount, instruction speed 0.
Unit × 4ms
Defaults 75
TIP Make setting to prevent mechanical movement /drop caused by electromagnetic brake
action delay.
■ Electromagnetic brake release wait time

Set wait time before electromagnetic brake hold power disappears from servo OFF to servo ON. Set
this set time amount, "servo ready relay", "operation ready completion (RDY) output to OFF state
constantly. In addition, when "servo ON speed 0" is set to "ON", servo motor is still be excited through
instruction speed 0.
Unit × 4ms
Defaults 75
10-45
■ Brake Resistance Select

Select built-in brake resistor which uses servo amplifier or use external brake resistor (OP-51418).
Defaults Build-in
Setting Item Build-in/external
Resistance Permitted active power

Built-in brake resistor 35Ω5% 10W
External brake resistance 35Ω% 55W
Note
• If built-in brake resistor of servo amplifier is used, "*brake resistor selection" must
be set to "built-in".
• If set to "external", and do not connect with optional brake resistor, (not connect
with external brake resistor heating input (BOH)), alarm will occur.
• When optional brake resistor is used, heating of brake resistor might be greater.
Please consider the influence of heat on peripherals.
For brake resistor wiring, please see "Wiring Brake Resistor" (page 4-15).
10
■ Start time for electromagnetic brake engages
PARAMETER SETUP
Set the time from servo OFF or main circuit power OFF to stop "electromagnetic brake time relay"
ìelectromagnetic brake timing output (BRAKE)".
Unit ms
Defaults 0
TIP "Electromagnetic brake time relay", electromagnetic brake timing output (BRAKE) OFF.
Magnetic brake hold
"Electromagnetic brake time relay", electromagnetic brake timing output (BRAKE) ON.
Electromagnetic brake open
■ Stop Way
Select how to stop servo motor from servo OFF or main circuit power OFF.
Defaults servo brake
Setting range Dynamic brake servo brake free operation
Note
When alarm occurs in torque control mode, even if "stop method" is set to "servo
brake", also stop via dynamic brake. When main circuit power OFF, stop via servo
brake. When main circuit power OFF in torque control mode, stop via dynamic brake.
TIP Servo brake refers to force speed 0 when servo OFF to stop servo.
10-46
■ State after Stop

Select state after stop.

Defaults dynamic brake
Setting range Dynamic brake/free/ free (DB disable)
DB : dynamic brake
Note
"free (DB disable)" is enabled only when "stop method" is "free running".
"A-3 Operation Sequence at Power Up" (pageA-24)
Others
■ Positioning completion range

When position deviation is smaller than "IN-POSITION range"set value, change to ìIN-POSITIONî state.
"IN-POSITION relay ", IN-POSITION (INPOS) output (pin No. 25) will ON.
10
Range of in-position is set according to resolution of servo motor encoder. Encoder resolution is
PARAMETER SETUP
131072 PLS/rev, so, e.g., if set maximum value 32768 ENC_PLS, about 1/4 rotation quantity of servo
motor axis is in IN-POSITION range.
Unit Pulse number of encoder (ENC_PLS)
Defaults 4500
10-47
● In position control mode

When both "clear completion relay" and "IN-POSITION relay" are ON, "positioning completion relay",
positioning completion (FIN) output (pin No. 25) will ON.
For "positioning completion relay", please see "9-2 List Of Input Relays" (page 9-4).
For positioning completion (FIN) output, please see "I/O Connector's Pin Arrangement" (page 4-30).
In case "positioning completion range" set value is small
ON
pulseoutputcompleterelay
OFF
ON
Positioning finish relay
OFF
ON
Positioning completion
relay (FIN) OFF
In case "positioning completion range" set value is large
ON
10 pulseoutputcompleterelay
OFF
PARAMETER SETUP
ON
Positioning finish relay Positioning end
relay is turned
OFF ON before pulse
output complete
ON
relay ON
Positioning completion
relay(FIN) OFF
10-48
● In manual pulse mode

When position deviation is smaller than IN-POSITION range, IN-POSITION (INPOS) output (pin No.
25) will ON.
For positioning completion (INPOS) output, please see "I/O Connector's Pin Arrangement"
(page 4-30).
● Calculation procedures for positioning completion range

Calculation procedures of positioning completion range according to machine movement is as follows.
Example 1: calculation example of ball screw drive

• Ball screw lead: Pb=10mm
• Deceleration ratio: n
In the above mentioned condition, machine movement 20m is positioning completion range
Lead (pitch) 10mm
Index table
Servo motor
10
PARAMETER SETUP
Ball screw
Positioning finish range: Pi
Lead of ball screw=Movement per 1 rotation Machine movement within positioning end range
of servo motor axis Movement per rotation
Pbmm 20m
n =
131072PLS/rev Pi
Encoder resolution = Instruction pulse per rotation
20 h 10-3 h 131072
Pi =
10 h n
̯ 262
Therefore, set positioning end range as "262".
So, if deceleration ratio: n=1/3, positioning completion range is set to ì786î.
10-49
■ Too-high-deviation set value

If position deviation exceeds "deviation larger than setting" value, deviation larger than alarm will occur
(alarm No.209).
Encoder resolution is 131072 PLS/rev, so, e.g., if set maximum value 512 ENC_PLS, about 512/256
rotation quantity of servo motor axis is in IN-POSITION range.
Unit Pulse number of encoder× 256 (ENC_PLS)
Defaults 5120
■ Too-high-bias alarming
If position deviation exceeds"deviation larger than alarm" value, deviation larger than alarm will occur.
"Alarm relay" ON, "positioning set time/alarm No. DM" bit 13 will ON.
For "alarm relay", please refer to "9-2 List Of Input Relays" (page 9-4).
For "positioning set time /alarm No. DM", please see "DM List" (page 9-25).
10
Encoder resolution is 131072 PLS/rev, so, e.g., if set maximum value 512 ENC_PLS, about 512/256
PARAMETER SETUP
rotation quantity of servo motor axis is in IN-POSITION range.

Unit Pulse number of encoder× 256 (ENC_PLS)
Defaults 65535
■ Overload alarm
Set overload alarm output value. If set to “100”, no alarm will be given. If 100%, it is overload alarm.
When load factor is "overload alarm" set value, overload alarm is given.
"Alarm relay"ON, and "positioning set time /alarm No. DM" Bit14 also ON.
For "alarm relay", please refer to "9-2 List Of Input Relays" (page 9-4).
For "positioning set time /alarm No. DM", please see "DM List" (page 9-25).
Unit %
Defaults 90
10-50
■ Speed 0 at servo ON
In electromagnetic brake release wait time, whether forcedly set instruction speed to 0.
Defaults Yes
Setting Item Y/N
■ Bias clear when servo OFF

Manual pulse
Whether position deviation set in servo OFF, kept within servo amplifier is cleared as 0.
Defaults Yes
Setting range N/Y
CAUTION If set to "No", position deviation will not be cleared even if alarm is given.
Therefore, it will start running immediately after alarm is cleared when servo
ON again.
10
PARAMETER SETUP
Note
In position control mode, if servo OFF, position deviation is 0.
■ Automatic changeover between proportion control

Select the condition switching from proportional /integral (PI) control to proportional (P) control .
Defaults Always disabled
• Always disabled
• Always enabled
• Enable in zero speed state
• Disable in zero speed state
• Enable in speed arrival state
• Disable in speed arrival state
• Enable in speed match state
Setting range
• Disable in speed match state
• Enable in positioning completion state
• Disable in positioning completion state
• Enable in torque limit action state
• Disable in torque limit action state
• Enable in speed limit action state
• Disable in speed limit action state
Note
10-51
■ Automatic gain switching

Select condition for auto switch to gain 2.
(gain 2)
Position gain 2
Speed gain 2
Integral time constant 2
Torque instruction LPF 2
Load of torque of inertia ratio 2
Defaults Always disabled
• Always disabled
• Always enabled
• Enable in zero speed state
• Disable in zero speed state
• Enable in speed arrival state
• Disable in speed arrival state
• Enable in speed match state
Setting range
• Disable in speed match state
10 •
•
Enable in positioning completion state
Disable in positioning completion state
• Enable in torque limit action state
PARAMETER SETUP
• Disable in torque limit action state

• Enable in speed limit action state
• Disable in speed limit action state
Note
• Disable when set to "set gain", "path gain".
• In torque control mode, "enabled in speed limit operation state" and "disabled in
speed limit operation state" is disabled.
10-52
10-5 Point Parameter
Point parameter refers to specific point action parameter when setting position control mode. Set the
target coordinate, operation mode and speed no. etc.
It should be set for each unit separately.
Operation Mode
Position Control
Operation mode is divided into six categories according to number of operation axis, operation method,
control content and coordinate specified method.
Axissystem ㆇォ♽
ゲ♽ Operationsystem Controlsystem
೙ᓮ♽ Operationmode
Coordinate system േ૞ࡕ࡯࠼
ゲ
One axis ⁛┙ㆇォ
Single operation ૏⟎೙ᓮ
Position Control Absolute single/position/absolute
coordinate
Incremental single/position/increment
coordinate
૏⟎ဳㅦᐲ೙ᓮ
Position type speed (Incremental
coordinate)
[Position type speed/Deceleration]
control (Incremental [Posiyion type speed/inching]
coordinate)
2 to㨪ゲ
4 axes Linear
⋥✢⵬㑆ㆇォ interpolation ૏⟎೙ᓮ
Position Absolute linear/position/absolute
operation Control coordinate
Incremental linear/position/increment
coordinate
10
■ About Axis System
PARAMETER SETUP
When multiple axes are used for interpolation operation, initial axis is called "Interpolation master
axis" according to the sequence of X1, Y1, X2, Y2.
Number
Description
of axis
Control X1 axis, Y1 axis, X2 axis, Y2 axis independently.
1 axis For X1 axis, Y1 axis, X2 axis, Y2 axis of the same "Point No.", set different point parameter, and
single control of each other.
"X1 axis and Y1 axis", "X2 axis and Y2 axis" pair respectively for interpolation operation. Now,
X1 and X2 become interpolation master axis.
2 axis If X1 axis and Y1 axis pair to 2 axes linear interpolation operation, X2 axis and Y2 axis may
select single operation mode. Similarly, if X2 axis and Y2 axis pair to 2 axes linear interpolation
operation, X1 axis and Y1 axis may select single operation mode.
3 axis 3 axes (X1, Y1, X2) coordinate for interpolation operation. X1 is interpolation master axis.
4 axis 4 axes (X1, Y1, X2, Y2) coordinate for interpolation operation. X1 is interpolation master axis.
Note
• Under the multi-axes system operation mode (Linear/Position/Absolute, Linear/
Position/Increment), other than point parameters [Target Coordinate], [Cyclic
Incremental Movement] will be set at interpolation spindle.
Additionally, the following system parameters are enabled at interpolation master
axis spindle.
"Operation start speed", "Operation max. speed"
"Operation acceleration" "Operation acceleration curve" "Aceleration S-shape
slope"
"Operation deceleration" "Operation deceleration curve" "Aeceleration S-
shape slope"
• When running under multi-axes system operation mode, it sends Run Start
instruction to interpolation spindle.
10-53
■ About operation system

● Single operation
• Execute single control for each axis of axes.
By using the same Point No., it can set respectively movement of each axis.
• Can control axes at the same time. Axes can't run separately, but can do cooperating with
interpolation like linear interpolation.
● 2 axes linear interpolation operation

• Use 2 axes to control one operation.
In 2 axes linear interpolation operation, X1-Y1 axis, X2-Y2 axis coordinate with each other, control
one operation.
Linear interpolation state Single operation state

Y axis Y axis
X axis X axis
Shortest distance
10 Linear interpolation state
Y Y axis Deceleration (Cont-1)
PARAMETER SETUP
No deceleration (Cont-2)
Obstacle
X X axis
● 3/4 axes linear interpolation operation.

Use 3 axes or 4 axes, control like one operation.
Linear interpolation operation state of 3 axes
X2 axis
Y1 axis
X1 axis
10-54
■ About Control System

● Position Control
A control method that move axis to specified "Target coordinate" to represent position. It is classified
into 4 modes, collectively called "Position Control":
[Single/Position/Absolute], [Single/Position/Increment], [Linear/Position/Absolute], [Linear/Position/
Increment]
● Position type speed control

A way to controlling through moving direction and speed. 2 operation modes classified is as follows.
Position type speed ·deceleration: Operation until the Stop Sensor becomes ON. When ON,
decelerate stops.
Position type speed/inching ：When stop sensor ON, only move the quantity shown by
"Movement after stop sensor input" (incremental value), stop.
Speed Speed
Move specified distance
Distance Distance 10
PARAMETER SETUP
Stop sensor detection Stop sensor detection
Deceleratation Inching
■ About Coordinate System

● Absolute coordinate
When specifying target coordinate, take origin coordinate as reference to specify coordinate system
with movement distance to origin coordinate. The name is " □ □·□ □·absolute"operation mode,
specified by absolute coordinate.
Example In the following fig., to move object at A to B, the target coordinate will be set as "+100".
Then, when it moves from B to C, the movement is set as "+300". When it returns from
C to B, the movement is set as "+100".
B 100 C 300
A
100
Coordinate
0 100 200 300
(Origin)
10-55
● Incremental coordinate
When specifying target coordinate, take current coordinate as reference to specify coordinate system
with movement distance to current coordinate. The name is " □ □·□ □·increment"operation mode,
specified by incremental coordinate.
Example In the following fig., to move object at A to B, the target coordinate will be set as "+100".
Then, when it moves from B to C, the movement is set as "+200". When it returns from C to B,
the movement is set as "-200".
B C
A
+100 +200
㧙200
Coordinate
0 100 200 300
(Origin)
10 ■ Operation mode
PARAMETER SETUP
● [Single/Position/Absolute], [Single/Position/Increment]
Select only in case of single axis positioning control. Speed
Take "Origin coordinate" as reference, when set "Target
coordinate" operation, select [single/position/absolute]
mode.
Take current coordinate as reference, when use "Target Time
coordinate"to set afterward movement distance operation
(e.g. Inching movement etc), select [single/position/increment] mode.
• If stop sensor is enabled, when stop sensor ON, only Speed Stop sensor
move the movement after input, it will stop.
"Movement after Stop Sensor Input" (page 10-60)
Time
Movement after inputting
10-56
● Position type speed/Deceleration

• It cannot be set to "Standby (return)" in "Continuous operation mode".
(1)If next point is not set, after stop sensor ON, Speed
deceleration stops.
(1)
Time
Stop sensor ON
• Next point may set position control (only increment) and Speed
position type speed control. Next point
(2)In the diagram on the right, continuous operation is set (2)
to "Cont. 2", and set next point, next point speed is
faster than current speed. Time
Stop sensor ON
(3)Same as above, the diagram on the right shows an Speed
example of slower than current speed.
(3)
Next point
Time
Stop sensor ON
● Position type speed/inching 10

If ON after stop sensor input, and stop after moving
PARAMETER SETUP
Speed Stop sensor ON!
specified movement, select this setting.
• If movement after input is a relative small value,
sometimes it will stop without reducing to startup speed.
"Movement after Stop Sensor Input" (page 10-60) Time
• [Movement after Stop Sensor Input] is the incremental Stop after inching transferring
coordinate from starting stop sensor to deceleration
stopping.
• "Continuous operation mode" is "Standby (non-return)".
Point Use common positioning unit and servo amplifier combined system, input sensor to
positioning unit, stop it after moving certain movement from input point.
Now, subject to workpiece type and speed etc, position deviation in servo amplifier might be
different in case of sensor input, actual stop position will be deviated.
In MV-L40, move it by certain movement from sensor input, so it will not be influenced by
position deviation, stop position deviation will not occur to a great extent.
● [linear/position/absolute ], [linear/position/increment ]
Control several axes in the unit simultaneously. Axis moving path
is linear. Y axis
target coordinates
Take "Origin coordinate" as reference, when set "Target
coordinate" operation, select [linear/position/absolute ] mode.
Take current coordinate as reference, when use "Target
coordinate" to set later movement distance operation, select
X axis
[linear/position/increment ] mode.
10-57
Target Coordinate
Position Control
Specify the target (movement destination) coordinates.

Unit Determined by "Coordinate unit"
Defaults 0
-99999999 to 99999999
Setting range
Index0 to Index15*1
*1 please see "10-9 Indirect Parameter Specification" ( page 10-100 ).
Note
• When setting Position type speed/deceleration, [Target Coordinate] specifies run
direction, for 0 and positive value, it moves toward "+"; for negative, it moves toward "-".
• When setting Single/Position/Absolute mode, if [Target Coordinate] is the same with current
coordinate, under Single/Position/Increment, [Target Coordinate] will be set to be 0, even if
the movement is 0, it will not move and just carry out additional functions such as
"Positioning End Relay" (M code and dwell time), etc.
At linear interpolation, even if all movement of moving axes is 0, it only carries out such
additional functions as M code output and dwell time, etc.
10 • The incremental movement pulse No.s after converting into pulse is limited in -2147483648
to 2147483647. Once the movement exceeds above range, please set that by dividing it into
PARAMETER SETUP
several points, so that it will maintain continuous run.

• When Position type speed control position control runs in Cont-1 or -2, please set target
coordinate by incremental coordinate.
For relationship between motor rotation direction and coordinate in MV high speed link system, please
see "Relationship Between Direction of Rotation of Motor and Coordinate System" ( page 1-9).
10-58
Speed No.
Position Control
Speed Parameter No. is used to specify operation speed.

It will run in speed saved in Speed Parameter of this number.
For speed setting, please see "10-7 Speed Parameter" ( page 10-96 ).
Defaults 1
1to16
Setting range
Index0 to Index15*1
*1 When it is specified indirectly, the value saved in the data memory of indirect parameter area will become
run speed. Please note that this doesn't mean speed No..
For specific information related with indirect specification, please see "10-9 Indirect Parameter
Specification" ( page 10-100 ).
At linear interpolation, the speed set is peripheral speed (vector speed).

Control operation speed so that the time for running one point is over 50 ms.
For example, for X1 axis speed in 2 axes linear interpolation operation, the following foluma may be
used for calculation:
10
PARAMETER SETUP
X1, Y1 axis state Y axis speed
X1 axis movement Specify using speed No.
X1 axis speed hSpeed
X1 axis movement2 + Y1 axis movement2
X axis speed
X2, Y2 axis state
X2 axis movement
X2 axis movement2 + Y2 axis movement2
3 axes state
X1 axis movement hSpeed
X1 axis speed
X1 axis movement2 + Y1 axis movement2+X2 axis movement2
4 axes state
X1 axis movement
X1 axis movement2+Y1 axis movement2+X2 axis movement2+Y2 axis movement2
Stop Sensor Set
Position Control
To set whether to enable Stop Sensor. If it is checked, it is enabled.
When "Operation Mode" is "Position Type Speed Control", it is enabled.
Only when it is set as [Single/Position/Absolute/Increment], can one select to enable or disable Stop
Sensor.
10-59
Movement after Stop Sensor Input
Position Control
To set movement after stop sensor input.

This movement is enabled only when it runs under [Position type speed/inching] and [Single/Position/
Absolute/Increment].
First select the parameter in [Stop Sensor Setting] and then set it.
• [Movement after Stop Sensor Input] is the incremental coordinate from starting stop sensor to
deceleration stopping.
If the movement after inputting is "0", it will stop immediately. If the movement is small after inputting,
sometimes it will not drop to starting speed.
• For the movement after inputting, please set it a value equivalent to 2 ms. When lower than 2 ms, it
will have max. 4ms interval pulse.
speed
Unit Determined by "coordinate unit"
Defaults 0
10 0 to 99999999 startup speed

Setting range *1
Index0 to Index15 Time
Stop sensor ON! Movement after inputting
PARAMETER SETUP
*1 Please see "10-9 Indirect Parameter Specification" ( page 10-100 ).
Dwell Time
Position Control
The stop (standby) time after [Target Coordinate] and before next run is called "Dwell Time".
Set stop (standby) time.
Unit ms
Defaults 0
-32000 to 32000
Setting range
Index0 to Index15*1

The standby time will be different according to positive/negative setting of dwell time.
● When set to positive value

After operation is complete, axis is standby as per specified time.
Example After movement is complete, when set the time for workpiece to absorb vibration.
ON
Operation start
OFF
Positioning command Command in progress
Dwell time
10-60
● When set to negative value,

Before operation starts, axis is standby as per specified time.
Example After enabling external machine to run, and start to move
ON
Operation start
OFF
Dwell time
The actions of dwell time at [Continuous Operation Mode] are as follows.
● When set "Continuous 1"or, "Continuous 2"

• Neglect the interval time set in point parameter in the midway of operation.
• Run dwell time for initial point parameter at operation start after operation ends.
Speed
Point No.1 Point No.2 Point No.3
10
PARAMETER SETUP
Time
Ignore interval Ignore interval Dwell time of point No.1
● When interval time is set to negative value, and set "Standby (return)"or, "repeat
counts"
Before perform "Standby (return)", "repeat counts", neglect interval time.
Command in Command in Command in Command in

Positioning progress progress progress progress
command
Regular Return Cycle Return
Dwelltime
χ no interval no interval no interval
Operation start
10-61
Continuous Operation Mode
Position Control
Set the movement after reaching [Target Coordinate] and moving to [Next Point No.].
The moving is classified as Standby and Continuous and includes the following 4 settings.
Defaults Standby (no return)
Standby (no It keeps on standby if no next point is set. It moves to next point if next
return) point is set and "standby" is released.
Standby after deceleration stops. If standby is released, it returns to
Standby (return)
home coordinate.
Setting Item Once deceleration stops before [Start speed], when reaching to
cont 1 [Target coordinate], it moves continuously to [Target coordinate] set in
[Next point No.].
After arriving at the "target coordinates", it continues to move, until it
cont 2
arrives at the "target coordinates" specified in the "next point No.".
■ Standby (no return)
Speed Standby
10
PARAMETER SETUP
Next point
Time
Cancel standby ON
OFF
Note
If ＂Next point＂ is set, next point parameter will be read in the process of operation,
so when limit operation speed, always keep execution time of one point in excess of
50ms.
■ Standby (return)
Speed
Coordinate
Return (when canceling standby)
Note
If "Next point" is set, next point parameter will be read in the process of operation, so
when limit operation speed, always keep execution time of one point in excess of
50ms.
10-62
■ cont 1
Speed
Next point
[Operation startup speed]

Time
Deceleration stop temporarily
Note
In order to read next point parameter in the process of operation, operation speed
should be limited, so execution time of one point exceeds 50ms.
■ cont 2
Speed
Next point
Time
Not stop.
Note 10
• In order to read next point parameter in the process of operation, operation speed
PARAMETER SETUP
should be limited, so execution time of one point exceeds 50ms.
• If movement is "0", neglect this point, continue to perform subsequent next point.
Furthermore, if movement of continuous 3 points is "0", alarm occurs.
When set to "Continuous 2", operation has the following difference according to speed difference
between current point and next point.
● Speed of next point is lower than that of current point

Current point decelerates to speed at next point.
Speed
Decelerate during executing

current point.
Time
Point No. 1 Point No. 2
● Speed of next point is higher than that of current point

At next point, accelerate from current speed to speed at next point.
Speed
Accelerate during executing

current point.
Time
Point No. 1 Point No. 2
10-63
● Movement direction of next point is reverse

The same as operation of "Cont 1".
Speed
Time
Triangular drive
Note
• For interpolation operation, even if movement Y axis
direction of next point changes, it does not Don't decelerate under interpol
decelerate before start speed. In order to keep
composed speed constant, speed of individual
axes might change greatly. If influenced by
mechanical vibration etc problems, it should be
X ax
set to "Cont 1" mode.
10 • When peforming the operation shown in the

diagram on the right, since abrupt stop and
Y axis
㧔100, 1000㧕㧔1000, 1000㧕
operating action exist in X axis or Y axis
PARAMETER SETUP
direction, "Cont 1" operation should be

selected, or after stop at corners through ladder
program, resume immediately.
㧔100, 100㧕㧔1000, 100㧕
X axis
10-64
Next Point No.
Position Control
If several point parameters are used to set movement, the point No. of next point parameter is specified
as "Next Point No.".
If it is set as "0", it will not move to next point.
Defaults 0
Setting range 0 to100
Example "Next point No." of point No. 1 is "2"

"Next point No."of point No. 2 is "3"
"Next point No." of point No. 3 is "0"
Y axis Y axis Y axis
Point No. 2
Point No.3
Point No. 1
X axis X axis X axis

10
PARAMETER SETUP
Y axis
Point No. 1
Point No. 3
Point No. 2
X axis
TIP • Under position type speed control mode, after stop sensor ON (after deceleration stop for
inching), it may moves toward next point.
• It will alarm if run to next point by combining single running with interpolation running.
10-65
Cyclic Incremental Movement
Position Control
Set the movement for the added operation using increments, with the "Target coordinates" as the base
point.
Move cyclically by using position of [Cyclic Incremental Movement] as the new [Target Coordinate].
"repeat counts" movement can also be used to control palletization.
Defaults 0
-99999999 to 99999999
Setting range
Index0 to Index15*1
Note
• When "repeat counts" is set to be a value above "1", "Continuous Operation Mode" is
enabled under "standby".
• When cycle starts, it also monitors "Standby release relay".
• When it returns, movement will change based on "Target Coordinate" + "Cyclic
incremental movement"× "repeat counts".
10 Movement = "target coordinate" + "Cyclic incremental movement" × "repeat counts"
PARAMETER SETUP
repeat counts
Position Control
Specify how many times the axis will add operations to the specified position (Palletization
operations) after arriving at the "target coordinates".
It is available under [Single/Position/Absolute], [Single/Position/Increment], [Linear/Position/Absolute]
or [Linear/Position/Increment].
Defaults 0
0 to 65000
Setting range
Index0 to Index15*1
Note
• If it is set as "0", it will not carry out cyclic movement.
• If it is set as "65000", it will cycle for infinite times.
• Times set for movement, [Cyclic incremental movement].
• No cyclic movement can be done under "Position type speed/Deceleration" and
"Position type speed/inching".
TIP "Cyclic incremental movement " and

Speed
"repeat counts" are parameters for
Speed No.15
stack.
Please see "15-17 Changing Control 12000
Mode (position control to torque control)" (
Coo
0 10000 11000
page 15-39 ).
10-66
M Code Mode
Position Control
When operation starts or ends, it is able to control external devices other than motor by outputting
contact from servo amplifier. This output is called "M code".
Example of M code is shown as follows.
In WITH mode diagram, M code is output in the process of point operation, and adhesive brake is
opened.
In AFTER mode diagram, M code is output after point operation is complete, and sheet is sent to fixed
distance, cut off sheet using cutter.
Defaults WITH
WITH
Setting range
AFTER
WITH mode AFTER mode
Moving in progress Cutter
Sheet 10
M
PARAMETER SETUP
M
Brake
Adhesive
CPU unit MV-L40 CPU unit MV-L40
M code is divided into WITH and AFTER, operation is shown as follows.

If "Mcode No."is set to "0", this function is disabled.
10-67
With: When operation starts, "M code output in progress relay" is ON, "Code No." specified will be output.
"M code output in progress relay" keeps ON before M code becomes OFF under OFF
instruction.
Start operation M code OFF command OFF
(not change when operation ends)
Moving in progress Moving in progress
ON
M-code output in progress
OFF
ON
M-code OFF command
OFF
M-code No. output Outputting
WITH
AFTER: When operation ends, "M code output in progress relay" is ON, " Code No." specified will
be output.
"M code output in progress relay" keeps ON before M code becomes OFF under OFF
instruction.
Positioning finish To next point
Moving in progress Moving in progress Moving in progress
ON
M-code output in progress
OFF
M-code OFF command ON
OFF
10 M-code No. output Outputting
AFTER
PARAMETER SETUP
Operation of combined M code and other functions is shown as follows.

Combine with other
WITH AFTER
functions
After positioning is complete, output M
cont 1, 2 Output M-code when operation starts.
code of start point No..
Output M-code when operation starts. If
Output M-code when operation ends. If M
M code OFF instruction is not output,
Return/Cycle operation code OFF instruction is not output, next
next return/cycle operation will not begin.
*1 return/cycle operation will not begin.
If set to negative value (standby before If set to positive value (standby before
Dwell Time operation starts), output M code when operation ends), output M code when
interval time starts. *2 interval time ends. *3
*1
M-code outputting relay ON, then return to remain
Operation mode Operating Return Cycle Return

ON
M-code outputting relay (2)
OFF
ON (3)
M-code OFF command
OFF
(1) M code OFF command continue ON,
so just remain but inputting next M code.
M-code No. output Outputting Outputting

(1)M code OFF command has been OFF when M code output in progress relay
was reserved, so M code output relay ON.
(2) M code OFF command OFF M code outputting relay in cycle operation.
(3)M code outputting relay in next return operation was OFF, M code OFF
command OFF, so do return operation immediately after cycle operation.
10-68
*2
ON
OFF
ON
Interval
OFF
ON
M-code outputting relay
OFF
ON
M-code OFF command
OFF
M-code No. output Outputting
*3
ON
OFF
ON
Interval
OFF
ON
M-code outputting relay
OFF
TIP When M Code OFF instruction relay is ON, M Code Outputting relay is OFF.
M code output OFF
M-code outputting relay ON

OFF
10
ON
M-code OFF command OFF
M code OFF command M code OFF command

has been ON to wait M has been OFF to start
PARAMETER SETUP
code output. M code output.
■ About M code output

M code output in continuous 1 observes the following rule.
1 When M code mode is WITH, M code set for this point will be output in operation.
M Code Mode
M-code
Point No.1 Point No.2 Point No.3 Point No.4 (Next standby)
Point in excecuting WITH 101 WITH 102 WITH 103 WITH 104
M-code OFF command
output M code 101 102 103 104 0
2 When M code mode is WITH, after M code OFF instruction relay is ON, keep M code output of this piont.
If "M code OFF instruction relay" is kept ON, go to next point, M code of this point will not be output.
Point in excecuting Point No.1 Point No.2 Point No.3 Point No.4 (Next standby)
WITH 101 WITH 102 WITH 103 WITH 104
M-code OFF command
output M code 0 101 102 0 104 0
10-69
3 When M code mode is WITH, even there is a point where M code is 0, output state of M code will
not change.
Point No.1 Point No.2‫ޓ‬ Point No.3 Point No.4 (next standby)
Point in excecuting WITH 101 WITH 0 WITH 103 WITH 104
M-code OFF command
output M code 101 103 104 0
4 When M code mode of all operations is AFTER, after all pionts are complete, M code of start
point is output.
Point in excecuting Point No.1 Point No.2 Point No.3 Point No.4‫ޓ‬ (Next standby)
AFTER 101 AFTER 102 AFTER 103 ‫ ޓ‬AFTER 104
M-code OFF command
output M code 0 101 0
5 Even if M code mode of start point is AFTER, after WITH mode exists in the process, M code set
for this point is output, when operation is complete, M code will not be output.
10
Point No.1 Point No.2 Point No.3 Point No.4 (Next standby)
Point in excecuting AFTER 101 WITH 102 AFTER 103 AFTER 104
M-code OFF command

PARAMETER SETUP
6 Even if there is a point where M code mode is WITH, after M code is 0, operation is the same as
that of AFTER.
Point in excecuting Point No.1 Point No.2 Point No.3 Point No.4 (Next standby)
AFTER 101 WITH 0 AFTER 103 AFTER 104
M-code OFF command
10-70
M-code No.
Position Control
Output M-code No.. If it is set as "0", it will not output M code.

Defaults 0
Note
• When I/O connector is outputting M code (MCODE), it can also use M code (M0M4), M
code OFF instruction (MOFF).
• When output by using (pin No. 2832) M code of I/O connector, the setting range is "031".
• When M code is set to be more than "32", all M code outputs of I/O connector change
to OFF ("O").
Remarks
The comment shall not exceed 24 half-width characters. Not write MV-L40.
10
PARAMETER SETUP
10-71
10-6 System Parameter
System Parameters Structure
Set basic system parameters that are required for equipment itself. Structure of system parameters are
shown as follows.
Note
The parameter values that start with the character "*" will only be valid when the
power is restarted (MV-L40 and the servo amplifier) or the "servo amplifier restart
relay" is restarted.

Coordinate unit 10-73
unit
Position of decimal point 10-73
Operation startup speed 10-76
Operation max. speed 10-76
Operation acceleration 10-77
Operation acceleration curve 10-78
running speed
Operation S-shape acceleration slope 10-79
10 Operation deceleration 10-77
Operation deceleration curve 10-78
PARAMETER SETUP
Operation S-shape deceleration slope 10-79

JOG startup speed 10-80
JOG max. speed 10-80
JOG acceleration 10-80
JOG acceleration curve 10-81
JOG speed
JOG S-shape acceleration slope 10-81
JOG deceleration 10-80
JOG deceleration curve 10-81
JOG S-shape deceleration slope 10-81
Zero return startup speed 10-82
Zero return creep speed 10-82
Zero return running speed 10-83
Zero return acceleration 10-83
Zero return acceleration curve 10-84
Zero return S-shape acceleration slope 10-84
Zero return deceleration 10-83
Zero return Zero return deceleration curve 10-84
Zero return S-shape deceleration slope 10-84
zero return direction 10-84
Zero return method 10-85
Origin coordinates 10-86
Auto zero return 10-86
Home coordinate 10-86
Auto home position movement 10-86
Origin sensor polarity 10-87
Limit switch polarity 10-87
Input signal Limit switch switch 10-87
Stop sensor polarity 10-88
Emergency stop polarity 10-88
10-72

Backlash compensation 10-88
Coordinate increase direction 10-89
Nearest rotation angle control 10-89
INPOS detection time 10-90
[+] Software limit coordinate 10-93
[-] Software limit coordinate 10-93
* Servo ON mode 10-93
Others
* Absolute position detection system 10-94
*Origin/stop sensor input filter 10-94
*Input filter (other than origin/stop sensor) 10-94
* Position operation mode 10-94
* Control mode alarm 10-95
Access window language 10-95
Access window contrast 10-95
Unit
Set speed and coordinate unit displayed in each parameter.
■ Coordinate unit 10
PARAMETER SETUP
Use for setting coordinates settings or displayed units.
Setting
Description Remarks
Item
mm Mm -
Degree
deg The nearest rotation angle may be used.
(angle)
PLS pulse -
Note
Set "coordinate unit", speed unit and acceleration are shown as follows.
Coordinate unit speed unit acceleration unit
mm mm/s mm/s/ms
deg deg/s deg/s/ms
PLS PLS/s PLS/s/ms
■ Decimal point position

When the "Coordinate unit" is set to mm (millimeter) or deg (angle), you can set number of digits after
decimal point.
Current coordinate is displayed by decimal point.
When ìcoordinate unitî is set to PLS (pulse), now disable setting.
10-73
Setting Item Description Remarks

None no decimal
0.1 1 digit after the decimal point
0.01 2 digits after the decimal point
Note
• When set to "nearest rotation angle", 5 digits are permitted after decimal point.
• When MV LINK STUDIO is used for changing decimal point position, the following
dialog box will appear.
10
Select "No" button
PARAMETER SETUP
Only change decimal point position. Because do not convert user coordinate, so "target
coordinate" etc set value content changes.
It is not required to change"electronic gear".
Select "Yes" button

Change decimal point position, correct it automatically to keep "target coordinate" etc set
value. However, if compensation result exceeds maximum value (minimum value), it is
maximum value (minimum value).
(now, individual information is lost in automatic conversion.)
Through auto conversion, ìelectronic gearî should be set again, so the following dialog box
appears.
Select "No" button

Do not set electronic gear, exit directly.
Select "Yes" button

Recalculated through "electronic gear calculation" dialog box.
10-74
TIP Parameters that information might loss are shown as follows.

(parameters influenced by position of decimal point)
Point parameter
• Target coordinate
• Movement after Stop Sensor Input
• Cycle relative movement
System parameter
• Operation speed startup speed
Max. speed
Acceleration
Deceleration
• JOG speed startup speed
High speed
Acceleration
Deceleration
• Zero return startup speed
Creep speed
running speed 10
Acceleration
PARAMETER SETUP
Deceleration
Origin coordinates
Home coordinate
• Other [+] Software limit coordinate
[-] Software limit coordinate
Speed Parameter
• No.1-No.16
10-75
Running Speed
Set operation speed, acceleratioin.
■ Operation startup speed

Position control
When start from standstill, if motor is started at fast speed, movement time may be reduced. This speed
is called "operation start speed".
Speed
max. speed
startup speed
Time
Unit coordinate unit/s

Defaults 0
0 to 99999999
10 Setting range
Index0 to Index15*1
*1 Refer to "10-9 Indirect Parameter Specification" (10-100).

PARAMETER SETUP
TIP • Larger torque is required for start. Considering motor torque, please set to below the
speed sufficient for start.
• Value of stop speed is the same as start speed.
• If operation speed is lower than "operation start speed", start with operation speed.
■ Operation max. speed

Position control
Set upper limit of speed.

Even if value over "max. operation speed" is set, speed parameter will be limited to "max. operation
speed" of this setting.
Speed
max. speed
startup speed
Time

Defaults 500000
10-76
Note
When servo parameter "speed limit" (r/min) set value is less than "max. operation
speed" (coordinate unit /s), upper limit of servo motor speed is changed to set value
of "speed limit".
■ Operation acceleration, Operation deceleration

Position control
Operation acceleration : Set speed rate (acceleration) from "operation start speed" to operation speed
during operation.
Operation deceleration : Set speed rate (deceleration) from "operation speed" to "operation start
speed" (stop speed) during operation.
The higher the acceleration/deceleration is, the quicker the acceleration, and the shorter the moving
time will be.
If set as "65000", it will start at operation speed.
Acceleration Deceleration
acceleration
Speed
Deceleration
Speed
Speed Speed
10
PARAMETER SETUP
Time Time Time
In the case of smaller value In the case of smaller value In the case of large
In the case of larger value
Unit mm/s/ms,deg/s/ms,PLS/s/ms
Defaults 10
1 to 65000
Setting range
Index0 to Index15*1
*1 Refer to "10-9 Indirect Parameter Specification" (10-100).
Important
• Acceleration/deceleration is set through three factors, i.e. Slope (acceleration/
deceleration), curve (acceleration/deceleration change),
S-shape slope (curve range).
• When set acceleration/deceleration, please keep operation acceleration/
deceleration time within 65535ms (about 65s).
10-77
Example Calculate the time from operation start speed to operation speed. Conditions are shown as
follows.
Startup speed : 1000 PLS/s
Operation speed: 100000 PLS/s
Acceleration : 1000 PLS/s/ms
Arrival time =(running speed-operation start speed) /acceleration
=(100000-1000)/1000
=99ms
It takes about 99ms from operation start speed to operation speed.
Speed
Operating speed
10000PLS/s
Operation startup speed

1000PLS/s Time
99ms
■ Operating acceleration curve/operating deceleration curve

Position control
10
Operation acceleration curve : Set speed change from "operation start speed" to "operation speed".
PARAMETER SETUP
Operation deceleration curve: Set speed change from "operation speed" to "operation start speed"
(stop speed)
• To change speed with constant acceleration (deceleration). Speed changes in linear.
Linear (LINE)
• The max. value of the acceleration (deceleration) becomes minimal.
• Sin (-90 to 90°) curve is used in operation acceleration curve to change speed.
Sine • Sin (90 to 270°) curve is used in operation deceleration curve to change speed.
• Change of acceleration (deceleration) speed is the smoothest.
Acceleration change Output pulse change Deceleration change Output pulse change
Acceleration Pulses Deceleration Pulses
Time Time Time Time
Acceleration Pulses Deceleration Pulses
Time Time Time Time
Defaults Sine
Setting range Linear (LINE)/Sine
10-78
■ Operation S-shape acceleration slope/operationS-shape deceleration slope

Position control
Operation S-shape acceleration slope : When "Sine" is set in operation acceleration curve", specify which
range in Sin (-90 to 90°) is used.
Operation S-shape deceleration slope : When "Sine" is set in operation deceleration curve", specify
which range in Sin (90 to 270°) is used.
When "operation acceleration curve"/ "operation deceleration curve" is set to "linear", this set is disabled.
When set to 100%, change to previous "operation acceleration curve"/ìoperation deceleration curve".
The smaller the value is, the closer to linear acceleration/linear deceleration.
Unit %
Defaults 100
When set "operation S-shape acceleration slope" to "50", change to sin(-45 to 45°) curve.
90°
45°
0°
10
PARAMETER SETUP
-45°
-90° 50%
100%
TIP "Operation S-shape acceleration slope" in the diagram is set to 50%. In this setting, it is
basically linear acceleration. Effective range of S-shape acceleration slope should be set to
50 to 100%.
When set "operation S-shape deceleration slope" to "50", change to sin (135 to 225°) curve.
90°
135°
180°
0°
225°
270° 50%
100%
10-79
JOG Speed
In the progress of inputting JOG signal, operation at fixed speed is called JOG operation. Here, set
parameters required by JOG operation.
TIP "JOG speed" is a parameter with consideration of manual tuning etc, different from common
operation purpose.
■ JOG startup speed

Position control
To set startup speed when operating.
For startup speed, please see "Operation startup speed" ( page 10-76).
Defaults 500
Note
When "JOG startup speed" set value is larger than system parameter "max. operation
speed" or servo parameter "speed limit", it will be limited.
10
■ JOG high speed
PARAMETER SETUP
Position control
Set high speed for JOG operation.
Defaults 5000
Note
When "JOG high speed" set value is larger than system parameter "max. operation
speed" or servo parameter "speed limit", it will be limited.
■ JOG acceleration/deceleration
Position control
JOG acceleration : set speed rate (acceleration) from "JOG start speed" to "JOG high speed".
JOG deceleration : set speed rate (deceleration) from "JOG high speed" to "JOG startup speed" (JOG
stop speed).
The larger this value is, the faster the acceleration (deceleration) becomes, and the shorter the
movement time is.
JOG acceleration if set to 65000, start at JOG high speed.
If JOG deceleration value is set to ì65000î, stop immediately from current speed.
For acceleration/deceleration, please see "Operation acceleration, Operation deceleration" ( page
10-77).
Defaults 10
10-80
■ JOG acceleration curve/deceleration curve

Position control
JOG acceleration curve : set speed change from "JOG start speed" to "JOG high speed".
JOG deceleration curve : set speed change from "JOG high speed" to "JOG start speed".
Linear (LINE)
• Sin (-90 to 90°) curve is used in JOG acceleration curve to change speed.
Sine • Sin (90 to 270°) curve is used in JOG deceleration curve to change speed.
For acceleration curve/deceleration curve, please see "Operating acceleration curve/operating

deceleration curve" ( page 10-78).
Defaults Sine
■ JOG S-shape acceleration slope/JOG S-shape deceleration slope

Position control
JOG S-shape acceleration slope : When "Sine" is set in JOG acceleration curve", specify which range in sin
10
(- 90 to 90°) is used.
PARAMETER SETUP
JOG S-shape deceleration slope : When "Sine" is set in JOG deceleration curve", specify which range in
sin (90 to 270°) is used.
When "JOG acceleration curve" / "JOG deceleration curve" is set to " linear", this set is disabled.
When set to 100%, change to previous "acceleration curve"/ "deceleration curve". The smaller the
value is, the closer to linear acceleration/linear deceleration.
For S-shape acceleration slope/S-shape deceleration slope, please see "Operation S-shape
acceleration slope/operationS-shape deceleration slope" ( page 10-79).
Unit %
Defaults 100
10-81
Zero Return
Moved object returning to origin is called zero return.

For track of zero return, please see "A-2 Zero Return" (page A-4).
Speed in [+]
direction
Origin Start point

[-] direction [+] direction
Speed in
[-] direction (zero return creep speed)
(zero return startup speed)
(zero return operation speed)
(zero return acceleration) (zero return deceleration)
Origin sensor
CAUTION If the absolute position detection system is not used, the current coordinate
will be cleared to 0 when the power is turned on.
10 Please perform zero return before starting operation if required.

PARAMETER SETUP
■Zero return startup speed

Position control
To specify the start speed when returning to origin and moving to home position.
Defaults 0
Important
If the "Zero return high speed" is larger than the "Zero return speed", the "Zero
return start speed" is based on the "Zero return speed".
■ Origin return creep speed

Position control
The speed used when zero returning towards the origin. Generally, even immediate stop will not
influence speed.
Defaults 500
10-82
TIP Difference exists in setting of creep speed for zero return. Please set appropriate creep
speed for zero return according to actual workpiece.
• Time of zero return may be
Creep speed of zero return is fast reduced
• Error of stop position is large
• Zero return takes a long time
Creep speed of zero return is slow
• Error of stop position is small
■ Zero return running speed

Position control
Set operation speed when moving to zero return, home position.

Operation speed of zero return, please set to the speed that stop is impossible before equipment is
influenced when detecting CW/CCW limit switch.
Defaults 5000
■ Zero return acceleration/deceleration 10

Position control
PARAMETER SETUP
Zero return acceleration: in case of zero return, speed rate (acceleration) from "zero return start
speed" to "zero return operation speed".
Zero return deceleration: in case of zero return, speed rate (deceleration) from "zero return operation
speed" to "zero return start speed".
The larger the zero return deceleration is, the faster the acceleration (deceleration) becomes, the
shorter the movement time is.
If zero return acceleration is set to "65000", start directly from operation speed of zero return.
If zero return deceleration is set to "65000", stop immediately from current speed.
For acceleration/deceleration, please see "Operation acceleration, Operation deceleration" ( page 10-77).
Defaults 10
10-83
■ Zero return acceleration curve/deceleration curve

Position control
Zero return acceleration curve : Set speed change from "zero return start speed" to "zero return
operation speed".
Zero return deceleration curve : Set speed change from "zero return operation speed" to "zero return
start speed".
Linear (LINE)
• Sin (-90 to 90°) curve is used in zero return acceleration curve to change speed.
Sine • Sin (90 to 270°) curve is used in zero return deceleration curve to change speed.
For acceleration curve/deceleration curve, please see "Operating acceleration curve/operating

deceleration curve" ( page 10-78).
Defaults Sine
■ Zero return S-shape acceleration (deceleration) slope

10 Position control
PARAMETER SETUP
Zero return S-shape acceleration slope: "When "Sine" is set in zero return acceleration curve",
specify which range in sin (-90 to 90×) is used.
Zero return S-shape deceleration slope : "When "Sine" is set in zero return deceleration curve",
specify which range in sin (90 to 270×) is used.
When "zero return acceleration curve" / "zero return deceleration curve" is set to ìlinear", this set is disabled.
When set to 100%, change to previous "acceleration curve" / "deceleration curve". The smaller the
value is, the closer to linear acceleration/linear deceleration.
For S-shape acceleration slope/S-shape deceleration slope, please see "Operation S-shape
acceleration slope/operationS-shape deceleration slope" ( page 10-79).
Unit %
Defaults 100
■ Zero return direction

Position control
Select zero return start direction and operation direction just before zero return ends.
Defaults [-] direction
[-] direction "-" direction (current coordinate decreasing direction)
Setting range
[+] direction "+" direction (current coordinate increasing direction)
10-84
■ Zero return method

Position control
Set zero return method.

Defaults ORG edge (without Z-phase)
ORG edge (without Z-phase) Use CW/CCW limit switch and origin sensor for zero return.
Use CW/CCW limit switch and origin sensor for zero return.To
use the medium point of the range of the origin sensor start ON
ORG middle (without Z-phase) as the origin point. Compare with setting to "ORG edge (without
Z phase)", even if light income of origin sensor deteriorates,
return completion position is hardly subject to time change.
[-] without ORG edge -direction (current coordinate decreasing direction) limit switch
(without Z-phase) as origin sensor for zero return.
Takes the position where origin sensor and Z phase both ON as origin.
Within the range of origin sensor, when Z phase only ON once,
make selection.
Z-phase normal ON
Setting range Origin sensor
OFF
ON
Z-phase
10
OFF
Takes the position where origin sensor and Z phase both ON as origin.
Within the range of origin sensor, when Z phase ON above
PARAMETER SETUP
twice, make selection.
If it is located in origin sensor range, firstly move out of the
range once, start to operate at creep speed (final stage of origin
Z-phase rear
detection), so, zero return will need more time.
ON
Origin sensor
OFF
ON
Z-phase
OFF
For track of zero return, please see "A-2 Zero Return" (page A-4).
Note
When set to without "-" LS ORG edge (without Z phase), please pay attentin to the
following points.
• Please connect the sensor with origin sensor (ORGS) and limit switch on one
side(CCW_LS or CW_LS: should be determined according to parameter setting).
10-85
■ Origin coordinates
Position control
Set current coordinate when zero return is complete.

Origin coordinate is usually set to "0". Origin coordinate may be offset through this function. Offset may
be set through absolute coordinate with reference to origin.
Defaults 0
Setting range -99999999 to 99999999
■ Auto zero return

Position control
Set when servo ON input after power on, so as to perform zero return.
When absolute position detection system is not used, in case of power OFF, current coordinate of servo
motor will not be held. Now, please perform zero return.
When servo amplifier restarts, do not perform auto zero return.
Defaults No
10 Setting range
No Zero return is not performed after power ON when servo is ON.
Yes Zero return is performed after power ON when servo is ON.
PARAMETER SETUP
TIP Use absolute position detection system, as long as one zero return is performed, every time
when power ON, zero return is not required any more.
For absolute position detection system, please see "14 ABSOLUTE POSITION
DETECTION SYSTEM" (page 14-1).
■Home coordinate
Position control
To set the target coordinates for moving to the home position.

Home coordinate is set via absolute coordinate. When home position is not used, this setting is
unnecessary.
Defaults 0
TIP "Move to Home Position" (page 9-83)
■ Auto home position movement

Position control
Make setting, so that it could auto move to home when zero return is complete.
When zero return is not performed, this setting is unnecessary.
Defaults No
No Do not perform auto moving to home.
Setting range
Yes When the zero return is done, the axis will auto move to home.
10-86
Input Signal
■ Origin sensor polarity

To set the input polarity of the origin sensor.

When zero return is not performed, this setting is unnecessary.
Defaults N.O.
When the origin sensor input is ON, the sensor is ON. This item is selected
N.O.
Setting when the origin sensor is of NO type.
range When the origin sensor input is OFF, the sensor is ON. This item is selected
N.C.
when the origin sensor is of NC type.
■ Limit switch polarity

Set limit switch input polarity.

For safety, please use N.C.(normally closed) type (normally closed contact) limit switch recommended
by us as possible.
10
PARAMETER SETUP
Defaults N.C.
When CW or CCW limit switch is ON, the sensor is ON.
N.O.
Setting Select this item when the limit switch is a normally open type.
range When CW or CCW limit switch is OFF, the sensor is ON.
N.C.
Select this item when the limit switch is a normally closed type.
TIP Normally closed contact limit switch, normally, output contact is closed, in abnormal condition,
output contact will open. In normal condition, if cable is broken, connector is disconnected,
contact will open to detect hardware abnormity.
■ Limit switch changing

To switch CCW limit switch (CCW_LS) and CW limit switch (CW_LS) wiring, use software for switchover.
In case wiring is complete, it is easy to switch.
Defaults Normal
Treat according to wiring of I/O connector CCW limit switch (CCW_LS), CW
Normal
Setting limit switch (CW_LS).
range Use software to switch wiring of I/O connector CCW limit switch (CCW_LS),
converse
CW limit switch (CW_LS).
10-87
■ Stop sensor polarity

To set the input polarity of the stop sensor. Stop sensor, detect according to signal increase edge /
decrease edge.
When stop sensor is not used, this setting is unnecessary.
Defaults N.O.
When the stop sensor input is ON, the sensor is ON. This item is selected
N.O.
Setting when the stop sensor is of NO type.
range When the stop sensor input is OFF, the sensor is ON. This item is selected
N.C.
when the stop sensor is of NC type.
■ Emergency stop polarity

To set emergency stop input polarity.

For safety, please use N.C.(normally closed) type (normally closed contact) emergency stop switch
recommended by us as possible.
10 Defaults N.C.
When emergency stop ON, ON.
N.O.
PARAMETER SETUP
Setting Select this item when the emergency stop switch is a normally open type.
range When emergency stop OFF, ON.
N.C.
Select this item when the emergency stop switch is a normally closed type.
TIP Normally closed contact emergency stop switch, normally, output contact is closed, in
abnormal condition, output contact will open. In normal condition, if cable is broken,
connector is disconnected, contact will open to detect hardware abnormity.
Others
■ Backlash compensation
Position control
Rocking of device (gear etc) is called backlash. Here, set backlash compensation.
When rotation direction is reverse, backlash will appear. In case of reverse, pulse of specified
movement will be output additionally to compensate backlash. Only enable in single operation mode.
Unit Encoder resolution (ENC_PLS)
Defaults 0
10-88
● Setup Method
Consider this when setting.
• When starting operation, if reverse to previous rotation direction, output additional pulse.
• When power ON, sometimes current coordinate will only show backlash compensation change. Zero
return is needed when power ON as required.
• After backlash movement is changed, please always perform zero return.
■ Coordinate increase direction

Set rotating direction (CW/CCW) of motor when current coordinate changes towards +direction (increasing).
For motor rotation direction, please see "Relationship Between Direction of Rotation of Motor and
Coordinate System" (page 1-9).
Defaults CCW
Take motor rotation direction with current coordinate changing along "+"
CCW
direction as CCW.
Setting range
Take motor rotation direction with current coordinate changing along "+"
CW
direction as CW.
■Nearest rotation angle

10
PARAMETER SETUP
Position control
In case of rotation movement, select a direction with smaller movement to current angle automatically,
rotate to target coordinate.
Enable only when "coordinate unit” is set to “deg".
Defaults No
No No nearest rotation angel control is executed.
Use absolute coordinate, when specifying angle in point parameter,
Setting range
Yes select a direction for which movement to current angle is smaller for
rotation.
rotate towards small movement
10-89
Note
Rotating movement has the following limit.
• Movement excedding 180° is changed into reverse.
• When coordinate is set under 0° or exceeding 360°, it is changed into the range of 0 to
360°.
• When incremental coordinate is used for specification, approach control is not
executed, it only rotates by specified angle.
• When starting operation, change the management coordinate (current coordinate) to a
value within the range of 0 to 360°. However, the above mentioned processing will not
be executed for JOG operation and moving to home etc actions.
• When management coordinate is exceeded (-2147483648 to 2147483647), angle
cannot be converted normally.
• It is impossible to use linear interpolation, Software limit.
■ INPOS detection time

Position control
10
When accumulated pulse No. is below specified value( “IN-POSTION range”), "IN-POSTION relay" will ON.
When set value is 1 to 5000, after positioning instruction is complete, within set time (ms), if "IN-
POSTION relay" is not ON, it is deemed as alarm.
PARAMETER SETUP
When set value is 0, do not monitor IN-POSTION state.

ÅmTo set "INPOS detection time", "moving relay" etc will confirm IN-POSTION state first, OFF. Ladder
program consistent with actual action may be generated. Please see time chart later.
Note
Consider this when setting.
• Detection starts after normal operation, JOG operation etc all positioning
instructions are complete.
• In linear interpolation, check "positioning completion relay" of all axes related with
interpolation. In addition, execute detection within the shortest set time.
Time chart for whether to perform INPOS detection is shown as follows.

Unit ×10ms
Defaults 0
Note
• In case of "continuous", INPOS is not detected.
• In case of "standby", after entering IN-POSTION state, enter standby state.
10-90
● Legends
MOVE: moving (MOVE) INPOS: Positioning end (INPOS) FIN: Positioning completion (FIN)
Before (in instruction progress) in the diagram represents change of movement direction.
● Moving in progress (MOVE)

Without INPOS detection With INPOS detection
INPOS wait in progress
㧔Command in progress㧕 MOVE (Command in progress)

MOVE
INPOS INPOS
Output Output
completion *1 completion *2
FIN FIN
● Return

10
(+Command in progress) (-Command in progress) (+Command in progress) (-Command in progress)
PARAMETER SETUP
MOVE MOVE
INPOS INPOS
Output completion *1 Output

completion *1
FIN FIN
Return in progress Return in

progress
It is ON until next point starts. It is ON until next point starts.
Cancel standby *2 Cancel standby *2
● Dwelling
MOVE (Command in progress) (Command in progress)

MOVE
INPOS INPOS
Output Output
FIN FIN
Dwell in Dwell in
progress (Dwell time) progress (Dwell time)
*1
*1 The state
The state without
without next
next point
point after
after output
output completion.
completion.
INPOS wait in progress relay is also ON.
*2
*2 Do not
Do not execute
execute return
return ifif "cancel
"cancel standby"
standby" is
is not
not ON.
ON.
10-91
● Legends
MOVE: moving (MOVE) INPOS: Positioning end (INPOS) FIN: Positioning completion (FIN)
Before (in instruction progress) in the diagram represents change of movement direction.
● M code output (AFTER)

MOVE (Command in progress˅ (Command in progress)

MOVE
INPOS INPOS
Output Output
FIN FIN
M-code M-code
㧔AFTER㧕㧔AFTER㧕
● Moving to home position
10 Without INPOS detection With INPOS detection

PARAMETER SETUP
MOVE Command in progress

(Command in progress)
MOVE
INPOS
INPOS
Output
completion *1 Output
completion *1
FIN
FIN
Home position
Home position
Moving in progress
Moving in progress
● JOG
Command in progress
MOVE (Command in progress)
MOVE
INPOS INPOS
Output Output
Not output FIN. Not output FIN.
FIN FIN
JOG JOG
*1 The state without next point after output completion.

*2 Do not execute return if "cancel standby" is not ON.
10-92
■ Software limit [+] side coordinate/Software limit [-] side coordinate

Position control
Set limit value of coordinate that moves to "-" direction (current coordinate decrease direction)/"+"
direction (current coordinate increase direction). Use software for limit detection.
If set to "0", do not perform Software limit detection.
Defaults 0
To detect Software limit, the following limit exists.

• No Software limit can be used for nearest rotary angle control.
Note
Hardware limit switch should be installed on a position that machine cannot exceed.
Therefore, when sensor fails, limit switch cannot be detected, device might be
damaged. In order to prevent the above mentioned accidents, it is recommended to
use Software limit switch at the same time.
Examp
Moving range 10
PARAMETER SETUP
CW limit switch CW limit switch
Software limit Software limit
■ Servo ON mode
et whether to execute servo ON instruction based on external input, or use PLC relay.
Defaults PLC device
PLC device Execute servo ON instruction through "zervo ON relay".
Setting range
External input Execute servo ON instruction through I/O connector input.
Note
In case of external input, even if "operation enable relay" is not ON, servo will be ON.
For PLC device, both "operation enable relay" and "servo ON relay" ON, servo ON.
10-93
■ Absolute position detection system

Set whether to use absolute position detection system.

When absolute position detection system is used, lithium battery for optional absolute position
detection system should be used (OP-51422).
Defaults Not used
Not used Do not use absolute position detection system.
Setting range
used Use absolute position detection system.
For specific content of absolute position detection system, please see "14 ABSOLUTE POSITION DETECTION
SYSTEM" (page 14-1).
■ Origin/stop sensor input filter

Set origin sensor (ORGS), stop sensor (STOP) input time constant for I/O connector.
If input time constant is reduced, under vibration output by sensor, false operation might occur. Now,
please set to optimal time.
Defaults 250μs
Setting range
10 250μs/1ms/2ms/5ms
■ Input filter (other than origin/stop sensor)

PARAMETER SETUP
Set other than origin sensor, stop sensor input time constant for I/O connector.
If input time constant is reduced, under vibration output by sensor, false operation might occur. Now,
please set to optimal time.
Defaults 5ms
Setting range 3ms/5ms/10ms
■ Position operation mode

Position control
Set operation mode in position control mode.

Select set method of operation start instruction, operation start point No..
Defaults PLC device
Use PLC device to execute start operation instruction, set
PLC device
start operation point No..
Setting range External input
Execute start operation instruction, set start operation point
External input (not
No. from I/O connector input.
deceleration stop)
Differentce between external input and external input (not deceleration stop)
When "external input" is selected, in the process of point operation, even at decrease edge of start
operation instruction input (START), deceleration stops.
When "external input (not deceleration stop)" is selected, in the process of point action, even at
decreasing edge of start to run instruction input (START), do not perform deceleration stop.
For start operation instruction, please see "6-1 Detailed I/O Functions" (6-2).
10-94
■ Control mode alarm

Speed Control Torque control Manual pulse
Select alarm or neglect for control mode other than the following position control when operating the
following action.
• Operation Start Request
• Standby release
• Restart operation
• M-code OFF instruction
• Zero return request
• Move to home position
• Request cycle interruption
• Speed change request
• JOG+/JOG-
Defaults Yes
Setting range N/Y
■ Access window language

10
PARAMETER SETUP
Set servo amplifier access window display language.
Set only in servo amplifier access window.
Defaults Japanese
Setting range Japanese/English
■ Access window contrast

Set servo amplifier access window contrast.

Set only in servo amplifier access window.
Defaults 6
10-95
10-7 Speed Parameter
Speed Parameter
Position Control
Operation speed may be enterred as "Speed parameter" in advance.

Change of operation speed will switch speed parameter No..
In speed parameter, set corresponding value of point parameter "Speed No.".

Setting items are shown as follows.
Items Contents to be set
Unit Determined by "Coordinate unit "
speed No.1: 1000 speed No.9 : 9000
speed No.2: 2000 speed No.10: 10000
Defaults
10 Setting range
speed No.8: 8000
1 to 99999999
speed No.16: 60000
PARAMETER SETUP
10-96
10-8 Common Set Parameters
Set common parameters of all axes.
Note
The parameter values that start with the character "*" will only be valid when the
power is restarted (MV-L40 and the servo amplifier) or the "Servo amplifier restart
relay" is restarted.
KV-HPD1
■ Write protection
In order to avoid changing parameter by mistake, write protect can be used in KV-HPD1.
Defaults No
No KV-HPD1 may work normally.
Setting Item
Yes Write protection.
Note
When Write Protect is set, it can also carry out demo operation and JOG.
10
PARAMETER SETUP
■ Demonstration operation/JOG disable
Select whether or not to disable demo operation or JOG (HP-JOG).

Defaults No
Setting Item Y/N
■ Language
Switch the display language of KV-HPD1.

Defaults Japanese
Japanese Display KV-HPD1 in Japanese.
Setting Item
English Display KV-HPD1 in English.
■ Buzzer
Set buzzer of KV-HPD1.

Defaults ON
OFF Stop buzzer of KV-HPD1.
Setting Item
ON KV-HPD1 adopts common buzzer.
10-97
Others
■ Alarm stop mode

Position control
Set stop operation at alarm.

Defaults Immediate stop
Immediate stop Stop immediately at alarm.
Immediately stops
Except some alarms for immediate stop, as long as external limit switch
Setting Item only when limit
is ON, it will stop immediately. Decelerate to stop at other alarms.
switch ON
Deceleration stop To decelerate to stop at alarm other than some alarms.
For some alarms (immediate stop alarm independent of setting), please see "A-4 Alarm and
Remedy" ( page A-33).
Note
"Alarm Stop Mode" setting is enabled only at Position Control mode. Under Speed
Control, Torque Control, and Manual Pulse Generator mode, only Immediately Stop
mode is valid.
10
PARAMETER SETUP
■ Alarm Stop Axis Selection

It is for setting the stop operation at alarm when extension unit is used.
Defaults All axes stop
All axes stop All axes will stop once an axis alarms.
Only stop the axis
Setting Item for
Only stop the axis for which alarm occurs other than part alarms.
which alarm
occurs
For some alarms (immediate stop alarm independent of setting), please see "A- Alarm List" ( page A-33).
■ Label No.
It is for setting managing parameters e.g. date, etc. when setting parameters.
This setting will be ignored when carrying out no parameter management.
Defaults 0
Setting Item 0 to 999999
10-98
■ SRAM Backup Alarm

The SRAM backup contents may be lost when MV-L40 power OFF for more than 2 months (25 °C).
Select whether alarm is required here.
Defaults Yes
Yes It displays alarm when SRAM backup contents disappear with power ON.
Setting Item It displays no alarm with power ON even if SRAM backup contents disappear,
No
and only copy the data saved in Flash ROM to SRAM.
Note
The following actions will be executed when power is on regardless of the parameter
setting.
• When SRAM contents have not disappeared, read the data saved in SRAM into Flash
ROM.
• When SRAM contents disappeared, copy data in Flash ROM to SRAM.
• When it exceeds the hold time for SRAM backup, and MV-L40 power is OFF for long
time, please turn on power temporarily or read into Flash ROM by "Flash ROM read
request relay". Especially when using absolute position detection system, please
do write into Flash ROM.
"Write Flash ROM" (page 9-90)
10
PARAMETER SETUP
TIP Data saved in SRAM
• Parameter
• Alarm log
• The screen information when the KV-HPD1 is last turned OFF
Data written in flash memory

• Parameter
10-99
10-9 Indirect Parameter Specification
Parameter Indirect Specification
Parameters that are specified indirectly may be selected in each parameter set value range "index0 to
Index15".
"10-3 Parameter List" (page 10-4)
Generally, when changing "target coordinate", "Speed No.", "repeat counts" etc parameters, parameter
read request relay and write request relay must ON/OFF, ladder program will become trivial, this also
influences operation time.
"Read/Write Parameters (change parameters)" (page 9-91)
If parameter indirect specification is used, only write value in indirect parameter area, there is no need
to execute complicated ladder program. If parameters are changed frequently, this will influence
scanning time.
■ Parameter indirect specification chart

CPU unit‫ޓ‬MV-L40
10
PARAMETER SETUP
Transmit
MV LINK STUDIO
Point parameter point No.3 Point parameter target coordinate data
No.1 20000
Carry out data transfer after Index0 is set in "target
No.2 50000
coordinate".
No.3 $80000000
No.4 100000
KV STUDIO / KV BUILDER
• Ladder program Hexadecimal is saved in point No.3 "
• Setting information in unit editor target coordinate".
"Indirect parameter area and DM
No." (page 10-101)
When target coordinate of point No.3 is required
It may be seen that Index 0 is used according to hexadecimal value.

In addition, use unit editor, DM No. distributed in Index 0 of indirect parameter area may be seen.
Example Assuming that in unit editor, DM No. distributed in indirect parameter area is DM10164 to
DM10195, [DM10164/DM10165] is distributed in Index0.
Actually requried "target coordinate" value is [DM10164/DM10165] value, so use this value.
TIP If [DM10164/DM10165]value is changed from ladder program and touch board,

set value may be changed simply.
10-100
■ List of parameters that may be specified indirectly

Parameters that may be specified indirectly are shown as follows.
Parameters that may be specified indirectly
"target coordinate"
"speed No."
"Movement after Stop Sensor Input "
Point parameter
"Pause Time"
" Cycle relative movement "
" Cycle times "
"Operation startup speed "
System parameter "Operation acceleration "
"Operation deceleration "
■ Indirect parameter area and DM No.

Ν : Leading DM No.
Parameter
Indirect
Index 2 word 1 word
parameter DM No.
No丏 Without
Area With sign Without sign With sign
Index0 Indirect parameter 0 Ν +164,165 $80000000 $FFFFFFF0 $FFF0

sign
$8000
10
Index1 Indirect parameter 1 Ν +166,167 $80000001 $FFFFFFF1 $FFF1 $8001
PARAMETER SETUP
Index10 Indirect parameter 10 Ν +184,185 $8000000A $FFFFFFFA $FFFA $800A
Index11 Indirect parameter 11 Ν +186,187 $8000000B $FFFFFFFB $FFFB $800B
Index12 Indirect parameter 12 Ν +188,189 $8000000C $FFFFFFFC $FFFC $800C
Index13 Indirect parameter 13 Ν +190,191 $8000000D $FFFFFFFD $FFFD $800D
Index14 Indirect parameter 14 Ν +192,193 $8000000E $FFFFFFFE $FFFE $800E
Index15 Indirect parameter 15 Ν +194,195 $8000000F $FFFFFFFF $FFFF $800F
Example "target coordinate"set value range is -99999999 to 99999999, so belongs to 2 words

range with sign.
When Index0 is set in "target coordinate", hexadecimal transferred to MV-L40 is
$80000000.
For parameter set value range, please see "10-3 Parameter List" (page 10-4)
10-101
Note
• There are 16 indirect parameters, they are common within the unit (MV-L40).
• Indirect parameter unit is 2 words. If indirect specification only occupy 1 word parameter
(repeat counts etc), the most front 1 word (Index0 Ν +165) 0 must be written.
• When indirect specification is used in " Speed No.", actual speed value is set in indirect
parameters, but not speed No.value (1 to 16).
• The value of indirect parameter area will be read when point operation starts. During point
operation, even if the value of indirect parameter is changed, it still can start the
parameter running at operation.
• In case of continuous operation, determine parameters of 3 pionts (independent operation
condition) in advance to obtain operation content. Therefore, if 4 points are operating,
when the first point starts, read 1 to 3 point (s), when move to action of the second point,
read the parameter of the fourth piont. In case of interpolation operation, acquire 5 points
in advance. Before point operation, please do not change values.
• Indirect parameter value communicates with CPU unit for a long time. Refresh cycle is
CPU scanning time or scanning time within MV-L40 about 10ms, whichever is longer.
TIP Generally, when specifying parameters indirectly, set in MV LINK STUDIO in advance,
however, indirect specification of parameters may also be done using ladder program.
10 For example, when "target coordinate"is set to indirectly specified, use ladder program to
read point parameter, write hexadecimal of "Indirect parameter and DM No." table in "target
PARAMETER SETUP
coordinate DM", and execute point parameter write-in.

For parameter read/write, please see "Read/Write Parameters (change parameters)"
(page 9-91).
Example X1 axis point No.1 target coordinate is set to indirect parameter 0, and start to run.
X1 axis "request reading point parameter relay" :R32103

X1 axis "point parameter reading finish relay" :R30103
X1 axis "point parameter reading error relay" :30203
X1 axis "request write point parameter relay" :R32100

X1 axis "point parameter write finish relay" :R30100
X1 axis "point parameter write error relay" :R30200
X1 axis "point No. specified DM" :DM10114

X1 axis "target coordinate DM" :DM10200/DM10201
Indirect parameter 0 (Indirect parameter area) :DM10164/DM10165
"request write flash memory ROM relay" :R32200

"flash memory ROM write completion relay" :R30300
"flash memory ROM write error relay" :30304
10-102
Reference
CR2002 R32000
Default setting
enable
R32010
Default setting
X1 servo
R30000 R30108 R00500

ready ready end
*1 display
R10000 R30000 R30001 R32103R30203 #00001 R32103 Read point No. 1 of point
Ė DW SET parameter.
Changing X1 X1 X1 point X1 point DM10114 X1 point
indirect operation axis moving parameter parameter X1 point No. parameter
parameter in progress read requestread error specification read request
command ready
R30103 R30203 R30100R30200 R32103 $80000000 R32100 Set indirect parameter 0 as target
RES DW.L SET coordinate of point No.1
X1 point X1 point X1 point X1 point X1 point DM10200 X1 point
parameter parameter parameter parameter parameter X1 target parameter
read complete read error write write error read request coordinate write request
complete
R30100 R30200 R32100 R30300R30304 R32200
RES SET Write into point parameter
X1 point
parameter
X1 point
parameter
write complete write error
X1 point
parameter
write request
Write flash Write flash
ROM completeROM complete
Write flash
ROM request 10
R30300 R30304 R32200
PARAMETER SETUP
Write to flash ROM
RES
Write flash Write flash Write flash
ROM complete ROM error ROM request
R10001 R30000 R30108 R30001 R30010R30210 DM10025 +100 #00001 R32003 After saving value in DM
Ė DW.L DW SET corresponding to indirect
Operation X1 X1 X1 X1 X1 #00000 DM10164 DM10114 X1 operation parameter 0 (target coordinate),
start operation servo ready axis moving operation operation X1 Indirect X1 point start request starts oepration from point No.1.
command ready in progress start requeststart error current parameter No.
accept control 0
R30010 specification R32003
mode RES
X1 operation X1 operation
start request start request
R30210 R00501
Ė SET Verify operation start malfunction
X1 operation start error Operation
start error
display
*1 NC contact of "moving in progress relay" will be needed in position control mode.
10-103
10-10 Vibration Control And Instruction Tracking Control
Vibration Control
■ Vibration control concept

Vibration suppression control is treated by position control filter.
Anti-resonance point frequency determined according to mechanical properties is set as filter
parameter to suppress vibration.
When machine arm etc machines accelerate/decelerate, front end of workpiece will vibrate. In this
system, operability may be increased by suppressing the vibration.
TIP Vibration control is enabled only in position control mode, manual pulse mode.
It is also enabled under auto tune state.
■ Setting Item
Set anti-resonance frequency of the device.
Servo parameter "anti-resonance frequency": 5 to 100Hz (1Hz unit, 0 to 4Hz disable)
■ Calculation method of anti-resonance frequency

10 Method 1: Measure vibration at front end of workpiece. Anti-resonance frequency =1/(vibration period).
Method 2: Anti-resonance frequency set value reduces slowly from 100Hz (maximum value), calculate
PARAMETER SETUP
frequency value when vibration stops.

Method 3: Use MV LINK STUDIO frequency to determine function.
However, anti-resonance frequency range that may be calculated by MV LINK STUDIO is 10
to 100Hz.
■ Precautions
• In the following case, vibration control cannot work normally, or no effect could be seen. In addition,
sometimes frequency cannot be determined either.
• Equipment that anti-resonance frequency exceeds 100Hz
• Equipment in which vibration is hard to transfer to motor end
• Equipment with very huge friction
• Under specific frequency, as motor will have vibration, it must be done at a safe position so that the
equipment will not be damaged.
• In case of abnormity, emergency stop must be executed.
• In servo ON state and zero speed state, frequency may be determined.
• In the process of determining frequency, if stop due to servo OFF or alarm stops, correct frequency
value cannot be determined.
10-104
Instruction Tracking Control
Instruction tracking motor action reduce positioning set time and position deviation.
■ Precautions
• If set to auto tuning, instruction tracking control is disabled.
• Since tuning is made according to gain 1, so appropriate gain must be determined through auto
tuning, and set gain 1 first.
In addition, the following parameter set values are disabled in case of instruction tracking control.
• "Feedforward gain"
• "Position instruction LPF"
• "Speed instruction LPF"
• "Feedforward LPF"
• Slope control switch, gain switch are disabled.
• If "Set gain" and "track gain" are set, track gain is enabled.
■Set gain
Servo parameter "Set gain": setting range: 0 to 9 (0: disable)
10
Instruction tracking motor action may reduce positioning set time.
PARAMETER SETUP
Note: the larger this set value is, the higher the trackability will become, the smaller the positioning set
time is, however, it is easier to produce vibration/overtuning.
■ Path gain
Servo parameter "track gain": setting range: 0 to 9 (0: disable)
Instruction tracking motor action may reduce position deviation.

Note: the larger this set value is, the higher the trackability will become, the smaller the position
deviation is, however, it is easier to produce vibration/overtuning.
10-105
MEMO
10
PARAMETER SETUP
10-106
11
ACCESS WINDOW
This chapter describes operations in the access window.
11-1 Access Window(CPU unit) •••••••••••••••••••••••••••••• 11-2

11-2 Access Window(Servo Amplifier) •••••••••••••••••••••• 11-7
11-1
11-1 Access Window(CPU unit)
This section describes how to monitor setup o f MV-L40 through the access window of the CPU unit.
For the specific content of access window, please refer to the following manuals.
"KV-1000 Series PLC User's Manual", "KV-700 Series PLC User's Manual"
Operation Method
1 Press the direct access switch of the MV high-speed link unit MV-L40.
Direct access switch
2 The access window of the CPU unit will display the monitor screen of the MV-L40.
3 Press the “ “ key of the CPU unit.

A menu will be displayed.
11
ACCESS WINDOW
4 Press the “ “ key of the CPU unit.

Switch to the display screen that is selected in step 3.
11-2
Menu Structure
The structure of the access window is shown as follows.
Monitoring Axes
X1 axis control mode
Y1 axis control mode
X2 axis control mode
Y2 axis control mode
X1 axis return torque
Y1 axis return torque
X2 axis return torque
Y2 axis return torque
X1 axis return speed
Y1 axis return speed
X2 axis return speed
Y2 axis return speed
X1 axis load rate
Y1 axis load rate
X2 axis load rate
Y2 axis load rate
X1 axis peak current
Y1 axis peak current
11
ACCESS WINDOW
X2 axis peak current
Y2 axis peak current
X1 axis regenerative load rate
Y1 axis regenerative load rate
X2 axis regenerative load rate
Y2 axis regenerative load rate
Relays X1 axis input relay Start +0 to 4ch

Y1 axis input relay Start +5 to 9ch
X2 axis input relay Start +10 to 14ch
Y2 axis input relay Start +15 to 19ch
X1 axis output relay Start +20 to 22ch
Y1 axis output relay Start +23 to 25ch
X2 axis output relay Start +26 to 28ch
Y2 axis output relay Start +29 to 31ch
Each time the “ “ key of the CPU unit is pressed, the display screen will be switched once. (It will be
switched in reverse order when the “ “ key is pressed.)
11-3
■ Monitoring
Axes
X1 axis control mode Y1 axis control mode
X2 axis control mode Y2 axis control mode
X1 axis return torque Y1 axis return torque
11
ACCESS WINDOW
X2 axis return torque Y2 axis return torque
X1 axis return speed Y1 axis return speed
X2 axis return speed Y2 axis return speed
11-4
X1 axis load rate Y1 axis load rate
X2 axis load rate Y2 axis load rate
X1 axis peak current Y1 axis peak current
X2 axis peak current Y2 axis peak current
11
ACCESS WINDOW
X1 axis regenerative load rate Y1 axis regenerative load rate
X2 axis regenerative load rate Y2 axis regenerative load rate
11-5
■ Relays
Each time the " " is pressed, the screens of the start ch to start +31ch of the above relays will be
switched.
If an alarm occurs, the red light of the direct access switch will light up. If the direct access switch is
pressed, the alarm No. will be displayed in the access window.
The alarm No. of the alarm that occurs on X1 axis will be added by 1000 and displayed.
The alarm No. of the alarm that occurs on y1 axis will be added by 2000 and displayed.
The alarm No. of the alarm that occurs on X2 axis will be added by 3000 and displayed.
The alarm No. of the alarm that occurs on Y2 axis will be added by 4000 and displayed.
11 For the information about alarm No., refer to "A-4 Alarm and Remedy" ( page A-33 ).
ACCESS WINDOW
11-6
11-2 Access Window(Servo Amplifier)
The display at the front of the servo amplifier and the operation keys below the display are called"
access window". In the access window, the settings of the parameters, the operation states and
alarm messages etc., can be displayed.
The display is a LCD that can display 12 character x 4 line text (Japanese/English). In normal
operation, the color of the display is green, and it will change to red when an alarm occurs, through
which the state of operation can be recognized at a glance.
There are 5 operation keys, which can be operated in a simple way.
Name and Function of Each Part of the Access Window
This chapter describes the name and function of each part of the access window.
1. Display window
Display operation status, set value and alarms, etc..
Green for normal operation and red for alarms.
2. Setting/operation keys
The mode can be switched or the set value in every mode
can be changed.
Setting/operation keys have the following functions.
11
ACCESS WINDOW
Setting/
General function When changing values
operation keys
Changes to the higher level menu. Cancels change of setting.
Displays the parameter comment that is set
up in the comment edit function of theMV Moves the position of digit of the setting value.
LINK STUDIO.
Changes page.
Can also be used to change options when Adds the setting.
changing a setting.
Changes page.
Can also be used to change options when Subtracts the setting.
changing a setting.
When pressed for more than 1s, changes When pressed for more than 1s, changes
to setting change mode. the setting.
TIP In the "axis comment/point comment" that is set up in the comment edit function of the MV
LINK STUDIO , the "axis name" ill be written when the servo amplifier is started.
If the "axis name" has been changed, it will be reflected when the amplifier is restarted.
11-7
Modes of the Access Window (servo amplifier)
The access window has the following 5 modes.

(1)Monitoring
Performs the following 3 types of monitoring.
• Servo monitoring : displays the content that is related to the operation state of the servo motor.
• I/O monitoring : displays the input/output state of the I/O connector.
• Positioning monitoring: displays the operation state of the positioning operation. (position control
mode only)
(2) Tuning
Sets the tuning mode and the override of the servo parameters.
11
(3)Parameters
ACCESS WINDOW
Displays/sets the following 4 parameters.

• Servo : displays/sets the servo parameters.
• Point : displays/sets the point parameters. (position control mode only)
• Speed : displays/sets the speed parameters. (position control mode only)
• System : displays/sets the system parameters.
Note
The parameters that have been specified indirectly can not be changed through the
access window.
The displayed content is a value, instead of a device No.
TIP The general setting parameters can not be displayed/set through the access window.
11-8
(4)Test operation
Performs the JOG operation and point operation manually.
• JOG : performs the JOG operation. (position control mode only)
• Point operation : performs the point operation after the point No. is set. (position control
mode only)
• Forced output : outputs the control output of the I/O connector forcibly.
• Coordinate change : changes the current coordinate.
(5)Alarm reset
Resets an alarm.
Note
• If the cause of a alarm has not been removed, the alarm will occur again.
• When some alarms are reset, the power will need to be turned on again. 11
ACCESS WINDOW
11-9
Menu Structure
The structure of the access window is as follows.
Note
The parameters that start with a "*" indicate that they will only be enabled after the
power is turned on again or restarted through the "Servo amplifier restart relay".
Menu Menu Function menu Formal name English display

Control mode Control mode Control Mode
Command speed Command speed Command Spd
Return speed Return speed Feedback Spd
Command torque Command torque Command Cur
Return torque Return torque Feedback Cur
Return position Return position Feedback Pos
Position bias Position bias Deviation Pos
Load rate Load rate Load Rate
Servo
monitoring Peak current Peak current Peak Current
Regenerative load rate Regenerative load rate RegLoadRatio
Position gain Position gain Pos Gain
Speed gain Speed gain Speed Gain
Integral time constant Integral time constant Integral
Torque command LPF Torque command LPF Torque LPF
11 Revolving accumulated counter
Position in one revolution
Revolving accumulated counter
Position in one revolution
RevAccumlate
1RevPosition
ACCESS WINDOW
Load inertia torque ratio Load inertia torque ratio Inertia

SVON Servo ON -
IN monitor 1 CCW_LS CCW limit switch -
CW_LS CW limit switch -
EMG Emergency stop -
1. Monitoring IN monitor 2 ORGS/- Origin sensor -
STOP/- Stop sensor -
RESET Alarm reset -
IN monitor 3 MOFF/- M-code OFF command -
RESUM/- Standby cancel command -
START/CLR Operation start command/bias clear -
IN monitor 4 ORG/- Origin return command -
JOG/- JOG operation command -
Monitor I/O TEACH Teaching command -
IN monitor 5 GAIN Gain switching -
DT0/PCN Data 0 /proportional control switching -
DT1/- Data 1 -
IN monitor 6 DT2/- Data 2 -
DT3/- Data 3 -
IN monitor 7 DT4- Data 4 -
ALARM Alarm -
OUT monitor 1 FIN/INPOS Positioning complete/positioning end -
MOVE Movement in progress -
MCODE/TLM M-code output in progess/torque -
limiting in progress
OUT monitor 2 M0/- M-code 0 -
M1/- M-code 1 -
11-10

M2/- M-code 2 -
OUT monitor 3 M3/- M-code 3 -
Monitor I/O M4/- M-code 4 -
BRAKE Electromagnetic brake timing -
OUT monitor 4
RDY Operation preparation complete -
Positioning Operation state Operation state Opr Status
Positioning Current point Current point No. PresentPoint
1. Monitoring Positioning Current coordinates Current coordinates Present Pos
Positioning Current speed Current speed PresentSpeed
Number of Number of sweepss Repeat Times
Positioning Positioning sweepss
monitor
Repeat setting Number of sweepss specifying Defined Rpt
M-code M-code M-Code
Positioning
M-code state M-code state M-CodeStatus
Positioning Return state Return execution state ReturnStatus
Positioning Setting time Positioning setting time Setting Time
(auto tuning)
Tuning/tuning mode Tuning mode Tuning Mode
Tuning AT response Auto tuning response characteristic AT Response
Tuning AT parameter reflection AT parameter relection Reflect AT Prm
(manual tuning)
Tuning/tuning mode Tuning mode Tuning Mode
SRV01 position gain Position gain Pos Gain
SRV02 position gain
SRV03 integral time constant
Speed gain
Integral time constant
Speed Gain
Integral
11
SRV04 FF gain Feedforward gain FF Gain
ACCESS WINDOW
Tuning SRV05 position command LPF Position command LPF Pos LPF
2. Tuning mode SRV06 speed command LPF Speed command LPF Speed LPF
SRV07 torque command LPF Torque command LPF Torque LPF
SRV08 FF LPF Feedforward LPF FF LPF
SRV09 notch filter 1 Notch filter 1 Notch Fltr1
SRV11 inertia torque ratio Load inertia torque ratio Inertia
SRV12 position gain 2 Position gain 2 Pos Gain2
SRV13 speed gain 2 Speed gain 2 Speed Gain2
SRV14 integral time constant 2 Integral time constant 2 Integral2
SRV15 torque command LPF2 Torque command LPF2 Torque LPF2
SRV16 inertia torque ratio 2 Load inertia torque ratio 2 Inertia2
SRV01 position gain Position gain Pos Gain
SRV02 speed gain Speed gain Speed Gain
SRV03 integral time constant Integral time constant Integral
SRV04 FF gain Feedforward gain FF Gain
SRV05 position command LPF Position command LPF Pos LPF
SRV06 speed command LPF Speed command LPF Speed LPF
SRV07 torque command LPF Torque command LPF Torque LPF
3. Parameters Servo
SRV08 FFLPF Feedforward LPF FF LPF
SRV11 inertia torque ratio Load inertia torque ratio Inertia
SRV12 position gain 2 Position gain 2 Pos Gain2
SRV13 speed gain 2 Speed gain 2 Speed Gain2
SRV14 integral time constant 2 Integral time constant 2 Integral2
11-11

SRV15 torque command LPF2 Torque command LPF2 TorqueL PF2
SRV16 inertia torque ratio 2 Load inertia torque ratio 2 Inertia2
SRV17 home position range Home position range InPos Range
SRV18 bias too large setting Bias too large setting Deviate Lim
SRV19 zero speed detection Zero speed detection 0Speed Range
SRV20 speed limit Speed limit Speed Limit
SRV21 +torque limit ì+î torque limit +Trq Lim
SRV22 -torque limit [-]torque limit -Trq Lim
SRV23 brake wait limit Electromagnetic brake wait torque BrkDelayLim
limit
SRV24 brake hold wait Electromagnetic brake hold wait BrkDelayOn
time
SRV25 brake release wait Electromagnetic brake release BrkDelayOFF
wait time
SRV26 *servo ON speed 0 * Speed 0 when servo ON *S-ON Speed0
SRV27 *brake selection * brake resistor selection *Brk Reg Sel
SRV28 *pulse time constant * pulse train input time constant *Pls-In Fltr
SRV29 *pulse train format * pulse train input type *Pls-In Type
SRV30 *pulse train logic * pulse train input logic *Pls-InLogic
SRV31 *pulse train direction * pulse train rotating direction *Pls-In Dir
SRV32 * S OFF bias clear * Bias clear when servo OFF *S-OFF Dev0
SRV33 pulse override Input override of the manual pulse Pulse In Rate
generator
SRV34 speed match range Speed command match range SpMatchRange
11 3. Parameters Servo
SRV35 speed reach setting
SRV36 proportional control
Speed reach setting SpReachValue
Proportional control auto switching Auto P-Ctrl
switching
ACCESS WINDOW
SRV37 gain switching Gain auto switching Auto Gain SW

SRV38 speed command unit Speed command unit SpeedCmdUnit
SRV39 acceleration/deceleration Speed command acceleration/ SpdRateUnit
unit deceleration unit
SRV40 acceleration Speed control acceleration SpdAccRate
SRV41 deceleration Speed control deceleration SpdDecRate
SRV42 acceleration time Speed control acceleration time SpdAccTime
SRV43 deceleration time Speed control deceleration time SpdDecTime
SRV44 torque acceleration time Torque command acceleration TrqAccTime
time
SRV45 torque deceleration time Torque command deceleration TrqDecTime
time
SRV46 *overload warning * Overload warning *OverloadWarn
SRV47 bias warning Bias too large warning Deviate Warn
SRV48 brake start time Brake operation start time BrkStartTime
SRV49 way to stop Way to stop Way To Stop
SRV50 state after stop State after stop StsAfterStop
SRV51 anti-resonance Anti-resonance frequence Antiresonant
SRV52 setting gain Setting gain TimeMinGain
SRV53 path gain Path gain DevMinGain
SRV54 *gear numerator * Electronic gear (numerator) *E-Gear Num
SRV55 *gear denominator * Electronic gear (denominator) *E-Gear Den
SRV56 tuning mode Tuning mode Tuning Mode
SRV57 AT response Auto tuning response AT Response
characteristic
11-12

Point operation mode operation mode Opr Mode
Point target coordinates Target coordinates Position
Point speed No. Speed No. Speed No.
Point dwell time Dwell time Dwell Time
Point continuous operation Continuous operation mode Cont Mode
Point next point No. No. of next point Next Point
Point
Point repeat movement Repeat relative movement Repeat Pos
Point Number of sweepss Number of sweepss Repeat Times
Point M-code mode M-code mode M-Code Mode
Point M-code No. M-code No. M-Code No.
Point stop sensor setting Stop sensor setting Stop Sensor
Point stop sensor movement Movement after stop sensor input StopSensDist
SPD01 speed No.1 Speed No. 1 Speed No.1
SPD01 speed No.2 Speed No. 2 Speed No. 2
SPD01 speed No.3 Speed NO.3 Speed No.3
SPD01 speed No.4 Speed NO.4 Speed No. 4
speed
SPD01 speed No.12 Speed NO.12 Speed No.12 11
ACCESS WINDOW
3. Parameters SPD01 speed No.16 Speed NO.16 Speed No.16
System SYS01 coordinate unit Coordinate unit Pos Unit
SYS02 decimal point position Position of decimal point Decimal
SYS03 start speed Operation start speed Start Speed
SYS04 max. speed Operation max. speed Max Speed
SYS05 acceleration Operation acceleration Accel Rate
SYS06 acceleration curve Operation acceleration curve Accel Curve
SYS07 S-shape acceleration Operation S-shape acceleration Acc S-Ratio
slope slope
SYS08 deceleration Operation deceleration Decel Rate
SYS08 deceleration curve Operation deceleration curve Decel Curve
SYS10 S-shape deceleration Operation S-shape deceleration Dec S-Ratio
slope slope
SYS11 JOG start speed JOG start speed Jog StartSpd
SYS12 JOG high speed JOG high speed Jog High Spd
SYS13 JOG acceleration JOG acceleration Jog Acc Rate
SYS14 JOG acceleration curve JOG acceleration curve Jog Acc Cur
SYS15 JOG S-shape acceleration JOG S-shape acceleration slope Jog Acc S-R
slope
SY16 JOG deceleration JOG deceleration Jog Dec Rate
SY17 JOG deceleration JOG deceleration curve Jog Dec Cur
SYS18 JOG S-shape JOG S-shape deceleration slope Jog Dec S-R
deceleration slope
SYS19 ORG start speed Origin return start speed OrigStartSpd
SYS20 ORG creep speed Origin return creep speed OrigCreepSpd
SYS21 ORG operation speed Origin return operation speed Orig Ope Spd
SYS22 ORG acceleration Origin return acceleration Orig AccRate
11-13

SYS25 ORG deceleration Origin return deceleration Orig DecRate
SYS26 ORG deceleration curve Origin return deceleration curve Orig Dec Cur
SYS27 ORG S-shape Origin return S-shape deceleration Orig Dec S-R
deceleration slope slope
SYS28 ORG return direction Origin return direction Origin Dir
SYS29 ORG return method Origin return method OriginMethod
SYS30 ORG coordinate Origin coordinate Origin Pos
SYS31 auto ORG return Automatic origin return Auto Origin
SYS32 home POS coordinate Home position coordinate Home Pos
SYS33 auto home position Auto home position movement Auto Home
SYS34 ORG sensor polarity Origin sensor polarity OrigPolarity
SYS35 limit switch polarity limit switch polarity LS Polarity
SYS36 limit switch switching Limit switch switching LS Invert
SYS37 stop sensor polarity stop sensor polarity StopSens Pol
SYS38 EMG polarity Emergency stop polarity EmgInput Pol
3. Parameters System SYS39 backlash correction Backlash correction movement Back-lash
SYS40 coordinate direction Coordinate increase direction Position Dir
SYS41 nearest rotation angle Nearest rotation angle control RotShortCut
control
SYS42 INPOS check INPOS check time Inpos Check
SYS43 software limit switch [+] Software limit switch"+" coordinate Soft-LS（+）
SYS44 software limit switch [-] Software limit switch "-"coordinate Soft -LS (-)
SYS45 *servo ON mode * Servo ON mode *S-ON Select
11 SYS46 *absolute position system *system

SYS47 *origin/stop sensor filter
Absolute position detection
*Origin/stop sensor input filter

* Abs System
*OrigStpFltr
ACCESS WINDOW
SYS48 *input filter * Input filter * InputFilter

SYS49 *position operation mode * Position operation mode * PosOpeWay
SYS50 *control alarm * Control mode alarm *CtrlModeAlm
SYS51 AW language Access window language AW Language
SYS52 AW contrast Access window contrast AW Contrast
JOG JOG △: + ▽: - - -
Point Test run point No.: - -
operation
MOUT0 M-code 0 -
Output 1 MOUT1 M-code 1 -
MOUT2 M-code 2 -
MOUT3 M-code 3 -
Output 2 MOUT4 M-code 4 -
4. Test run Forced
output MCODE M-code output in progress -
READY Operation preparation complete -
Output 3 BRAKE Electromagnetic brake timing -
ALARM Alarm -
FIN Positioning complete -
Output 4
MOVE Movement in progress -
Change
coordinate Change coordinate - -
5. Alarm reset - Reset OK? - -
11-14
Operation Method
The operation method of specific setting is described below.

• "Display of monitoring"( page 11-15)
• "Set up tuning"( page 11-16)
• "Parameter display/setting"( page 11-17)
• "Operation of the test operation"( page 11-18)
• "Alarm reset"( page 11-21)
• "Write protect setting"( page 11-22)
■ Display of monitoring
1 Press the key.

The main menu will be displayed.
2 Press the" "/ " " key, select "1. Monitoring", press the" " key.
A submenu will be displayed. 11
ACCESS WINDOW
3 Press the" "/" "key, select "Servo monitoring", press the" "key.
The menus of different servo monitor functions will be displayed.
4 Use the" "/ " "key to select items to be monitored.
Note
• ON/OFF of the I/O monitor display, indicates the internal logic.
• OFF when the emergency stop (EMG) is short circuited (b contact).
• It will be conducted when alarm (ALARM) is OFF.
11-15
■ Set up tuning
1 Press the key.

2 Press the" "/ " "key, select "2. Tuning", press the" "key.
The tuning mode will be displayed.
Select a tuning mode between Auto (tuning) and Manual (tuning).
3 Press the" "/ " "key, and set the parameters related to tuning.
Display the menus of different servo monitor functions.

11
Auto tuning Manual tuning
ACCESS WINDOW
Auto tuning response characteristic position gain etc.
4 Press the" "/ " "key , select AT parameter relection.
5 Press and hold the " " key (for more than 1s) to let the "GO" blink.
6 Press and hold the " " key (for more than 1s), and write the servo parameters that are related to
gain into the SRAM of the MV-L40.
The "GO" will become lighting up from blinking.
Note
In real-time auto tuning, the parameter settings that are related to gain will not be
saved into the SRAM of the MV-L40. If using the AT parameter reflection to write to
the SRAM of the MV-L40, when the power is turned again, the unit can operate from
the gain setting that has been tuned automatically.
11-16
■ Parameter display/setting
1 Press the key.

2 Press the" "/ " "key, select "3. Parameters", press the" "key.
A submenu will be displayed.
3 Press the" "/ " " key, select "Servo", press the " " key.
The menus of different functions will be displayed.
Press the" "key in this screen, and the the parameter comment will be displayed.
11
ACCESS WINDOW
4 Use the" "/ " " key to select the parameters to be displayed.
5 Press and hold the key (for more than 1 s).

The value of the current digit will blink.
When there are more than two setting items on one screen, you can switch between them by pressing
the" "(less than 1s).
Setting items switching of a point paramter
Use the key

(within 1s)
11-17
6 Use the" "key to select the digit for which a value is to be entered, and use the " "/" " key
to select any value.
7 Press and hold the key (for more than 1 s) to confirm the value.
The value will become lighting up from blinking, and the setting will be changed.
Press the" "key, the value will return to the value currently set.
Press the" "key to cancel change of value.
■ Operation of the test operation

This chapter describes the steps of test operation performed through the access window.
DANGER • The test operation performed through the access window is used to confirm
the servo motor operation. As it is not used to confirm a mechanical
operation, please do not use it in combination with mechanical operation.
The servo motor must be used individually.
• During test operation through the access windowl, all external inputs, such
as emergency stop (EMG), will be disabled. When the operation is abnormal,
please verify that the test operation function can be used after the operation
is stopped by other method.
• Press the" " key, and the unit will be in OFF state.
11
ACCESS WINDOW
1 Press the key.

2 Press the" "/ " " key, select "4. Test operation", press the" "key.
A submenu will be displayed.
"JOG operation (position control mode only)"( page 11-19)

"Point operation (position control mode only)"( page 11-19)
"Forced output"( page 11-20)
"Change coordinate"( page 11-20)
11-18
● JOG operation (position control mode only)
3 Select "JOG", and press the" "key.

The JOG screen will be displayed.
4 Press the" "/ " " key to perform JOG operation.

The unit will operate according to the "JOG start speed"of the system parameters.
Confirm the rotation direction of the machine, etc.
● Point operation (position control mode only)
3 Select "Point operation", and press the " "key.

The point operation screen will be displayed.
11
4 Press the" " key (for more than 1s), use the" "/" "key to select a point No.
ACCESS WINDOW
5 After the" " is pressed, the "GO" will blink.
6 If you press and hold the" "key (for more than 1s), the point operation will begin.
11-19
● Forced output
3 Select "Forced output", and press the" "key.

The forced output screen will be displayed.
4 Press the" "/" "key, switch between "Output1", "Output 2", "Output 3" and "Output 4".
5 Press the" "key (for more than 1s), press the" "key to select the terminal name for which
forced output is to be performed.
6 Use the " " key to switch "OFF" "ON", press the" "key (for more than 1s) to perform
forced output.
11 Note
If the forced output screen is selected, all the outputs of the I/O connector will be OFF.
Alarm output is the "b" contact, and it will be conducted in OFF state.
ACCESS WINDOW
● Change coordinate
3 Press the" "/ " "key, select "Change coordinate", press the" "Key.
The coordinate change screen will be displayed.
4 Press and hold the key (for more than 1 s).

The current coordinate will blink.
5 Use the" "key to select the digit for which a value is to be entered, and use the" "key and
" "key to select any value.
6 Press and hold the key (for more than 1 s) to confirm the value.
The value will become lighting up from blinking, and the current coordinate will be changed.
11-20
■ Alarm reset
1 Press the key.

2 Press the" "/ " "key, select "5. Alarm reset", press the" "key.
The alarm reset screen will be displayed.
3 Press the" " key (for more than 1s) to reset the alarm that has occurred.
11
ACCESS WINDOW
Note
If the cause of a alarm has not been removed, the alarm will occur again.
When some alarms are reset, the power will need to be turned on again.
11-21
■ Write protect setting

If write protect is set, change of parameter settings from the access window will be inhibited.
1 Press the" "/ " " key simultaneously (for more than 1s).
The following screen will be displayed, and the setting of the write protect is finished. This operation is
enabled on all the screens.
2 Press the" "/ " "key simultaneously (for more than 3s) in write protect state.
The following screen will be displayed, and the setting of the write protect is cancelled.
Note
• During write protect, the JOG operation can also be performed through the access
11 window.
• During write protect, the parameters that are transferred from the MV LINK STUDIO
can also be sent.
ACCESS WINDOW
11-22
12
OPERATIONS OF
TEACHING UNIT
This chapter describes the functions and operation method of the KV-HPD1
teaching unit.
12-1 KV-HPD1 Overview••••••••••••••••••••••••••••••••••••••• 12-2

12-2 Detailed Menu Content of the KV-HPD1 ••••••••••••12-12
12-1
12-1 KV-HPD1 Overview
The KV-HPD1 is a simple teaching unit with a JOG dial.
Name and Function of Each Part
Display screen
EMG USH ESC
P

E
N
TER
HELP TEACH/JOG

No. Name Function

A LCD that can display 16 character (half-width) x 4 line, can display chinese
(1) Display screen charaters as well. The dislay color will change from green to red when an alarm
in progress occurs.
Emergency stop. An emergency stop alarm in progress will be issued.
(2) EMG
Can be used in all modes except alarm in progress.
12
The detailed decription of the current item will be dislayed after the button is
(3) HELP pressed
When the button is released, the display will returnn to the original screen.
HOW TO OPERATE THE TEACHING UNIT
Can be rotated (selection) or pressed (ENTER). Used to select and confirm

(4) JOG dial items, change values and perform JOG operation.
Can be used in all modes except alarm in progress.
(5) ESC Used to select and cancel operation.
(6) JOG/TEACH If this button is pressed, the display will change to the teaching menu.
Specification of the KV-HPD1 Teaching Unit
For the specification of the KV-HPD1 teaching unit, refer to "Specification of the KV-HPD1
teaching unit"( Page2-18).
Cabling of the Teaching Unit
The KV-HPD1 teaching unit is connected to the connector of the MV-L40.

For the connection method, refer to " Wiring Procedure for Teaching Unit" (Page 4-37).
Panel Mounting of the Teaching Unit
The KV-HPD1 teaching unit can be mounted on the surface of the panel.
Refer to "3-4 Mounting Teach-in unit in Panel" (Page 3-11).
12-2
About the Menu
The KV-HPD1 teaching unit can perform state monitoring and JOG teaching etc. after it is connected to
the MV-L40. The KV-HPD1 has the following menus.
■ Menu list
Note
The parameter values that start with the character ＂ * ＂ will only be valid when the
power is restarted (MV-L40 and the servo amplifier) or the ìservo amplifier releading
relayî is restarted.
12
12-3
Second Third
Main English Remark
level level Item Unit
menu display （[ ]: Formal parameter name)
menu menu
Control mode - Control Mode
Command speed r/min Command Spd
Return speed r/min Feedback Spd
Command torque X 0.1% Command Cur
Return torque X 0.1% Feedback Cur
Return position ENC_PLS Feedback Pos
Position bias ENC_PLS Deviation Pos
Load rate % Load Rate
Servo Peak current X 0.1% Peak Current
-
Monitoring Regenerative load rate % RegLoadRatio
Position gain 1/s Pos Gain
Speed gain Hz Speed Gain
Integral time constant X 0.1ms Integral
Torque command LPF Hz Torque LPF
Revolving accumulated
rev RevAccumlate
counter
Position in one revolution ENC_PLS 1RevPosition
Load inertia torque ratio % Inertia
Emergency stop
Input 1
- - CCW limit switch
(EMG CCW_LS CW_LS)
CW limit switch
alarm in progress reset
Input 2
- - Servo ON
(RESET SVON START/CLR)
Monitoring Operation start command/bias clear
12 Input 3
zero return command
- - JOG operation command
(ORG/- JOG/- TEACH)
Teaching command
Gain switching
Input 4 Data 0 /proportional control
- -
(GAIN DT0/PCN DT1/-) switching
Data 1
Data 2
Monitor I/O - Input 5
- - Data 3
(DT2/- DT3/- DT4/-)
Data 4
M-code ON command
Input 6
- - Origin sensor
(MOFF/- ORGS/- STOP)
Stop sensor
Input 7（RESUM） - - Standby cancel command
alarm in progress
Output 1
Positioning complete/positioning
(alarm in progress FIN/INPOS - -
end
MOVE)
Movement in progress
M-code output in progess/torque
Output 2 limiting in progress
- -
(MCODE/TLM M0/- M1/-) M-code 0
M-code 1
12-4
Second Third
Main English Remark
menu menu
M-code 2
Output 3
- - M-code 3
(M2/- M3/- M4/-)
Monitor I/O M-code 4
Output 4 Electromagnetic brake timing
- -
(BRAKE RDY) Operation preparation complete
Operation state - Opr Status
Current point No. - PresentPoint
Monitoring Current coordinates Coordinate unit Present Pos
Current speed Coordinate unit/s PresentSpeed
Positionin Simultaneous display of repeat
- Repeat counts - Repeat Times
g monitor counts specifying
Simultaneous display of M-code
M-code - M-Code Status
state
Return execution state - ReturnStatus
Positioning setting time ms Setting Time
* Electronic gear (numerator) - *E-Gear Num
Electronic
* Electronic gear
gear - *E-Gear Den
(denominator)
Tuning mode - Tuning Mode
Auto tuning response
- AT Response
characteristic
Position gain 1/s Pos Gain
Speed gain Hz Speed Gain
Integral time constant X 0.1ms Integral 12
Feedforward gain % FF Gain

Position command LPF X 0.1ms Pos LPF
Tuning Speed command LPF Hz Speed LPF
Torque command LPF Hz Torque LPF
Feedforward LPF Hz FF LPF
Notch filter 1 X 10Hz Notch Fltr1
Notch filter 2 X 10Hz Notch Fltr2
Parameter Servo
Load inertia torque ratio % Inertia
Anti-resonance frequence Hz Antiresonant
Setting gain - TimeMinGain
Path gain - DevMinGain
Position gain 2 1/s Pos Gain2
Speed gain 2 Hz Speed Gain2
Position
Integral time constant 2 X 0.1ms Integral2
gain 2
Torque command LPF2 Hz Torque LPF2
Load inertia torque ratio 2 % Inertia2
* pulse train input time
- *Pls-In Fltr
constant
* pulse train input type - *Pls-In Type
Manual
* pulse train input logic - *Pls-InLogic
pulse
* pulse train rotating direction - *Pls-In Dir
Input override of the manual
- PluseInRate
pulse generator
12-5
Second Third
Main English Remark
menu menu
Zero speed detection r/min 0Speed Range
Speed limit r/min Speed Limit
Speed command match range r/min SpMatchRange
Speed reach setting r/min SpReachValue
Speed command unit - SpeedCmdUnit
speed Speed rate unit - SpdRateUnit
Speed control acceleration Coordinate unit/s/ms SpdAccRate
Speed control deceleration Coordinate unit/s/ms SpdDecRate
Speed control acceleration
time ms SpdAccTime
Speed control deceleration

ms SpdDecTime
time
[+] torque limit X 0.1% +Trq Lim
[-] torque limit X 0.1% -Trq Lim
Torque Torque command acceleration ms TrqAccTime
time
Torque command deceleration
time ms TrqDecTime
Servo
Brake wait torque limit X 0.1% BrkDelayLim (electromagnetic brake wait torque limit)
Brake hold wait X 4ms BrkDelayOn Electromagnetic brake hold wait time
Brake release wait X 4ms BrkDelayOff Electromagnetic brake release wait time
* brake resistor selection - Brk Reg Sel
Brake/stop
Electromagnetic brake operation
Brake start time ms *BrkStartTime
start time
Parameter
Way to stop - Way To Stop
12 State after stop
Home position range ENC_PLS
- StsAfterStop
InPos Range
Bias too large setting X256ENC_P Deviate Lim

Bias too large warning X256ENC_P Devlate Warn
* Overload warning % *OverloadWarn
Other * Speed 0 when servo ON - *S-ON Speed0
* Bias clear when servo OFF - *S-OFF Dev0
Proportional control auto
switching - Auto P-Ctrl
Gain auto switching - Auto Gain SW

operation mode - Opr Mode
Target coordinates Coordinate unit Position
Speed No. - Speed No.
Dwell time ms Dwell Time
Continuous operation mode - Cont Mode
No. of next point - Next Point
Point -
Repeat movement Coordinate unit Repeat Pos
Repeat counts - Repeat Times
M-code mode - M-Code Mode
M-code NO. - M-Code No.
Stop sensor setting - Stop Sensor
Stop sensor movement Coordinate unit StopSensDist Movement after stop sensor input
12-6
Second Third
Main English Remark
menu menu
Speed No. 1 Coordinate unit/s Speed No.1
Speed No. 2 Coordinate unit/s Speed No. 2
Speed NO.3 Coordinate unit/s Speed No.3
Speed NO.4 Coordinate unit/s Speed No. 4
speed -
Coordinate unit - Pos Unit
unit
Position of decimal point - Decimal
Operation start speed Coordinate unit/s Start Speed
Parameter
Operation max. speed Coordinate unit/s Max Speed
Operation acceleration Coordinate unit/s/ms Accel Rate
Operation acceleration curve - Accel Curve
Operation Operation S-shape
speed % Acc S-Ratio
acceleration slope
Operation deceleration Coordinate unit/s/ms Decel Rate 12
Operation deceleration curve - Decel Curve

Operation S-shape
System % Dec S-Ratio
deceleration slope
JOG start speed Coordinate unit/s Jog StartSpd
JOG max. speed Coordinate unit/s Jog High Spd
JOG acceleration Coordinate unit/s/ms Jog Acc Rate
JOG acceleration curve - Jog Acc Cur
JOG JOG S-shape acceleration
% Jog Acc S-R
speed slope
JOG deceleration Coordinate unit/s/ms Jog Dec Rate
JOG deceleration curve - Jog Dec Cur
JOG S-shape deceleration
% Jog Dec S-R
slope
12-7
Second Third
Main English Remark
menu menu
ORG start speed Coordinate unit/s OrigStartSpd
ORG operation speed Coordinate unit/s Orig Ope Spd
ORG creep speed Coordinate unit/s OrigCreepSpd
ORG acceleration Coordinate unit/s/ms Orig AccRate
ORG acceleration curve - Orig Acc Cur
ORG S-shape acceleration
% Orig Acc S-R
slope
ORG deceleration Coordinate unit/s/ms Orig DecRate
ORG deceleration curve - Orig Dec Cur
zero return
ORG S-shape deceleration
% Orig Dec S-R
slope
zero return direction - Origin Dir
zero return method - OriginMethod
Origin coordinate Coordinate unit Origin Pos
Auto zero return - Auto Origin
Home position coordinate Coordinate unit Home Pos
Auto Move to home position in Auto Move to home position in
- Auto Home
progress progress
Origin sensor polarity - Orig Polarity
System limit switch polarity - LS Polarity
Input
Limit switch switching - LS Invert
signal
Stop sensor polarity - Stop Sens Pol
Emergency stop polarity - EmgInput Pol
Backlash correction ENC_PLS Back-lash
12 Parameter
Coordinate increase direction
Nearest rotation angle control
-
-
Position Dir
RotShortCut
INPOS detection time X 10ms Inpos Check
[+] software limit switch

Coordinate unit Soft-LS[+]
coordinate
[-] software limit switch
Coordinate unit Soft-LS[-]
coordinate
Other
* Servo ON mode - *S-ON Select
* Absolute position system - * Abs System * Absolute position detection system
* Orgin stop sensor filter - *OrigStpFltr *Origin/stop sensor input filter
*Input filter
* Input filter - * InputFilter
(except origin/stop sensor)
* Position operation mode - * Pos Ope Way
* Control mode alarm in
- *CtrlModeAlm
progress
- HPD1 write protection - HPD1 Protect
HPD1 demonstrate/JOG (HPD1 demontrates operation/JOG
- Demo JOG Inhibit
inhibit inhibit)
HPD1 Language - HPD1 Language
General HPD1 buzzer - HPD1 Buzzer
setting * alarm in
* alarm in progress stop mode -
progress Stop
* ALM stop axis select - *AlmStopAxis * alarm in progress stop axis select
Label No. - Label No.
SRAM backup alarm in progress - SRAM Backup Alm
Teaching/ - - Teach1 - Teach1 HP-JOG execution screen
HP-JOG Teach2 - Teach2 Teaching execution screen
12-8
Second Third
Main English Remark
menu menu
Run point No. - Run Point No.
Change coordinate Coordinate unit Change Pos
Change speed Coordinate unit/s Chng Spd
zero return - zero return
Position Move to home position - Home Return
control -
mode Deceleration stop command - Decel Stop
M-code OFF command - M-Code Off
Standby cancel command - Resume
Cycle interrupt command - Repeat Stop
Demonstrati
on run Operation restart command - Restart
Speed r/min or Speed Set
Speed command value Unit setting
control - Coordinate unit/s Value
mode Torque critical value X 0.1% Trq Limit
Torque Set
Torque Torque command value X 0.1%
Value
control -
mode r/min or
Speed critical value Speed Limit Unit setting
Coordinate unit/s
Manual
pulse - Manual pulse mode - Pulse Mode
mode
alarm in progress reset, all axes
Option1 - Option1 alarm in progress reset, alarm in
progress log clear
Options - - Flash memory write, initialization, all axes
Option2 - Option2
initialization
Option3
Option4
-
-
Option3
Option4
alarm in progress log
Operation point log
12
12-9
■ Dividing and switching method of screens

↑↓ : Rotate the JOG dial. ( ↑ : rotate towards the CW direction ↓ : rotate towards the CCW
direction)
(ESC) : Press the “ESC” key.
(ENT) : Press the "ENTER" key.
: If you press the "ENTER" key, the detailed setup screen will be displayed.
(use the ìESCî to return to menu.)
If you press the “JOG/TEACH” key, you can change to the teaching/HP-JOG screen from any screen.
Monitoring ENT Servo monitoring The values that are related to control mode and servo can be monitored.
ESC
I/O Monitoring Allowing I/O monitoring.
Positioning monitor The values that are related to positioning can be monitored.
Parameter ENT Servo ENT Setting up the servo parameters

ESC ESC
Electronic Gear Speed
Tuning Torque
Tuning 2 Brake/stop
Manual Pulse Other
Point Setting up the point parameters
Speed Setting up the speed parameters
12 System ENT
ESC
Setting up the system parameters
Unit Origin return

Operating speed Input signal

JOG speed Other
General setting Setting up the common set parameters
Teaching/HP-JOG ENT HP-JOG execution The KV-HPD1 can be used to perform JOG operation.
ESC
Teaching execution It allows teaching.
Demonstration ENT
operation Position Control Demo operation can be performed in position control mode.
ESC
Speed Control Demo operation can be performed in speed control mode.
Torque control Demo operation can be performed in torque control mode.
Manual Pulse Demo operation can be performed in manual control mode.
Option ENT Option㧝 Such operations as alarm reset and alarm clear can be performed.
ESC
Option 2 Flash ROM write and initialization can be performed.
Option 3 Alarm logs can be verified.
Option 4 Operation point logs can be verified.
12-10
■ Item selection method and screen switching

This section describes the method of selecting items and changing the settings.
PtNo 2 X 1 荖腊荎
鎮跬莂腛荨
鏆鞧腅裊鉵腅醊野
● Item selection
1 Press the "ENTER"key (press the ＂JOG dial＂), the cursor will be displayed.
2 Rotate the"JOG dial", the cursor will move to the item that can be changed.
● Change the setting of an item
1 Move the cursor to the item for which the setting is to be changed.
2 Press the "ENTER" key (press the ＂JOG dial＂), the cursor will blink.
3 Rotate the ＂JOG dial＂, the setting will be changed.

In the case of a value, if you rotate towards the CW or CCW direction, the value will increase or
decrease. If you use the “HELP” key and "JOG/TEACH", you can specify number of digits of the value,
and then edit it.
4 When the setting to be changed is displayed, press and hold the "ENTER" key ("JOG dial") to
12
confirm.
12-11
12-2 Detailed Menu Content of the KV-HPD1
The menus of the KV-HPD1 teaching unit are described.
For the switching method of the screens, refer to "About the Menu"( Page12-3).
Monitoring
■ Servo monitoring
The values that are related to control mode and servo can be monitored.
For the items that can be monitored, refer to "About the Menu"( Page12-3).
Servo 3 X 1 荖腊荎
譁諒醬鍸
腩r /m i n腪
腻0
■ Monitor I/O
The input/output states of the I/O connectors of the servo amplifier will be displayed.
"*" : ON state/" _ " : OFF state.
鏼韍 1 X 1 荖腊荎软韍1 X 1 荖腊荎
E MG 腼 A L A RM 腼
CCW _ L S 腼 F I N/ I NPOS 膖
CW _ L S 腼 MOV E 腼
12
KV-HPD1 KV-HPD1
Function name Function name
display display
EMG Emergency stop ALARM Alarm
Positioning complete/positioning
CCW_LS CCW limit switch FIN/INPOS
end
CW_LS CW limit switch MOVE Movement in progress
M-code output in progess/torque
RESET Alarm reset MCODE/TLM
limiting in progress
SVON Servo ON M0/- M-code 0
Operation start command/bias
START/CLR M1/- M-code 1
clear
ORG/- Zero return command M2/- M-code 2
JOG/- JOG operation command M3/- M-code 3
TEACH Teaching command M4/- M-code 4
GAIN Gain switching BRAKE Electromagnetic brake timing
Data 0 /proportional control
DT0/PCN RDY Operation preparation complete
switching
DT1/- Data 1
DT2/- Data 2
DT3/- Data 3
DT4/- Data 4
MOFF/- M-code ON command
ORGS/- Origin sensor
STOP Stop sensor
RESUM Standby cancel command
12-12
Note
• ON/OFF of the I/O monitor display, indicates the internal logic.
• OFF when the emergency stop (EMG) is short circuited (b contact).
• It will be conducted when alarm (ALARM) is OFF.
■ Positioning monitor
The values that are related to positioning can be monitored.
Pos 3 X 1 荖腊荎
費距跀镗
腩P L S腪
+0
Parameters
The servo parameters, point parameters, speed parameters, system parameters and general
parameters can be set.
Servo parameters Point parameters Speed parameters
Srv 5 X 1 荖腊荎 PtNo 1 X 1 荖腊荎 Spd 1 X 1 荖腊荎

裊鉵荐腊荃莓費距跀镗醬鍸 No . 1
腩1 / s腪
24
腩P L S腪
+1000000
腩P L S / s腪
1000 12

Servo parameters General setting parameters
Sys 4 X 1 荖腊荎 Com 1 X 1 荖腊荎

襞鍝跅趂醬鍸 H P D 1 荴腋莍荥荎荧
腩P L S / s腪
50000 芵苈芢
For the items that can be set for each parameter, refer to "About the Menu"( Page12-3).
Note
The parameters that have been specified indirectly can not be changed through the KV-HPD1.
The displayed content is a value, instead of a device No.
12-13
Teaching/HP-JOG
■ HP-JOG execution screen

The KV-HPD1 can be used to perform JOG operation (HP-JOG).
DANGER • Please perform the JOG operation at a place where emergency stop (EMG)
operation can be performed. When the communication is abnormal, the
"Forced stop" "EMG" key of the KV-HPD1 can not operated, so an accident
may occur.
Note
• To perform the JOG operation, the servo ON state must be kept first.
(When using the servo ON relay, turn on the "Servo ON relay"and the
"Operation enable relay".)
• The JOG operation can not be used in a mode other than the position control mode.
• Please keep in the HP-JOG mode, and do not pull out the connection cable.
• The setting of the HP-JOG value ìBacklash correction movementî is disabled.
● Operation procedures
12 1 In the HP-JOG screen, select the axis for which the JOG operation is to be performed.
2 Press the" HELP" key or " JOG/TEACH " , select a override.

Teach1 X 1 荖腊荎
腩 H / T 荌腛腆鑻鞦闏赘腪 ♥ Teach1 X 1 荖腊荎
腩 H / T 荌腛腆鑻鞦闏赘腪
♦ ♦ ♦
HP - JOG 腩腾 1 腪 HP - JOG 腩腾 1 0 腪 HP - JOG 腩腾 1 0 0 腪 HP - JOG 腩腾 1 0 0 0 腪
+0 +0 +0 +0
→ : Press the "OG/TEACH" key to increase the override.

← : Press the "ELP" key to decrease the override.
3 Rotate the "JOG dial" to perform JOG operation.
4 Press the ESC key.
■ Teaching execution screen

The KV-HPD1 can be used to perform teaching.
Teach2 X 1 荖腊荎
荥荂腛荠莓荎腊腩P L S腪
+123000
PtNo . 1 軀赳
12-14
● Operation procedures
1 Select the axis for which teaching is to be performed.
2 In the"Target coordinates", set the point No. for which a value is to be written.
3 Select "Execute".
4 Press the ENTER key ("JOG dial") to confirm.

A value is written into the point No. ìtarget coordinatesî of the selected axis.
Demonstration Operation
Demonstration operation is different from the test operation performed in the access window of the
servo amplifier, through this function, the equipment operation can be confirmed in a state in which all
the external inputs including the emergency stop (EMG) have been enabled.
The demonstration operation for position control, speed control, torque control, and manual pulse mode
can be performed.
DANGER • Please perform the demonstration operation at a place where emergency

stop (EMG) operation can be performed. When the communication is
abnormal, the ìForced stop"EMG" key of the KV-HPD1 can not operated, so
an accident may occur.
• When the demonstration operation mode is complete, or an alarm is issued
during the demonstration operation, the command of the corresponding
axis will force the setting of the demonstration operation screen to return
back to the setting of the PLC device (relay/DM) that is often used. Please
12
note that different DM setting can lead to different state of danger.

Note
• To perform demonstration operation, the unit must be in the zero speed state, and
must be in the servo ON state in advance. (When using the servo ON relay, turn on
the ìServo ON relayîand the "Operation enable relay".)
• During demonstration operation, the unit will operate according to the settings of
the demonstration operation screen. During demonstration operation, the device
for command of the always communication area etc. will be disabled.
For the always communication area, refer to “常时通讯区域”（9-30页）.
• Please keep in the demonstration operation mode, and do not pull out the
connection cable.
• Change to the demonstration operation mode of the KV-HPD1 from the position control
mode, and start point operation through the position control of the demonstration
operation. Now, even if the demontration operation mode is finished (the demonstration
operation mode is cancelled), the point operation will not be stopped.
Change to the demonstration operation mode of the KV-HPD1 from a control mode
other than the position control mode, and start point operation through the
position control of the demonstration operation. Now, if the demonstration
operation mode is finished (the demonstration operation mode is cacelled), the
unit will return back to the original control mode, and the point operation will be
stopped.
12-15
■ Operation procedures
Take the position control mode as an example.
1 Select "4. Demonstration operation"in the main menu.

If you press the ìENTERî key ("JOG dial"), the sceen for selecting the control modes will be
displayed.
2 Select "Position control" using the cursor.

The screen for confirming will be displayed.
裊鉵邧賤邧賤莂腛荧腊苰裊鉵苉闏
醬鍸邧賤赘芵苜芷腂
荧莋荎邧賤腹E N T腺O K
軨鎮荮腋莋荔腹E S C腺CANC E L
3 Press the"ENTER" key ("JOG dial").

The demonstration operation in the positioning mode will be performed in "Demonstration position 1"
screen to"Demonstration position 10" screen.
荥腊莂裊鉵 1
迳釔腆鋢蹾銆
襞鍝荺腋荃莓荧 N o 腆 1
軀赳
12 Options
■ Option 1/Option2 screen

In the Option1 screen, such operations as alarm reset and alarm log clear can be performed.
In the Option2 screen, flash ROM write and initialization of parameters can be performed.
Op t i on1 X 1 荖腊荎 Op t i on2 X 1 荖腊荎

荁莉腛莀莊荚荢荧軀赳荴莉荢荖莅辑趞軀赳
酓躲荁莉腛莀莊荚荢荧軀赳辉諺覻軀赳
荁莉腛莀鞚韰荎莊荁軀赳酓躲辉諺覻軀赳
The operation after "Execute" is selected and confirmed is as follows.

Screen Item Content
Alarm reset Resets the alarms of the selected axis.
Option All axes alarm reset Resets the alarms of all axes.
Alarm log clear Clears the alarm log that is saved in the MV-L40.
Write to flash ROM Writes the current parameter value in to the flash ROM of the MV-L40.
Option Initialization Initializes the parameters of the selected axis.
Initialization of all axes Initializes the parameters of all axes.
12-16
■ Option3/Option4 screen
The MV-L40 will save the last 16 alarm logs and 16 operation point logs.
These logs can be confirmed through the screen.
Op t i on3 No 1/16 Op t i on4 No 1/16

荁莉腛莀腆 1 7 P T 腆腼襞鍝荺腋荃莓荧 N o . 腆 1
钭邶躲腆 X 1 荖腊荎襞鍝躲腆 X 1 荖腊荎
躞趏腆0 8 / 1 0 2 0腆1 4 躞趏腆0 8 / 1 0 1 0腆3 2
* PT : Point No.
Confirmation procedures of a log
1 Press the"ENTER" key (press the "JOG dial"), the cursor will blink.
2 If the "JOG dial" is rotated, the 16 logs will be displayed in turn.
TIP When the "HELP" key on the alarm log screen is pressed, the alarm content will be displayed.
Alarm Display
When an alarm occurs, the unit will change to the alarm display automatically. The color of the screen
will change from green to red.
If the "JOG dial" is pressed, the alarm display will return back to the screen when the alarm has
occurred.
荁莉腛莀 N o 腆 X 1 荖腊3 荎0 1
12
MV - L 40 P T腆腼

膖荮腊荘荃荖腊莇荅 1
X 1 荖腊荎
Note
When an alarm occurs during JOG operation, a forced stop will be performed.
12-17
MEMO
12
12-18
13
UNIT MONITOR
This chapter describes how to display and use Unit Monitor.
13-1 About the Unit Monitor ••••••••••••••••••••••••••••••••••• 13-2
13-1
13-1 About the Unit Monitor
The operation state of the MV-L40 can be confirmed through the Unit Monitor of the KV STUDIO/KV
BUILDER. This section describes how to display and operate the Unit Monitor.
Unit Monitor Introduction
The Unit Monitor is started from the KV STUDIO/KV BUILDER. For the specific content of the Unit
Monitor, please refer to the following manuals.
"KV STUDIO User's Manual", "KV BUILDER User's Manual"
Note
In KV BUILDER, the Unit Monitor can only be used when "KV-700" or "KV-700+M" is
selected from the model settings.
Unit Monitor Display
■ In the case of KV STUDIO
1 In the "Unit settings" workspace, select the unit to be monitored,

right click it, and select "Unit Monitor" from the menu.
The unit monitor window of the selected unit is displayed
for monitoring.
■ In the case of KV BUILDER

13 1 Select the unit to be displayed from the "Unit Monitor" pull-down menu, and click "Show".
UNIT MONITOR
The "Unit Monitor" window of the selected unit opens.
Units are assigned

a number 1, 2, 3
and so forth from Unit Name.
the unit next to the
CPU unit.
Note
• In the pull-down menu of the Unit Monitor, only the currently connected units will be
displayed.
• The unit name with a "( )" is not supported by the Unit Monitor. Even if selected, it
will not be displayed in the "Unit Monitor" window.
13-2
MV High-Speed Link Unit Monitor
Note
The displayed item in the Unit Monitor corresponds to the relay DM that is assigned
in the Unit Editor. When performing the unit monitoring operation, ensure that it will
not collide with the ladder diagram program.
"9-5 DM/Relay Function" (Page 9-62)
Display ON/OFF status of

MV-L40 relay.
(page 13-4).
Displays the unit

name to be monitored.
The operation status

of X1/Y1/X2/Y2 axis
is displayed.
(page 13-3).
13
The operation of X1/Y1/X2/Y2 axis is performed.
UNIT MONITOR
(page 13-4).
Name Function
Control mode Displays the current control mode.
The current operation state.
In stop : Operation stop, M-code OFF command wait,
or continuous operation standby.
Operation state In operation : Point operation is in progress.
Dwell : Standby during dwell time.
Zero return : Zero return is in progress.
Home position movement : Moving to the home position is in progress.
The point No. during operation.
Point parameters
0 indicates the state of no operation, 1 to 100 indicates the respective point No.
Current coordinate Displays the current coordinate.
Current speed The current operation speed.
M-code NO. The M-code No. that is output
Alarm in progress No. Displays the No. of alarm in progress that has occurred.
Emergency stop input If an emergency stop occurs, a "●" will be displayed.
Return speed Displays the current return speed.
Return torque Displays the current return torque.
Button display If selected, the buttons will displayed.
13-3
Name Function
Display the relay No. If selected, the relay No. will be displayed.
(Operation start) button Starts the operation.
(Deceleration stop) button Decelerates to stop.
(Zero return) button Performs zero return.
(Home position) button Returns to the home position.
(Operation enable) button Enables operation of the MV-L40. The "Operation enable relay" will turn ON.
(alarm in progress reset)
Resets an alarm in progress.
button
(Forced stop) button Stops the operation immediately.
(Servo ON) button Turns on the "Servo ON relay".
Name Function
Displays whether the MV-L40 is in a state that can operate.
Operation enable relay A "●" will be displayed when operation is possible, and "(blank)" will be
displayed when operation is not possible.
Turns ON when pulse output is complete.
Pulse output completion relay A "●" will be displayed when pulse output is complete, and "(blank)" will be
displayed during pulse output.
Positioning will be complete when the position deviation is smaller than the
setting of the "Positioning stop range", and it will be ON.
Positioning finish relay
A "●" will be displayed when positioning is complete, and "(blank)" will be
displayed when positioning is not complete.
Turns ON if the point operation of the MV-L40 is complete.
Positioning finish relay A "●" will be displayed when the operation is complete, "(blank)" will be
displayed when the operation is not complete.
Turns on when an alarm in progress occurs at the MV-L40 side.
alarm in progress relay A "●" will be displayed when an alarm in progress occurs, and "(blank)" will
be displayed when no alarm in progress occurs.
13 Warning relay
Turns ON when a warning is generated.
A "●" will be displayed when a warning occurs, and "(blank)" will be
displayed when no warning occurs.
UNIT MONITOR
Turns ON when the return speed is lower than the setting of the "Zero speed
detection".
Zero speed detection relay
A "●" will be displayed during zero speed detection, and "(blank)" will be
displayed when zero speed detection is not in progress.
Opens the "Servo ON relay", and turns ON after the electromagnetic brake
release wait time.
Servo ready relay
A "●" will be displayed when the servo is ON, and "(blank)" will be
displayed when the servo is OFF.
Turns ON when the speed is limited by the setting of the "Speed limit".
Speed limiting in progress
relay A "●" will be displayed when speed limiting is in progress, and "(blank)" will
be displayed when speed limiting is not in progress.
Turns ON when the torque is limited by the setting of the [[+] torque limit·[-
Torque limiting in progress ]torque limit].
relay A "●" will be displayed when torque limiting is in progress, and "(blank)" will
be displayed when torque limiting is not in progress.
DANGER For safety reasons, please set the emergency stop switch that is connected to
the MV-L40 main unit to a position that is easy to operate. Please note that the
"Forced stop" button of the "Unit Monitor" will not operate when the
communication is abnormal.
13-4
14
ABSOLUTE POSITION
DETECTION SYSTEM
This chapter describes the absolute position detection system.
14-1 Absolute Position Detection System •••••••••••••••••• 14-2
14-1
14-1 Absolute Position Detection System
Overview of the Absolute Position Detection System
The built-in encoder of the servo motor consists of a detector for detecting position within 1 revolution
and a revolving accumulated counter for detecting the accumulated number of revolutions.
If an absolute position detection system is used, even during the power OFF period of the servo
amplifier, the vaule of the revolving accumulated counter of the encoder can still be maintained through
the lithium battery used for the absolute position detection system (OP-51422). Therefore, if an origin
return operation is performed when installing the machinery, it is not necessary to perform origin return
when turning on the power.
In addition, it is also possible to perform backup through a capacitor, therefore, during the data hold
period when replacing the battery that is indicated in the specification overview, the lithium battery can
be replaced while the current position is detected.
Following is the block diagram of the absolute position detection system.
Block diagram of the absolute position detection system
Servo amplifier Servo motor

Encoder
Position in Position in
one revolution one revolution
Current position
(Return position) Revolving Revolving
accumulated accumulated
counter counter
Li battery Capacitor
14
ABSOLUTE POSITION DETECTION SYSTEM
CAUTION If the absolute position detection system is not used, the current coordinate
in position control mode will be cleared to "0" when the power is turned on.
Please perform origin return before starting operation if required.
14-2
Specification of the Absolute Position Detection System
Item Specification Remark

Mode Electronic/battery backup mode
Battery Special-purpose lithium battery OP-51422
Maximal range of rotation ±16383rev
about 10,000 hours This period is the data hold time of the
Battery backup time (battery life at 20°C without special-purpose lithium without turning on
turning on the power) the power.
Data hold time of the built-in capacitor. 5
Battery change time 1 hour minutes of power ON time is needed in
advance.
Battery storage life 5 years from the manufacturing date
This period is the recommended
Recommended battery replacement period to maintain the battery
about 3 years
replacement period performance regardless of whether power is
on or off.
Installing Method of the Lithium Battery Used for the Position Detection System
When installing the absolute position detection system, be sure to keep the power
DANGER
OFF for over 5 minutes, and wait until the "CHARGE" indicator light is off.
Otherwise risks, such as electrical shock, may result.
When installing the lithium battery used for the absolute position detection
CAUTION
system, the following points must be observed, in order to avoid electrostatic 14
destroy inside the servo amplifier.

• Please discharge the static electricity on the personal body, if any.
• The personal body and the workbench must be grounded.
• Conductive parts, such as the pins of the connector or the electrical parts,
can not be touched by hands.
The lithium battery used for the absolute

position detection system can only be
inserted after a connector is connected.
When connecting the connector, pay
attention to the notch direction of the
Connector
connector.
Li battery for Absolute

Position Inspection System
OP-51422
14-3
Starting Steps of the Absolute Position Detection System
3"ISTALLING"( Page 3-1), after wiring according to 4"WIRING AND SETTING OF SERVO
AMPLIFIER"( Page 4-1), start the absolute position detection system according to the following steps.
1 Install the lithium battery used for the absolute position detection system.
2 Set the "*Absolute position detection system" of the system parameter to "Enabled", and disconnect the
power.
3 Cancel the alarm in progress.

If the power is connected, an alarm in progress will occur*1.
In order to charge the built-in capacitor of the encoder, turn ON/OFF the power after maintaining the
alarm in progress state for 5 to 10 minutes to reset the alarm in progress.
*1 If an absolute position detection system is used, each time the power is turned on, an alarm in progress
from ("Battery voltage low" alarm in progress + "Battery low alert" alarm in progress) and "Absolute
position lost" alarm in progress will occur.
4 Perform an origin return.
Notices of the Absolute Position Detection System
■ When the absolute position can not be detected

Even if the absolute position detection system is set, the absolute position can not be detected in the
following cases.
• When the power is OFF, and the servo motor rotates ±214 (16384) times (exceeds the detection range of
the encoder).
■ When the power has not been turned on for a long time
For the MV-L40, if the power has not been turned on for a long time (about 2 months, +25°C), a flash
ROM write operation must be performed. 14
The flash ROM write operation be can performed in the following ways.

• Turn off the power of the MV-L40, turn on again.
• Perform a flash ROM write operation through the ladder diagram program.
"9-5 DM/Relay Function"(Page 9-62)
• Perform a flash ROM operation through the MV LINK STUDIO.
"MV LINK STUDIO User's Manual" ,"7-3 Write to unit"
■ alarm in progresss that need an origin return

When in position control mode, even if the absolute position detection system is set, the following alarm
in progresss will still occur, and an origin return operation must be performed.
● alarm in progresss that need an origin return

• Encoder communication abnormal 4*
• Battery voltage low
• Revolving accumulated counter abnormal *
• 1 Revolving counter abnormal *
• Absolute position lost (the current coordinate is forced to "0" when an alarm in progress occurs)
*
alarm in progress that needs turning on the power again when it is reset.
14-4
15
EXAMPLES OF BASIC
OPERATION
This Chapter will describe examples of various ladder program and parameters.
You can make reference when creating ladder program and setting parameters.
CAUTION When actually testing the operation, please set the

movement (target coordinate) and speed to be in safe
and proper value.
Note
In KV BUILDER, " R " will not be displayed before relay No..
15-1 Single Point Operation ••••••••••••••••••••••••••••••••••• 15-2

15-2 Continuous Malti-point Operation •••••••••••••••••••••• 15-4
15-3 Changing Speed In Positioning-control Process •••• 15-6
15-4 Changing Speed In Position Type Speed-control Process •••• 15-8
15-5 Parameter Indirect Specification ••••••••••••••••••••• 15-10
15-6 Pitch Feeding •••••••••••••••••••••••••••••••••••••••••••• 15-12
15-7 Palletization •••••••••••••••••••••••••••••••••••••••••••••• 15-13
15-8 Inching Feed Of Position Control Type ••••••••••••• 15-14
15-9 Inching Feed Of Position Type Speed Control •••••••••••••15-15
15-10 Other Control After Operation (M Code)•••••••••••• 15-16
15-11 To Run By Linear Interpolation ••••••••••••••••••••••• 15-19
15-2 When Running Several Points Continuously •••••••• 15-4
15-13 Changing Control Mode (position control →speed control) ••15-23
15-14 Changing Control Mode (speed control to position control) ••15-27
15-15 Changing Control Mode (position control to manual pulse) 15-31
15-16 Changing Control Mode (position control to manual pulse) ••15-35
15-17 Changing Control Mode (position control to torque control) ••15-39
15-18 Changing Control Mode (torque control to position control)••15-43
15-1
15-1 Single Point Operation
Just operates and stops the specified point.
In this example, point No.10 is set, in single operation of X1 axis, it moves to target coordinate 10000.
Operation
Speed
Speed No.15
point No. 10
Coordinate
0
Stop at coordinate 10000
■ Parameter
Point parameter
When "Next point No." is set as 0, only point No.10 ends operation.
For point parameter, please see "10-5 Point Parameter", ( page 10-53).
Operation Target Stop Sensor Movement after Stop

Point No. Speed No.
mode coordinates Set Sensor Input
Single/Position/
10 10000 15 disable -
Absolute
Continuous
No. of next Cyclic Incremental
Dwell Time Operation repeat counts M-code NO.
point Movement
Mode
Standby (no
0 0 0 0 0
return)
Speed Parameter
For speed parameter, please see " Speed Parameter", ( page 10-96).
Speed No.15
15 5000
Servo parameter, system parameter, common setup parameter

EXAMPLES OF BASIC OPERATION
Please set servo parameter, system parameter, common setup parameter depending on system used.
"10-4 Servo Parameter", ( page 10-26)
"10-6 System Parameter", ( page 10-72)
"10-8 Common Set Parameters", ( page 10-97)
15-2
15-1 Single Point Operation
■ Ladder program
For details on basically how to program, please see "Start Operation" (page 9-64).
Examples of device assignment in unit editor
Name assigned value Remarks
Leading DM No. DM10000
User specification in Unit Editor
leading relay no. R30000
Point No. Specified DM DM10114
Operation Start Request relay R32003
Auto assignment by the settings of
Operation start Request
R30010 leading DM No./relay No.
Acceptance Relay
Operation Start Error Relay R30210
Reference
Operation p X1 servo p p ca ce ope at o
start ready moving in start request start error X1 current X1 point standby start request
ready progress accept
command control No.
mode specification
R30010 R32003 Default setting
RES
X1 operation start X1 operation
R30210 4 Default setting

Ė SET
ㆇォ㐿ᆎ
start error
ࠛ࡜࡯⴫␜
display
R30007 DM10012 R33201 5 Verify preparation for
= T 0000
X1 m-code 00001 Cutter operation
output in X1 m-code No. output
progress
After saving point No.10 in X1
R30007 DM10012 R33202 3
axis "oint No. specified DM”,
= T 0001 "request start operation relay
X1 m-code 00002 cylinder operation ” ON
progress
R32007 "request start operation relay”
T0000
OFF by ON of X1 axis "start
operation request acceptance
X1 m-code relay”.
OFF command
15
T0001 Verify start to malfunction of
X1
END
ENDH
15-3
15-2 Continuous Malti-point Operation
Running several points continuously. This operation is called "Several point positioning".
In this example, run in order of point 10, 11 and 12. After the operation of each point ends, once it is
standby (stops), it moves to next point. All points are single operation of X1 axis.
Operation
Speed
Speed No.15
Speed No.10
point No. 10 point No. 11 point No. 12
Time
0
At coordinate At coordinate At coordinate
10000 Standby 20000 Standby 35000 stop
■ Parameter
Point parameter
Set "Continuous operation mode” as "Standby (non-return)”.
Set the point No. run after each point as "next point No.".
Movement after
Operation Target Stop Sensor
Point No. Speed No. Stop Sensor
mode coordinates Set
Input
Single/Position/
10 10000 15 disable -
Absolute
Single/Position/
11 20000 10 disable -
Absolute
Single/Position/
12 35000 15 disable -
Absolute
Continuous
point Movement
Mode
15 0
Standby (no
return)
11 0 0 0
Standby (no
0 12 0 0 0
return)
Standby (no
0 0 0 0 0
return)
Speed Parameter
For speed parameter, please see "10-7 Speed Parameter" ( Page 10-96 ).
Speed No. Speed No.15
1000 5000

"10-4 Servo Parameter" ( Page 10-26 )
" System Parameters Structure" ( Page 10-72 )
"10-8 Common Set Parameters" ( Page 10-97 )
15-4
15-2 Continuous Malti-point Operation
■ Ladder program
Use standby release relay to release the standby state after point operation and set it as moving to next
point. If the standby release relay maintains ON, after reaching to target coordinate of point, it will
rapidly start the operation of next point.
leading relay No. R30000
Standby release relay R32004
Operation Start Request relay R32003 Auto assignment by the settings of
Operation start Request leading DM No./relay No.
R30010
Acceptance Relay
Reference
CR2002 R32000
Default setting
enable
R32010
Default setting
X1 servo ON
R30000 R30108 R00500

Verify preparation for
X1 operation X1 servo ready X1 operation
enable ready end
display After saving point No.10 in
R10000 R30000 R30108 R30001 R30010R30210 DM10025 㧏00010 R32004 R32003 X1 axis "point No.
χ 㧩 DW SET SET
specified DM”, "request
Operation X1 operation X1 servo X1 axis X1 operation X1 operation#00000 DM10114 X1 cancel X1 operation
start ready ready moving start request X1 current X1 point No. standby start request start operation relay ” ON
start error
15
command in progress control mode specification
accept
R32003 "request start operation
R30010
RES relay” OFF by ON of X1
axis "start operation
X1 operation X1 operation
start request start request request acceptance
accept
R30210 R00501 Verify start to malfunction
χ SET
of X1
X1 operation Operation
start error start error
display
END
ENDH
15-5
15-3 Changing Speed In Positioning-control Process
When changing the operation speed in position control mode, the position point at which speed is
changed should be required.
In this example, when changing speed, the separation is No. 10, 11 and 12.
Different speed No.s are set in points. In addition, after operating point No. 10 and 11, it is set as non
standby and continuing to move to next point.
Operation
Speed
Speed No.15
Speed No.10
point No.10 point No.11 point No.12
Coordinate
0
At coordinate At coordinate At coordinate
10000 20000 35000
■ Parameter
Point parameter
Please set "continuous mode" as continuous 2 (Cont-2), so that it will not standby after operating point
No. 10 and 11 and switch to the speed of next point.
If the speed of next point is high, it will start acceleration from target coordinate.
If the speed of next point is low, it will start deceleration toward target coordinate.
For point No. 12, it will not operate next point after operation ends, so "next point No." is set as 0. The
"continuous mode" of point No. 12 can set as any mode, here it is set as "Standby".
Operation Target Stop Sensor Movement after Stop
Point No. Speed No.
mode coordinates Set Sensor Input
Single/Position/
10 10000 15 disable -
Absolute
Single/Position/
11 20000 10 disable -
Absolute
15 12
Single/Position/
Absolute
35000 15 disable -
Continuous
point Movement
Mode
0 cont 2 11 0 0 0
0 cont 2 12 0 0 0
Standby (no
0 0 0 0 0
return)
Speed Parameter
For speed parameter, please see "10-7 Speed Parameter" ( Page 10-96 ).
1000 5000

" Servo Parameter Structure" ( Page 10-26 )
" System Parameters Structure" ( page 10-72 )
"10-8 Common Set Parameters" ( page 10-97 )
15-6
15-3 Changing Speed In Positioning-control Process
■ Ladder program
Leading relay no. R30000
Operation start Request leading DM No. /relay No.
R30010
Acceptance Relay
Reference
Please see "15-1 Just One Point Running" ( page 15-2 ).
TIP "Speed change DM” is also available to change speed.

"Changing Speed" (page 9-87)
15
15-7
15-4 Changing Speed In Position Type Speed-control Process
Change speed in position type speed-control process. The speed can be changed to a speed different
with speed No. by writing a new speed in speed-changing DM by using ladder program and turning the
speed change request relay ON.
In this example, it starts to operate at speed of No. 15 from X1 axis, decelerates to 3000PLS/s. If the
stop sensor is ON, it will decelerate and stop.
Operation
Speed
Speed No.15 5000PLS/s

3000PLS/s
Time
Changing speed Stop sensor
Relay ON Input ON
■ Parameter
Point parameter
Set "operation mode" as "deceleration stop" of position type speed control (Position Type Speed/
Deceleration).
As it moves toward +CW, positive value is set in target coordinate.
Target
Point No. Operation mode Speed No. Stop Sensor Set
coordinates
Position type speed/
20 +1 15 enable
Deceleration
Movement after Stop

Dwell Time No. of next point M-code NO.
Sensor Input
- 0 0 0
Speed Parameter
For speed parameter, please see "10-7 Speed Parameter" (page 10-96 ).
15 Speed No.15
5000
System parameter
For system parameter, please see " System Parameters Structure" (page 10-72 ).
If the "Speed unit" is specified to PLS/s, "coordinate unit” is set to be "PLS”. Please set other system
depending on system used.
Coordinate
unit
PLS
Servo parameter
Please note electronic gear setting.
Please set servo parameters depending on system used.
" Servo Parameter Structure" (page 10-26 )
Common set parameter

Please set common setup parameters depending on system used.
"10-8 Common Set Parameters" (page 10-97 )
15-8
15-4 Changing Speed In Position Type Speed-control Process
■ Ladder program
As for the basic description for changing speed in position type speed control, please see
"Changing Speed"(page 9-87).
Changing speed DM DM10118/DM10119
Request changing speed relay R32107 Auto assignment by the settings of
Speed change finish relay R30107 leading DM No./relay No.
Speed change error relay R30207
Reference
CR2002 R32000
Default setting
enable
R32010
Default setting
X1 servo ON
R30000 R30108 R00500

enable ready end
display
R10000 R30000 R30108 R30001 R30010R30210 DM10025 #00024 R32003
Ė DW SET X1 axis starts operation from
Operation X1 X1 X1 axis X1 operation X1 operation#00000 DM10114 X1 operation point No.24
start operation servo moving in start request start error X1 current X1 point start request
ready progress control No. specification
command ready accept
mode
R30010 R30210 R32003
RES
start request start error
15
start request
accept
R10001 R30107 R30207 #0000003000 R32107 After saving 30000 in X1 axis
Ė DW.L SET "speed change DM”, "request
Speed change X1 speed X1 speed DM10118 X1 speed changing speed relay ” ON
command change X1 speed change change
complete change error request
R30107 R32107 "request changing speed
RES relay ” turns OFF through ON
X1 speed X1 speed of X1 axis "speed change
change complete change request finish relay ”
R30207 R00501
Ė SET Verify speed change error
X1 speed Speed change
change error error display
END
ENDH
15-9
15-5 Parameter Indirect Specification
When specifying point parameter or system parameter indirectly, you can change parameter value from
peripheral. In this example, it is to specify indirectly target coordinate of X1 axis point 25, and set it so
that it can be changed by digital switch.
TIP For indirect specification of parameter, please see "10-9 Indirect Parameter Specification" (
page 10-100 ).
For indirect parameter area, please see "Indirect Parameter Area" (page 9-32 ).
■ Parameter
Point parameter
Specify indirect parameter 0 in "target coordinate" (Index 0). When starting point operation, it will read
value of indirect parameter.
Movement after
Input
Single/Position/
25 Index0 15 disable -
Absolute
Continuous
point Movement
Mode
0 Standby (no return) 0 0 0 0
Speed Parameter
For speed parameter, please see "10-7 Speed Parameter" ( page 10-96 ).

" Servo Parameter Structure" ( page 10-26 )
" System Parameters Structure" ( page 10-72 )
15 ■ Ladder program
From the digital switch connected with KV-C32XA expanded input unit, input target coordinate in BCD
data. Convert this ladder diagram into binary data by sequence program, and write it into DM (data
memory) corresponding to indirect parameter "0". MV-L40 will take the value written into indirection
parameter 0 as target coordinate.
KV-C32XA
CPU unit MV-L40
data switch
15-10
15-5 Parameter Indirect Specification

Leading relay no. R30000 User specification in Unit Editor
data switch (KV-C32XA) input area R33200
Indirect parameter 0 Index0 ( DM10164 and DM10165)
R30010
Acceptance Relay
Reference
CR2002 R32000
Default setting
enable
R32010
Default setting
X1 servo ON
R30000 R30108 R00500

ready ready end
display Write indirect parameter 0
R10001 R30000 R30001 R30108 R30010R30210 DM10025
after convert BCD→BIN
Ė = value of data switch
Operation X1 X1 axis X1 servo X1 operation X1 operation #00000
start operation moving in ready start request start error X1 current
ready progress
command accept control mode
15
R33200 DM10164 #00025 R32003
LDA.D TBIN.D STA.D DW SET X1 axis starts operation from
data switch input Indirect X1 point X1 operation point No.25
parameter 0 No. start request EXAMPLES OF BASIC OPERATION
specification
R30010 R32003 "request start operation relay”
RES OFF by ON "Start operation
X1 operation X1 operation request acceptance relay”.
start request accept start request
R30210 R00501
Ė SET Verify operation start
display
END
ENDH
15-11
15-6 Pitch Feeding
Start operation from specified point, after moving to target coordinate, it carries out cyclic operation in
specified times. Pitch feeding is applicable for the following operation i.e. the moving devices moves
workpiece to a position and operates the workpiece in certain distance from this position.
In this example, it is to operate point 10. In axis X1, after moving to target coordinate 10000, move
again to coordinate 30000, and cycle this 10 times.
Operation
Speed
Speed No.15
Time
0
target coordinates Cycle At coordinate
10000 10 times operation 30000 stop
■ Parameter
Point parameter
Set "cycle times" as 10, "cyclic incremental movement" as 2000.
Movement after
Point Operation Target Stop Sensor
Speed No. Stop Sensor
parameter mode coordinates Set
Input
Single/Position/
10 10000 15 disable -
Absolute
Continuous
Dwell Time Operation repeat counts M code No.
point Movement
Mode
Standby (no
0 0 2000 10 0
return)
Speed Parameter
15 For speed parameter, please see " 10-7 Speed Parameter " ( page 10-96).
Speed NO.15
5000

" Servo Parameter Structure " ( page 10-26)
" 10-6 System Parameter " ( page 10-72)
" 10-8 Common Set Parameters " ( page 10-97)
■ Ladder program
The same ladder program can be used for " 15-2 Continuous Malti-point Operation " ( page 15-4).
Use Standby Release relay to release the standby state after moving to each cyclic point and start next
cyclic operation. Maintain Standby Release relay ON, after reaching to each cyclic point, start rapidly
next cyclic operation.
15-12
15-7 Palletization
First return to home position after moving to target coordinate. Then, move again to a position far away
from target coordinate and return again to home position. For carrying out such kind of operation, you
can use cyclic operation and return operation. Palletization is applicable for the following operation, i.e.
to place a job at a point, the moving device will get the job and carry out Palletization in certain interval.
In this example, first move to target coordinate 10000, return to home position, move to coordinate
11000 (target coordinate 10000+cyclic movement 1000), and return again to home position.
Operation
Speed
Speed No.15
12000
Coordinate
0 10000
11000
■ Parameter
Point parameter
The 2nd movement is "target coordinate" (1000) + "cyclic incremental movement" (1000).
The "repeat counts" is set as 2. "Continuous operation mode” is set to be "return”.
Movement after
Input
Single/Position/
10 10000 15 disable -
Absolute
Continuous
point Movement
Mode
0 Standby (return) 0 1000 2 0
Speed Parameter 15
For speed parameter, please see "10-7 Speed Parameter" ( page10-96 ).
Speed No.15
5000

" Servo Parameter Structure" ( page10-26 )
" System Parameters Structure" ( page10-72 )
"10-8 Common Set Parameters" ( page10-97 )
■ Ladder program
The same ladder program can be used for "15-2 Continuous Malti-point Operation" ( page15-4 ).
Use Standby Release relay to release the standby state after moving to each cyclic point and start next
cyclic operation. Maintain Standby Release relay ON, after reaching to each cyclic point, start rapidly
next cyclic operation.
15-13
15-8 Inching Feed Of Position Control Type
To set with incremental coordinate when carrying out inching feed in Single operation of position
control. In this example, it is to run point No. 10 in incremental coordinate.
Operation
Speed
Speed No.15
Coordinate
0 10000
■ Parameter
Point parameter
When "Next point No." is set as 0, only point No.10 ends operation.
For point parameter, please see "10-5 Point Parameter" ( page 10-53)
Movement after
Input
Single/Position/
10 10000 15 disable -
Incremental
Continuous
point Movement
Mode
Speed Parameter
For speed parameter, please see "10-7 Speed Parameter" ( page 10-96).
Speed No.15
5000
15 Servo parameter, system parameter, common setup parameter

" Servo Parameter Structure" ( page 10-26)
" System Parameters Structure" ( page 10-72)
"10-8 Common Set Parameters" ( page 10-97)
■ Ladder program
The same ladder program can be used for "15-1 Just One Point Running" ( page 15-2).
15-14
15-9 Inching Feed Of Position Type Speed Control
Move specified distance from position where sensor is ON in position type speed control.
Here it is to run point No. 10, move distance 10000 from position where stop sensor is ON.
Operation
Speed
Stop sensor ON
SpeedNo.15
Coordinate
0 10000
■ Parameter
Point parameter
Set "operation mode" as inching feed for position type speed control. As it moves toward +CW, positive
value is set in target coordinate.
Target
coordinates
Position type speed/
10 1 15 enable
Inching
Movement after Stop

Dwell Time No. of next point M-code NO.
Sensor Input
10000 0 0 0
Speed Parameter
Speed No.15
5000

Please set servo parameter, system parameter, common setup parameter depending on system used. 15
" Servo Parameter Structure" (page 10-26) EXAMPLES OF BASIC OPERATION
" System Parameters Structure" (page 10-72)
"10-8 Common Set Parameters" (page 10-97)
■ Ladder program
The same ladder program can be used for "15-1 Just One Point Running" (page 15-2).
■ Connect
Stop sensor is connected with STOP (pin No. 18) of I/O connector of servo amplifier.
"4-7 Wiring I/O Connector" (page 4-27)
"Chapter 6 DETAILED I/O FUNCTIONS" (page 6-1)
15-15
15-10 Other Control After Operation (M Code)
It will become very easy if using M code for controlling other than KV-L40. In this example, after
operation of X1 axis point No. 80, it outputs M code 1, running tool; after operation of point No. 81, it
outputs M code 2, running cylinder. Then runs point No. 82.
For M code, please see "Point Parameter" ( page 10-53 ).
Operation
Speed
SpeedNo.15
SpeedNo.10
point No.80 point No.81 point No.82
Time
0
M-code control Cutter ON Cylinder ON

1 2
■ Parameter
Point parameter
Set "M code No." of point 80 as 1, and "M code No." of point 81 as 2.
Set "M code mode" as "AFTER".
Operation Target Stop Sensor Movement after

mode coordinates Set Input
Single/Position/
80 10000 15 disable -
Absolute
Single/Position/
81 20000 10 disable -
Absolute
Single/Position/
82 35000 15 disable -
Absolute
Continuous No. of next Cyclic Incremental repeat

15 Dwell Time
0
Operation Mode
Standby (no return)
point
81
Movement
0
counts
0
M Code Mode
AFTER
M-code NO.
1
0 Standby (no return) 82 0 0 AFTER 2

0 Standby (no return) 0 0 0 - 0
Speed Parameter
1000 5000

"10-4 Servo Parameter" ( page 10-26 )
"10-6 System Parameter" ( page 10-72 )
15-16
■ Ladder program
For details on basically how to program, please see "M code" ( page 9-72 ).
Leading relay no. R30000 User specification in Unit Editor
External output (KV-B16RA) R33200 to R33215
R30010 Auto assignment by the settings of
Acceptance Relay
leading DM No. /relay No.
M Code No. DM DM10012
M-code outputting relay R30007
M-code OFF instruction relay R32007
15
15-17
Reference
CR2002 R32000
Default setting
enable
R32010
Default setting
X1 servo ON
R30000 R30108 R00500

X1 operation X1 servo ready X1 operation
ready ready end
display
R10000 R30000 R30108 R30001 R30010R30210 DM10025 00080 R32004 R32003 Save point No. 80, "standby
Ė = DW SET SET release relay” and "request
Operation X1 operation X1 servo X1 axis X1 operation X1 operation 00000 DM10114 X1 cancel X1 operation operation leading relay” ON
start ready moving in start request start error X1 current X1 point standby start request
ready progress accept
command control No.
mode specification
R30010 R32003 "request start operation relay”
RES OFF by ON "start operation
X1 operation start X1 operation request acceptance relay”.
R30210 4
ㆇォ㐿ᆎ
start error
ࠛ࡜࡯⴫␜
display
R30007 DM10012 R33201 5 Run cutter by per instruction
= T 0000 of M code 1. "M-code output
X1 m-code 00001 Cutter operation relay” OFF after 500ms
progress
R30007 DM10012 R33202 3 Run cylinder by per
= T 0001 instruction of M code 2. "M-
X1 m-code 00002 cylinder operation code output relay” OFF after
progress
T0000 R32007 Set ON M-code OFF
instruction relay when
X1 m-code running cylinder by per
OFF command
15 T0001
END
ENDH
15-18
15-11 To Run By Linear Interpolation
Use X1 and Y1 axis to carry out linear interpolation.
In this example, move point 10 to target coordinate 10000 of X1 axis, and move in linear interpolation
way to target coordinate 8000 of Y1 axis.
Operation
Y1 axis
㧔10000㧘8000㧕
X1 axis
㧔0㧘
0㧕
■ Parameter
Point parameter
Set "Operation mode" as linear interpolation.
Movement after
Input
Linear/Position/
X1 axis: 10000
10 Absolute 15 disable -
Y1 axis: 8000
(2 axes)
Cyclic
Continuous No. of next
Dwell Time Incremental repeat counts M Code No.
Operation Mode point
Movement
Speed Parameter
Speed No.15
5000

15
"10-4 Servo Parameter" ( page 10-26 )

■ Ladder program
leading relay no. R30000
Auto assignment by the settings of
R30010 leading DM No. /relay No.
Acceptance Relay
15-19
15-11 To Run By Linear Interpolation
Reference
The operation preparation includes Y1 axis. When operation starts, if starting X1 axis, Y1 axis also
starts by setting point parameter. By Positioning Finish relay of X1 axis, it is possible to check whether
the operation finishes.
CR2002 R32000 R32300

Default setting
always ON X1 operation Y1 Operation
Y1േ૞⸵น
enable enable
R32010 R32310
Default setting
X1 servo ON Y1 servo ON
R30000 R30108 R30500 R30608 R00500

X1 operation X1 servo Y1 Operation Y1 Servo ready Operation
ready ready ready ready end
display
R10000 R30000 R30108 R30001 R30010R30210 DM10025 Save point No. 10, "request
Ė = start operation relay” ON
Operation X1 operation X1 servo X1 axis X1 operation X1 operation00000
start command ready ready moving in start request start error X1 current
progress
accept control mode
R30500 R30608 R30501 DM10051 #0001 R32003

= DW SET
Y1 Operation Y1 Servo Y1 axis moving 00000 DM10114 X1 operation
ready ready in progress Y1 current X1 point No. start request
control mode specification
R30010 R32003
"request start operation relay”
RES OFF by ON "Start operation
X1 operation X1 operation request acceptance relay”.
accept
R30210 R00501
15 display
END
ENDH
15-20
15-12 Nearest Rotary Angle control
To carry out nearest rotary angle control. Here, turn the angle of rotary table from current angle to 270degree135
degree, 180 degree. For nearest rotary angle rotation, please see "Nearest rotation angle", (page 10-89).
Operation
poin
t12
0ࠑ 270ࠑ 135ࠑ
0
1
t1
t1
in
in
ࠑ
po
po
90
18
0ࠑ
180ࠑ
270ࠑ
90ࠑ
0ࠑ
center point center point center point
5ࠑ
0ࠑ
13
27
13
5ࠑ
0ࠑ
180ࠑ 90ࠑ
■ Parameter
Point parameter
Set the coordinate system of "Operation mode" as absolute coordinate.
Target Movement after
coordinates Stop Sensor Input
Single/Position/
10 270 10 disable -
Absolute
Single/Position/
11 135 10 disable -
Absolute
Single/Position/
12 180 10 disable -
Absolute
Continuous Cyclic Incremental

Dwell Time No. of next point Cyclic Times M-code NO.
Operation Mode Movement
15
Speed Parameter EXAMPLES OF BASIC OPERATION
For speed parameter, please see "10-7 Speed Parameter", (page 10-96).
Speed No.15
5000
System parameter
Set "Coordinate Unit" as degree, "Nearest Rotary Angle control" as ON. Please set other system
parameters depending on system used.
"10-6 System Parameter", (page 10-72)
Servo parameter, common setup parameter
Please set servo parameter, common setup parameters depending on system used.
"10-4 Servo Parameter", (page 10-26)
"10-8 Common Set Parameters", (page 10-97)
TIP It is necessary to set up electronic gear to 360 degree per time in angle control.
Electronic Gear Numerator 131072 16384
360 degree per rotation = =
Electronic Gear Denominator 360 45
15-21
15-12 Nearest Rotary Angle control
■ Ladder program
R30010
Acceptance Relay
Reference
CR2002 R32000
Default setting
enable
R32010
Default setting
X1 servo ON
R30000 R30108 R00500

ready ready end
display
R10000 R30000 R30108 R30001 R30010R30210 DM10025 ⧅00010 R32003 When R10000 is set as ON, it
Ė = DW SET starts operation of point 10
270eposition X1 operation X1 servo X1 axis X1 operation X1 operation#00000 DM10114 X1 operation
rotation ready ready moving in start request start error X1 current X1 point No. start request
progress accept control mode specification
Instruction
135position X1 operation X1 servo X1 axis X1 operation X1 operation#00000 DM10114 X1 operation
15
Instruction progress accept control mode specification
180eposition X1 operation X1 servo X1 axis X1 operation X1 operation #00000 DM10114 X1 operation
Instruction progress
accept control mode specification
R30010 R32003
"request start operation relay"
RES OFF by ON "start operation
X1 operation X1 operation request acceptance relay".
accept
R30210 R00501
SET Verify operation start malfunction
display
END
ENDH
15-22
15-13 Changing Control Mode (position control → speed control)
Position Control → Speed Control Switch
Change position control mode to speed control mode.

This is suitable for driller, etc. that can move at a fixed speed from a specific position and reach to the
specified torque.
Position (1)Move to specified position in the

position control mode and then
change to speed control mode.
(2)Speed up to speed command value.
Time (3)Run at speed command value until
meeting obstacle.
Speed (4)If an obstacle is met, the torque will
be raised to the torque threshold and
the running speed will be lowered.
(Generated torque ≧ specified
Time torque) if the time exceeds the
specified time, it stops.
Torque
Rated torque
Time
(2) (3) (4)

(1)
15
15-23
15-13 Changing Control Mode (position control →speed control)
The following recorded parameters are main relative parameters. Please set other parameters without
record depending on system used.
Servo parameter
For servo parameter, please see "10-4 Servo Parameter" ( page 10-26 ).
• “* Electronic gear (numerator)”
• “* Electronic gear (denominator)”
• "Speed Instruction Unit”
• "Speed instruction acceleration/deceleration unit”
• "Speed control acceleration”/"Speed control acceleration time”
• "Speed control deceleration”/"Speed control deceleration time”
• "[+] side torque limit”
• "[-] torque limit”
Note
In speed control mode, the value set in "torque instruction /speed control torque
threshold DM" and the smaller one of servo parameter "[+] side torque limit"/"[-] side
torque limit" set value) enabled.
Point parameter
For point parameter, please see "10-5 Point Parameter" ( page 10-53 )
For indirect specification of parameter, please see "10-9 Indirect Parameter Specification" ( page
10-100 ).
Target
Point No.
coordinates
1 Index0
Speed Parameter
15 System parameter, Common setup parameter

For system parameter, common setup parameter, please see the content below:
15-24
■ Ladder program
Name Assigned value Remarks
Leading relay No. R30000
Operation enable R32000
Operation ready R30000
Servo ON R32010
Servo ready relay R30108
Control mode specification DM DM10120
Request Change Control Mode relay R32212
Change Control Mode Finish relay R30112
Current control mode DM DM10025
Indirect parameter 0 DM10164/DM10165
Point No. Specified DM DM10114 Auto assignment by the settings of
Operation Start Request relay R32003 leading DM No. /relay No.
R30010
Acceptance Relay
Moving in progress relay R30001
[+] side torque limit enable relay R32011
[-] side torque limit enable relay R32012
Torque command/torque limit at
DM10121
speed control DM
Speed command/speed limit at torque
DM10122/DM10123
control DM
Return torque monitor DM DM10019
Refer to available device of Ladder program

Comment Device No. Contents Remarks
Saving destination of torque threshold at speed
Torque threshold buffer DM00000
control mode
DM00002/ Saving destination of speed command value at
Speed command buffer
Arrival coordinate
DM00003
DM00004/
speed control mode
Saving destination of target coordinate at
15
setting value DM00005 position control mode
specified torque DM00006 Specified saving destination of torque value

Specified torque DM00008/ Specified saving destination of torque detection
detection time DM00009 time (timer set value)
Remedy 1 R1000 R03000 (Start Position Control) receive
Remedy 2 R1001 Switch to position control mode
Remedy 3 R1002 Verify for switching to position control mode
Set target coordinate towards indirect parameter 0/
Remedy 4 R1003
Request start operation from point No.1
Remedy 5 R1004 Verify for starting the movement
Remedy 6 R1005 Verify for movement complete towards target coordinate
Remedy 7 R1006 Switch to speed control mode
Remedy 8 R1007 Verify for switching to speed control mode
Remedy 9 R1008 Verify for speed control mode action/specified torque
Remedy 10 R1009 Switch to speed=0
Remedy 11 R1010 Operation end
15-25
Reference
CR2008 +300DM00000 Defining the torque limit

LDA.S STA.S
On a scan Torque (Input absolute value of threshold)
period threshold
buffer
when +1000 DM00002
operation
starts.
LDA.L STA.L Defining speed command value
Speed
command
buffer
+1000 DM00004
LDA.L STA.L Defining movement position
Arrival
coordinate in position control mode.
setting value
+100 DM00006
LDA.S STA.S Defining specified torque (Input
Specified
torque
absolute value of specified torque)
ʿ0000003000 DM00008
LDA.D STA.D Defining specified torque
Specified
torque
detection time
detection time
+0 DM10121 +0 DM10122 R32000
LDA.S STA.S LDA.L STA.L SET Enable servo amplifier (X1 axis)
X1 Torque command X1 speed command X1 operation
/threshold /threshold enable
R30000 R32010
Ė SET
X1 servo ON
Servo ON
X1 operation ready
Externally ON. Receive request through ON.
R03000 R01000 R30108 R30001 R01000
Ė
Position
SET Position control start request accepted
Remedy 1 X1 servo ready X1 axis moving Remedy 1
Control Start in progress
R01000 R01001 ʿ00000 R32212 R01001
DW SET
DM10120 X1 change Remedy 2
SET Switch to position control mode
Remedy 1 Remedy 2
X1 request control mode
change complete
control mode R32212 R01002
R01001 R01002 R32212 R30112
Ė
DM10025
RES SET Confirm that control mode change is
Remedy 2 Remedy 3 X1 request X1 change ʿ00000 X1 request Remedy 3 complete
change control mode X1 current control mode change control mode
R01002 R01003 control mode complete DM00004 DM10164 ʿ00001 R32003 R01003 Confirm target coordinate, and
LDA.L STA.L DW SET SET
X1 operation Remedy 4 send start operation request to
Remedy 3 Remedy 4 Arrival coordinate Indirect DM10114
setting value parameter 0 X1 point No. start request coordinate indirect specified DM
R01003 R01004 R32003 R30010 specification R32003 R01004
Ė RES SET Confirm that start operation
Remedy 4 Remedy 5 X1 operation X1 operation X1 operationRemedy 5
start request start request start request
R01004 R01005 R30001 R01005
SET Confirm that it is moving
Remedy 5 Remedy 6 X1 axis moving in progress Remedy 6
R01005 R01006 R30001 R01006

Ę SET Confirm that movement is finished
R01006 R01007 R32011 R32012 +0 +0 ʿ00001 R32212 R01007

SET SET DW.S DW.L DW SET SET Switch to position control mode
Remedy 7 Remedy 8 X1[+] Torque X1[-] Torque DM10121 DM10122 DM10120 X1 request Remedy 8
limit enable limit enable X1 Torque X1 speed X1 control mode change control
command/ command/ specification mode
threshold threshold
In order to confirm the switch state of speed control, please set torque threshold
15
before "request change control mode relay" ON.
R01007 R01008 R32212 R30112 DM10025 R32212 R01008
X1 request
Ė RES SET Confirm that control mode
Remedy 8 Remedy 9 X1 change ʿ00001 X1 request Remedy 9
change control control mode X1 current control mode change control

mode complete mode
R01008 R01009 DM00000 DM10121 DM00002 DM10122

LDA.S STA.S LDA.L STA.L Defining the torque limit
Torque X1 Torque Speed command X1 speed
Remedy 9 Remedy 10 threshold command buffer command/
buffer /threshold threshold
DM10019 +0 CR2009 -1 DM00010
LDA.S CMP.S MUL.S STA.S Confirm that reach specified
The operation result
X1 return torque monitor
is negative.
Buffer for operation
torque
CR2009 DM00010
STA.S
The operation result Buffer for operation
is negative.
DM00010 DM00006 CR2011 DM00008 T0000 ʿ1 T0000 R01009
LDA.S CMP.S LDA.D STA.D T 0000 SET
Buffer for Specified The operation Specified S Remedy 10
operation torque result is torque
positive. detection time
R01009 R01010 +0 DM10122 R01010

LDA.L STA.L SET Stop processing
Remedy 10 Remedy 11 X1 speed Remedy 11
Operation status management and command/threshold
R01010 comfirmation in speed control. R03000 #00000 R01000
RES LDA STA Remedy finish
Remedy 11 Position Control Start Remedy 1
END
ENDH
15-26
15-14 Changing Control Mode (speed control to position control)
Speed Control To Position Control Switch
Change speed control mode to position control mode.

Suitable for grinder control, etc. that can control to return to the home position after grinding a specific feed.
Position (1)Speed up to speed command value.

(2)Run at speed command value until
reach to coordinate.
(3)When reaching to the arrival
coordinates, it stops.
Time Then, change to position control
mode and return to position starting
speed control.
Speed
Time
Torque
Time
(1) (2)
(3)
15
15-27
Servo parameter
For servo parameter, please see "10-4 Servo Parameter" ( page 10-26).
• "* Electronic gear (numerator)"
• "* Electronic gear (denominator)"
• "speed Instruction Unit"
• "speed instruction acceleration/deceleration unit”
• "speed control acceleration"/ "speed control acceleration time"
• "speed control deceleration"/ "speed control deceleration time"
• "[+] side torque limit"
• "[-] torque limit"
Note
In speed control mode, the value set in "torque instruction /speed control torque threshold
DM" and the smaller one of servo parameter "[+] side torque limit"/ "[-] side torque limit "set
value) enabled.
Point parameter
For point parameter, please see "10-5 Point Parameter" ( page 10-53).
For indirect specification of parameter, please see "10-9 Indirect Parameter Specification" ( page 10-100).
Target
Point No.
coordinates
1 Index0
Speed Parameter
For speed parameter, please see "10-7 Speed Parameter" ( page 10-96).
15 System parameter, Common setup parameter

"10-6 System Parameter" ( page 10-72)

"10-8 Common Set Parameters" ( page 10-97)
15-28
■ Ladder program
Leading relay No. R30000
Current coordinate change finish relay R30106
Current coordinate change error relay R30206
Current coordinate change request relay R32106
Current coordinate change DM DM10116/DM10117
Servo ON R32010
Torque command/torque limit at speed control DM DM10121 Auto assignment by the settings
Speed command/speed limit at torque control DM DM10122/DM10123 of leading DM No. /relay No.
Request change control mode relay R32212
Change control mode finish relay R30112
Current coordinate DM DM10000/M10001
Operation start Request Acceptance Relay R30010
Reference for available device of Ladder program

Saving destination of torque threshold at speed
Torque threshold buffer DM00000
control mode
Speed command buffer

DM00002/ Saving destination of speed command value at 15
DM00003 speed control mode EXAMPLES OF BASIC OPERATION
DM00004/ Saving destination of target coordinate at
Arrival coordinate set value
DM00005 position control mode
Remedy 1 R1000 R03000 (start speed control) receive
Remedy 2 R1001 Switch to speed control mode
Switch to speed control mode verification/
Change torque threshold at speed control/
Remedy 3 R1002
Change speed command value at speed
control/Monitor for arrival
Remedy 5 R1004 Verify for switching to speed control mode
R03001 (position control start) request etc./
Remedy 6 R1005 Set target coordinate towards indirect parameter 0/
Remedy 7 R1006 Verify for start operation request acceptance
Remedy 10 R1009 Exit
15-29
Reference
CR2008 +100 DM00000 Defining torque threshold

LDA.S STA.S
On a scan Torque (Input absolute value of
period when threshold
buffer
operation +1000 DM00002
starts. LDA.L STA.L Defining speed command
Speed
command value
buffer
+100000 DM00004
LDA.L STA.L Defining arrival coordinate
Arrival
coordinate
setting value
+0 DM10121 +0 DM10122 R32000 Enable servo amplifier (X1
LDA.S STA.S LDA.L STA.L SET
X1 Torque command X1 speed command X1 operation axis)
/threshold /threshold enable
R30000 R30000 R30001 R30106 R30206 +0 R32106
χ DW.L SET
X1 operation X1 operation X1 axis moving X Change X1 current DM10116 X1 change
current
ready ready in progress current coordinate X1 change current coordinate request
coordinate change error
R30106 complete coordinate R32106
RES
X1 change current X1 change
current coordinat
coordinate complete e request
R30106 R32010
χ SET Servo ON
X1 change current X1 servo ready
coordinate complete
R03000 R01000 R30108 R30001 R01000
χ SET Position control start request
Start Speed Remedy 1 X1 servo ready X1 axis moving in progress
Control Remedy 1
In order to confirm the switch state of speed control, please set torquethreshold before
"request change control mode relay" ON.
R01000 R01001 R32011 R32012 +0 +0 #00001 R32212 R01001

SET SET DW.S DW.L DW SET SET Switch to position control
Remedy 1 Remedy 2 X1[+] Torque X1[-] Torque DM10121 DM10122 DM10120 X1 request Remedy 3
limit enable limit enable X1 Torque X1 speed X1 control change
command/ command/ mode
threshold threshold specification control mode
R01001 R01002 R32212 R30112 DM10025 R32212 R01002

χ = RES SET Confirm that control mode
Remedy 2 Remedy 3 X1 request X1 change ⧅00001 X1 request Remedy 3
change control control mode X1 current control mode change control mode
mode complete
Operation status management and
comfirmation in speed control.
R01002 R01003 DM00000 DM10121 DM00002 DM10122 Defining torque threshold/
LDA.S STA.S LDA.L STA.L
Remedy 3 Remedy 4 Torque X1 Torque Speed X1 speed speed command value
threshold command/t command command/
threshold
DM10000 DM00004 CR2009 buffer hreshold buffer R01003
LDA.L CMP.L SET Confirm that reach specified
X1 current Arrival
coordinate The operation Remedy 4
coordinate setting value result is negative.
R01003 R01004 R01005 ʿ00000 R32212 R01004
DW SET SET Switch to position control
Remedy 4 Remedy 5 Remedy 6 X1 control mode X1 request Remedy 5
15
specification change control mode
R01004 R01005 R32212 R32112 DM10025 R32212 R01005
χ = RES SET Confirm that control mode
Remedy 5 Remedy 6 X1 request X1 change control ʿ00000 X1 request Remedy 6
change control mode complete X1 current control mode change
mode control mode
Set the position before reading speed control to indirect specification DM.
R01005 R01006 R03001

χ
DM10000
LDA.L
-1
MUL.L
DM10164
STA.L
ʿ00001
DW
R32003
SET
R01006
SET
Confirm target coordinate, and
Remedy 6 Remedy 7 X1 current coordinate Indirect DM10114 X1 operation Remedy 7 send start operation request to
parameter 0 X1 point No. start request
specification
R01006 R01007 R32003 R30010 R32003 R01007
χ RES SET Confirm that start operation
Remedy 7 Remedy 8 X1 operation X1 operation X1 operation Remedy 8
R01007 R01008 R30001 R01008
R01008 R01009 R30001 R01009

ω SET Confirm that movement is
Remedy 9 Remedy 10 X1 axis moving in progress Remedy10
R01009 R03001 R03000 ʿ00000

RES RES LDA
R01000
STA
Remedy finish
Remedy 10 Position Start Speed Remedy 1
Control Start Control
END
ENDH
15-30
15-15 Changing Control Mode (position control to manual pulse)
Position Control to Manual Pulse Switch
Change position control mode to manual pulse mode.

Suitable for rotary table, etc., used for manual trimmerring based on the workpiece after moving a
specific position automatically.
(1)Move to specified position in the

Time change to manual pulse mode.

(2)Operate according to manual pulse
Speed instruction.
Time
Torque
Time
(1) (2)
15
15-31
Servo parameter
• “*Time Constant for Burst Input"
• "*Format for Burst Input"
• "*Logic for Burst Input"
• "*Rotary Direction for Burst"
• "Manual pulse input override”
Point parameter
For point parameter, please see "10-5 Point Parameter" ( page 10-53 ).
For indirect specification of parameter, please see "10-9 Indirect Parameter Specification" ( P10-100 ).
Target
Point No.
coordinates
1 Index0
Speed Parameter
System parameter, Common setup parameter

"10-8 Common Set Parameters" ( P10-97 )
15
15-32
■ Ladder program
Servo ON R32010
Change control mode finish relay R30112 Auto assignment by the settings of
Current control mode DM DM10025 leading DM No. /relay No.
Point No. specified DM DM10114
Operation start request relay R32003
Operation start request
R30010
Acceptance relay

Arrival coordinate set DM00004/ Saving destination of target coordinate at
value DM00005 position control mode
Remedy 1 R1000 R03000 (start position control) receive
Verify for switching to position control mode/
Remedy 3 R1002 Set target coordinate towards indirect parameter 0/
Verify for movement complete towards target
Remedy 6 R1005
coordinate 15
Remedy 7 R1006 Switch to manual pulse mode EXAMPLES OF BASIC OPERATION
Remedy 8 R1007 Verify for switching to manual pulse mode
Remedy 9 R1008 Exit
15-33
Reference
CR2008 +100000 DM00004

Defining movement position in
On a scan
LDA.L STA.L position control mode.
Arrival
period coordinate
setting value
when
operation R32000 Enable servo amplifier (X1
starts. SET
axis)
X1 operation
enable
R30000 R32010
Ėχ SET Servo ON
X1 operation enable X1 operation
Externally ON. Receive request through ON. ready
R03000 R01000 R30108 R30001

Ė
R01000
SET
Position control start request accepted
Position
Control Start Remedy 1 X1 servo ready X1 axis moving in progress Remedy 1
R01000 R01001 #00000 R32212 R01001 Switch to position control mode
DW SET SET
Remedy 1 Remedy 2 DM10120 X1 request Remedy 2
X1 control mode change control mode
R01001 R01002 R32212 R30112 DM10025 specification R32212 R01002 Confirm that control mode
Ė
X1 change control
= RES SET
change is complete
Remedy 2 Remedy 3 X1 request # 00000 X1 request changeRemedy 3
change control mode complete X1 current control mode control mode
mode
R01002 R01003 DM00004 DM10164 #00001 R32003 R01003

Confirm target coordinate
LDA.L STA.L DW SET SET and operate start request
Remedy 3 Remedy 4 Arrival Indirect DM10114 X1 operation Remedy 4
coordinate parameter 0 X1 point No. start request
setting value specification
Set arrival coordinate into indirect specification DM.

R32003 R01004
R01003 R01004 R32003 R30010
R01004 R01005 R30001 R01005
R01006
R01005 R01006 R30001
Ę SET Confirm that movement is finished
R01006 R01007 #00003 R32212 R01007 Switch to manual pulse mode

DW SET SET
Remedy 7 Remedy 8 DM10120 X1 request Remedy 8
X1 control mode change control mode
R01007 R01008 R32212 R30112 DM10025 specification R32212 R01008
Ė = RES SET Confirm that control mode is
Remedy 8 Remedy 9 X1 request X1 change control # 00003
change control mode complete X1 current control mode
X1 request change Remedy 9 changed
control mode
mode
R01008 # 00000 R01000
LDA STA Remedy finish
Remedy 9 Remedy 1
END
15 ENDH
15-34
Manual Pulse to Position Control Switch
Change manual pulse mode to position control mode.

Suitable for rotary table, etc., used for some processing work after manual trimmerring based on the
workpiece.
Position (1)Operate according to manual pulse

mode.
(2)Move to specified position at
position control mode.
Time
Speed
Time
Torque
Time
(1)
(2)
15
15-35
Servo parameter
• “*Pulse train input time constant"
• “* Pulse train input type”
• “*Pulse train input logic”
• "*Pulse train rotary direction"
• "Manual pulse input %”
Point parameter
For indirect specification of parameter, please see "10-9 Indirect Parameter Specification" ( page 10-100 ).
Target
Point No.
coordinates
1 Index0
Speed Parameter

15
15-36
■ Ladder program
Servo ON R32010
Change control mode finish relay R30112 Auto assignment by the settings of
Current control mode DM DM10025 leading DM No. /relay No.
Indirect parameter 0 DM10164-DM10165
Operation start request
R30010
Acceptance relay

DM00004/ Saving destination of target coordinate at
Arrival coordinate set value
DM00005 position control mode
Remedy 1 R1000 R03000 (start manual pulse) receive
Remedy 2 R1001 Switch to manual pulse mode
Remedy 3 R1002 Verify for switching to manual pulse mode
Remedy 4 R1003 R03001 (switch to position control)
Verify for switching to position control/
Set target coordinate towards indirect
Remedy 5 R1004
parameter 0/
15
Remedy 7 R1006 Verify for starting the movement EXAMPLES OF BASIC OPERATION
Remedy 9 R1008 Exit
15-37
Reference
CR2008 +100000 DM00004 Defining movement position in

LDA.L STA.L
On a scan Arrival
coordinate
position control mode.
period when setting value
operation R32000
starts. SET
X1 operation
available
R30000 R32010
SET
Enable servo amplifier (X1
Ė
X1 operation available X1 servo ON axis)
R03000 R01000 R30108 R30001 R01000
Ė SET Servo ON
Manual pulse Remedy 1 X1 servo ready X1 axis moving in progress Remedy 1
start
R01000 R01001 #00003 R32212 R01001 Manual pulse control start
DW SET SET
Remedy 1 Remedy 2 X1 axis X1 request Remedy 2 request accepted
control change control
mode mode
R01001 R01002 R32212 R30112 DM10025 R32212 R01002
Ė = RES SET
Remedy 2 Remedy 3 X1 request X1 change contro 00003 X1 request change Remedy 3 Switch to manual pulse mode
change control l mode complete X1 current control mode control mode
mode
Confirm that control mode is
R01002 R01003 R03001 R30001 #00000 R32212 R01003
Ė DW SET SET changed
Remedy 3 Remedy 4 Position
Control Start X1 axis moving in progress DM10120 X1 request Remedy 4
X1 axis control change control
mode mode
R01003 R01004 R32212 R30112 DM10025 R32212 R01004
Ė = RES SET Switch to position control
X1 request 00000 X1 request Remedy 5
Remedy 4 Remedy 5 change control X1 change control change control mode
mode mode complete X1 current control mode
mode
R01004 R01005 DM00004 DM10164 00001 R32003 R01005 Confirm that control mode
change is complete
Remedy 5 Remedy 6 Arrival Indirect DM10114 X1 operation Remedy 6
setting value specification‫ޓ‬
R01005 R01006 R32003 R30010 R32003

RES
R01006
SET
Confirm target coordinate
Ė
Remedy 6 Remedy 7 X1 operation X1 operation X1 operation Remedy 7 and operate start request
R01006 R01007 R30001 R01007
SET Confirm that start operation
R01007 R01008 R30001 R01008

Ę SET
Confirm that it is moving
R01008 00000 R01000

LDA STA
Remedy 9 Remedy 1
Confirm that movement is
finished
15
END
ENDH Remedy finish

15-38
15-17 Changing Control Mode (position control to torque control)
Position Control to Torque Control Switch
Change position control mode to torque control mode.

This is suitable for nut runner, etc. that can move from a specific position and reach to the specified
torque.
(1)Move to specified position in the

Position change to torque control mode.
(2)Speed up to speed threshold at
acceleration torque complied with
torque command value.
(3)Run at speed threshold until reach
Time
to obstacle. (During this period,
torque slows down. ）
Speed If an obstacle is met, the torque will
be raised to the torque command
value and the running speed will be
lowered.
If specified torque time exceeds the
Time
specified torque detection time, it
stops. (In this case, motor axis is
free rotation. ）
Torque
Specified to
Time
(1)
(2)
(3)
15
15-39
Servo parameter
• "* Electronic gear (numerator)"
• "* Electronic gear (denominator)"
• "torque instruction acceleration time"
• "torque instruction deceleration time"
Point parameter
Target
Point No.
coordinates
1 Index0
Speed Parameter

"10-8 Common Set Parameters" ( P 10-97 )
15
15-40
■ Ladder program
Servo ON R32010
Operation start request relay R32003 Auto assignment by the settings of
Operation start request leading DM No. /relay No.
R30010
Acceptance relay
Speed Limit DM enable relay at
DM10114
torque control
Torque command/torque limit at
DM10121
speed control DM
Speed command/speed limit at torque
DM10122/DM10123
control DM

Torque command value Saving destination of torque command value at
DM00000
buffer torque control mode
Speed threshold buffer

DM00002/
DM00003
Saving destination of speed threshold at torque
control mode 15
Arrival coordinate set DM00004/ Saving destination of target coordinate at
value DM00005 position control mode
Specified torque DM00008/ Specified saving destination of torque detection
detection time DM00009 time (timer set value)
Remedy 1 R1000 R03000 (start position control) receive
Set target coordinate towards indirect parameter 0/
Remedy 4 R1003
Verify for movement complete towards target
Remedy 6 R1005
coordinate
Remedy 7 R1006 Switch to torque control mode
Remedy 8 R1007 Verify for switching to torque control mode
Verify for torque control mode operation/
Remedy 9 R1008
Verify for specified torque generation
Remedy 10 R1009 Through speed limit, switch to speed=0
Remedy 11 R1010 Operation end
15-41
Reference
CR2008 +250 DM00000 Defining torque command

LDA.S STA.S
On a scan Torque value
buffer
operation starts. +1000 DM00002
LDA.L STA.L Defining speed threshold
Speed
command (Input absolute value of threshold)
buffer
+100000 DM00004 Defining movement position in
LDA.L STA.L
Arrival position control mode.
coordinate
setting value
+200 DM00006 Defining specified torque
LDA.S STA.S
Specified (Input absolute value of specified
torque
torque)
0000005000 DM00008
LDA.D STA.D Defining specified torque
Specified torque
detection time detection time
+0 DM10121 +0 DM10122 R32000
LDA.S STA.S LDA.L STA.L SET Enable servo amplifier (X1
X1 operation
X1 Torque command
/threshold
X1 speed command
/threshold available axis)
R30000 R32010
Ė SET Servo ON
X1 operation available X1 servoON
R03000 R01000 R30108 R30001 R01000 Position control start request
Ė SET
Position Remedy 1 X1 servo ready X1 axis moving X1 servo ready accepted
Control Start in progress
R01000 R01001 00000 R32212 R01001
DW SET SET Switch to position control
DM10120 X1 request Remedy 2
Remedy 1 Remedy 2
X1 operation change control mode
mode
R01001 R01002 R32212 R30112 DM10025 available R32212 R01002 Confirm that control mode
Ė RES SET
Remedy 2 Remedy 3 X1 request X1 change control 00000 X1 request Remedy 3 change is complete
change mode complete X1 current control mode change control
mode
control mode
R01002 R01003 DM00004 DM10164 00001 R32003 R01003 Confirm target coordinate and
Remedy 3 Remedy 4 Indirect DM10114 X1 operation Remedy 4 operate start request
Arrival
R01003 R01004 R32003 R30010 setting value specification R32003 R01004
start request start request start reques

R01004 R01005 R30001 R01005 Confirm that it is moving
SET
R01005 R01006 R30001 R01006 Confirm that movement is

Ę SET
finished
R01006 R01007 R32011 R32012 R32110 00000 +0 00002 R32212 R01007

SET SET SET DW DW.L DW SET SET Switch to torque control
Remedy 7 Remedy 8 [+] torque
X1
limit enable
X1 [-] torque
limit enable
X1 speed limit DM10121
enable DM X1 Torque
DM10122
X1 speed
DM10120 X1 request
X1 control mode change control
Remedy 8 mode
command/ command specification mode
threshold /threshold
15 In order to confirm the switch state of speed control, please set torque command value/speed
threshold before "request change control mode relay" ON. "Speed limit DM enable relay in
torque control" ON.
R01007 R01008 R32212 R30112 DM10025 R32212 R01008

Ė = RES SET Confirm that control mode
1 request change X1 change control 00002 X1 request
Remedy 8 Remedy 9
control mode mode complete X1 current control mode change control
Remedy 9 change is complete
mode
R01008 R01009 DM00000 DM10121 DM00002 DM10122 Defining torque threshold/
LDA.S STA.S LDA.L STA.L
Remedy 9 Remedy 10
Torque X1 Torque
command
Speed X1 speed speed command value
threshold command command/
buffer /threshold buffer threshold
DM10019 +0 CR2009 -1 DM00010
LDA.S CMP.S MUL.S STA.S
X1 return torque monitor The operation Buffer for operation
result is negative.
CR2009 DM00010
STA.S
The operation result is negative. Buffer for operation
DM00010 DM00006 CR2011 DM00008 T0000 #1 T0000 R01009 Confirm that reach specified
Buffer for Specified
The operation
result is Specified torque S Remedy 10 torque
operation torque positive. detection time
R01009 R01010 +0 DM10121 +0 DM10122 R01010

LDA.S STA.S LDA.L STA.L SET
Remedy 10 Remedy 11 X1 Torque X1 speed Remedy 11
Stop processing
command/ command/threshold
R01010 threshold R03000 #00000 R01000
RES LDA STA Remedy finish
Remedy 11 Position Remedy 1
Operation status management and Control
comfirmation in torque control. Start END
ENDH
15-42
15-18 Changing Control Mode (torque control to position control)
Torque Control to Position Control Switch
Change torque control mode to position control mode.

Suitable for press, etc. that can press at the specified time and torque and return to the home position.
Position (1)Speed up to speed threshold at

acceleration torque complied with
torque command value.
(2)Run at speed threshold until reach
to obstacle. (During this period,
Time torque slows down. ）
(3)If an obstacle is met, the torque will
Speed be raised to the torque command
value and the running speed will be
lowered.
If the time of above specified torque
exceeds the specified time, it will
Time switch to position control.
(4)Return to position that torque
control mode starts under position
control mode.
Torque
࠻࡞ࠢ

Specified torque
Time
(1) (2) (3)

(4)
15
15-43
Servo parameter
• " torque instruction acceleration time”
• " torque instruction deceleration time”
Point parameter
Target
Point No.
coordinates
1 Index0
Speed Parameter

"10-8 Common Set Parameters" ( P 10-97 )
15
15-44
■ Ladder program
Leading DM No. DM10000 User specification in Unit
Leading relay no. R30000 Editor
Current coordinate change finish relay R30106
Current coordinate change error relay R30206
Current coordinate change request relay R32106
Current coordinate change DM DM10116/DM10117
Servo ON R32010
Speed limit DM enable relay at torque control R32110
Torque command/torque limit at speed control DM DM10121 Auto assignment by the
Speed command/speed limit at torque settings of leading DM No. /
DM10122 relay No.
control DM
Current coordinate DM DM10000/DM10001
Operation start request acceptance relay R30010

Device
Comment Contents Remarks
No.
15
Torque command value buffer DM00000 Saving destination of torque command value at torque control mode
DM00002/
Speed threshold buffer Saving destination of speed threshold at torque control mode
DM00003 EXAMPLES OF BASIC OPERATION
DM00004/
Arrival coordinate set value Saving destination of target coordinate at position control mode
DM00005
Specified torque DM00008/ Specified saving destination of torque detection time (timer
detection time DM00009 set value)
Remedy 1 R1000 R03000 (start torque control) receive
Remedy 2 R1001 Switch to torque control mode
Verify for switching to torque control mode/change torque
Remedy 3 R1002 command value at torque control/change speed threshold
at torque control/Verify for specified torque generation
R03001 (position control start) request etc./set target
Remedy 6 R1005 coordinate towards indirect parameter 0/Request start
operation from point No.1
Remedy 10 R1009 Exit
15-45
Reference
CR2008 +250
LDA.S
DM00000
STA.S Defining torque command value
On a scan Torque
buffer
operation
starts.
+3000 DM00002 Defining speed threshold
LDA.L STA.L
Speed
command
(Input absolute value of threshold)
+200
buffer
DM00006 Defining specified torque (Input
LDA.S STA.S
Specified absolute value of specified torque)
torque
#0000003000 DM00008 Defining specified torque
LDA.D STA.D
Specified
torque
detection time
detection
time
+0 DM10121 +0 DM10122 R32000
LDA.S STA.S LDA.L
X1 Torque command/
STA.L
X1 speed command/
SET
X1 operation
Enable servo amplifier (X1 axis)
threshold threshold available
R30000 R30000 R30001 R30106 R30206 +0 R32106
Ė DW.L SET
X1 change
X1 operation X1 operation X1 axis X1 change X1 change DM10116 current
ready ready moving in current current
coordinate coordinate X1 change current coordinate
coordinate
request
R30106 progress complete output R32106
RES
X1 change
X1 change current current
coordinate complete coordinate
request
R30106 R32010
Ė SET
X1 servo ON
Servo ON
X1 change current
coordinate complete
R03000 R01000 R30108 R30001 R01000 Torque control start request
Ė SET
Torque control
start
Remedy 1 X1 servo ready X1 axis moving in progress Remedy 1 accepted
R01000 R01001 R32011 R32012 R32110 +0 +0 #00002 R32212 R01001
SET SET SET DW.S DW.L DW SET SET Switch to torque control mode
Remedy 1 Remedy 2 X1 [+] torque X1 [-] torque X1 speed DM10121 DM10122 DM10120 X1 request Remedy 2
limit enable limit enable limit enable X1 Torque
command/
X1 speed
command/
X1 control
mode
change control
mode
DMM threshold threshold specification
In order to confirm the switch state of speed control, please set torque command value/speed
threshold before "request change control mode relay" ON. "Speed limit DM enable relay in
torque control" ON.
R01001 R01002 R32212 R30112 DM10025 R32212 R01002 Confirm that control mode is
Ė RES SET
changed
Remedy 2 Remedy 3 X1 request X1 change contro 00002 X1 request Remedy 3
change l mode complete X1 current control mode change control
control mode mode
R01002 R01003 DM00000 DM10121 DM00002 DM10122

LDA.S
Torque threshold
STA.S LDA.L STA.L
X1 Torque Speed command X1 speed Change torque command value/
Remedy 3 Remedy 4 command/ buffer
CR2009
buffer threshold command/
threshold speed threshold
DM10019 +0 -1 DM00010
LDA.S CMP.S MUL.S STA.S
X1 return torque monitor The operation result Buffer for operation
is negative. Confirm that reach specified
CR2009 DM00010
STA.S torque
The operation result is negative. Buffer for operation
DM00010 DM00006 CR2011 DM00008 T0000 #1 T0000 R01003

Buffer for Specified The operation Specified S Remedy 4
operation torque result is torque detection
positive. time
Operation status management and comfirmation in torque control.

R01003 R01004 R01005 R30001 00000 R32212 R01004
Switch to position control mode
DW SET SET
15
Remedy 4 Remedy 5 Remedy 6 X1 axis moving in progress DM10120 X1 request change Remedy 5
X1 control mode control mode
R01004 R01005 R32212 R30112 DM10025 specification R32212 R01005 Confirm that control mode
Ė RES SET
change is complete
Remedy 5 Remedy 6 X1 request X1 change 00000 X1 request change Remedy 6
change control control mode X1 current control mode control mode
mode complete
R01005 R01006 R03001 DM10000 -1 DM10164 00001 R32003 R01006

Confirm target coordinate and
Ė LDA.L MUL.L STA.L
X1 current coordinate Indirect parameter 0
DW SET SET
DM10114 X1 operation Remedy 7
operate start request
Remedy 6 Remedy 7 Position Control Start
X1 point No. start request
specification
Set the position before reading torque control to indirect specification DM.
R01006 R01007 R32003 R30010

Ė
R32003
RES
R01007
SET
Confirm that start operation
R01007 R01008 R30001 R01008
Remedy 8 Remedy 9 X1 axis moving Remedy 9
in progress
R01008 R01009 R30001
Ę
R01009
SET Confirm that movement is
Remedy 9 Remedy 10 X1 axis moving
in progress
Remedy 10
finished
R01009 R03001 R03000 00000 R01000
RES RES LDA STA Remedy finish
Remedy 10 Control Mode Control Mode Remedy 1
start start
END
ENDH
15-46
APPENDICES
This chapter descirbes control block diagram, various sequences, alarms and
troubleshootings, as well as difference from MV series, zero return and
system macros, etc.
1 Control Block Diagram •••••••••••••••••••••••••••••••••••••A-2

2 Zero Return ••••••••••••••••••••••••••••••••••••••••••••••••••A-4
3 Operation Sequence at Power Up ••••••••••••••••••••• A-24
4 Alarm and Remedy ••••••••••••••••••••••••••••••••••••••• A-33
5 Troubleshooting ••••••••••••••••••••••••••••••••••••••••••• A-47
6 Difference for using MV series and MV-L40 ••••••••• A-52
7 System Macro for MV-L40••••••••••••••••••••••••••••••• A-55
8 Index••••••••••••••••••••••••••••••••••••••••••••••••••••••••• A-85
A-1
1 Control Block Diagram
Positioning Feedforward
instruction ˄Coordinate Unit˅
coordinate gain Feedforward LPF
Positioning
instruction
coordinate ˄Coordinate Unit˅
[Control method]
Position Positioning + position forward + +
[Position control mode] Electronic command
Control command LPF - gain
gear +
Return
Manual pulse position Position bias
[Manual pulse mode] Manual
out put
Pulse
input override 㧔ENC_PLS㧕㧔ENC_PLS㧕
Electronic Gear
Calculation
Current positon
coordinate detection
˄Coordinate Unit˅ position Feedback
(in speed control mode)

Command Command
speed speed
㧔r/min㧕 ˄Coordinate Unit/s˅
Electronic gear
Speed control
acceleration time
(acceleration)
[Speed control mode] Speed Control
command Speed control decel
eration time
(Deceleration)
Torque
command (in speed control mode)
²0.1㧑
Torque command
Acceleration
Torque control time
[Torque control mode] command
Torque command
Deceleration
time
Acceleration time
Note
• At manual pulse mode, "Positioning instruction speedî and "Positioning
instruction coordinateî is 0.
A • Coordinate unit is unit set by system parameter "Coordinate unit".
• Sometimes it's items may be 0 depending on mode (value is not updated).
APPENDICES
(0: updated - : hold "0"

• The monitored value for positioning instruction speed at linear interpolation is as
shown in the following.
For interpolating master axis: speed of interpolated master axis at
acceleration/deceleration, vector speed at fixed speed.
For interpolating slave axis: normally 0.
A-2
1 Control Block Diagram
Command speed Position controlǃin speed control mod instruction Position controlspeed contorlin speed
torque
control mod
r/min h0.1㧑
Speed command + Speed gain + Notch filter instruction + current

torque Servo motor
LPF - Integral time + 1.2 LPF - cantrol
constant
Return speed Return torque

r/min current)
0.1㧑㧕
Electronic
Gear Calculation
detection
speed
Current speed detection
relay current Feedback
Coordinate Unit/s Speed Feedback
Encoder
‫ع‬Legends
˖Parameter‫ޓ‬ ‫˖ޓޓޓޓޓޓ‬Function block flow
˖How to Contents ˖Monitoring Input flow
˖Monitoring Terminology‫ޓޓޓޓޓޓޓޓޓޓ‬
˖Input Terminology
Control Mode
Items Unit Manual
Pulse
Positioning
instruction speed
Coordinate unit ○ - - - A
Positioning
APPENDICES
instruction Coordinate unit ○ - - -

coordinate
Return position ENC_PLS ○ ○ ○ ○
Current coordinate Coordinate unit ○ ○ ○ ○
Position deviation ENC_PLS ○ ○ ○ ○
Return speed r/min ○ ○ ○ ○
coordinate unit/
Current speed ○ ○ ○ ○
s
Return torque x0.1% ○ ○ ○ ○
instruction speed* r/min ○ ○ - ○
coordinate unit/
Instruction speed - ○ - -
s
Instruction torque* x0.1% ○ ○ ○ ○
* Please note that the using ways will be different according to control modes.
A-3
2 Zero Return
Zero Return
Zero return refers to that the moving object returns to the origin.
There are 4 types of zero return methods.
(1)Using PLC devices, zero return is performed following ladder instructions.
" zero return " ( Page 9-81)
(2)Zero return is performed following the external input of servo amplifier.
" Zero Return Command (ORG) (Pin No.7) " ( Page 6-6)
(3)Using KV-HPD1
" Demonstration operation " ( Page 12-15)
(4)Using MV LINK STUDIO
MV LINK STUDIO User's Manual, 8-3 1 Unit Operation Monitoring, P8-4
TIP For parameters related to zero return, see " Zero Return " ( Page 10-82).
About Zero Return Path
The following describes the trace of zero return

by "Zero return method" setting of every system parameter.
" Zero return method " ( Page 10-85)
■ Legends
About Symbols
● : start point of zero return
☆ : start point of deceleration and stop
(bold line) : creep speed
[+] LS : [+] limit switch
[-] LS : [-] limit switch
A About Starting Speed

In this Manual, "Starting speed" refers to the starting speed of zero return.
APPENDICES
About Movement
The relationship of movement of a, a(-) and a(+) is as follows:
a(-) < a < a(+)
Depending on different position, the distance at moving is a(-) or a(+).
The same to b and c.
A-4
ORG edge 2 Zero Return
ORG edge (without Z-phase)
■ When zero return direction is [-]

● Start point of zero return: [+] side
Zero return direction˄"-"direction˅ (1) As starting is beyond detection range of origin

sensor, it will move in zero return direction ([-]
direction).
(3) (2) Decelerating to starting speed by turning origin
a(+)
˄Startup
speed˅
sensor ON ( ▲ ). ("a" is the movement from
starting origin sensor (☆) to decelerating to the
a (4)
ԛ
˄Startup
starting speed.）
(2) (1) speed˅ (3) Only move "a(+)" in reverse direction.
(4) As stop position is beyond detection range of
[-]LS Origin sensor [+]LS origin sensor, it will move in zero return
direction ([-] direction) at creep speed, and
stop by origin sensor ON.

(3)
direction).
˄Startup
a(-)
speed˅ sensor ON (▲).
(5) ("a" is the movement from origin sensor ON (☆) to
a
˄Startup
decelerating to the starting speed.)}
(2) (1) speed˅ (3) Only move "a(-)" in reverse direction ([+]
direction).
[-]LS Origin sensor [+]LS (4) As stop position is within detection range of
origin sensor, it will move away from origin
sensor at creep speed.
(5) Move in zero return direction ([-] direction) at
creep speed, and stop by origin sensor ON.
In addition, the following are possible (small origin sensor amplitude, small deceleration or big backlash). They are for your reference.
Zero return direction˄"-"direction˅ Zero return direction˄"-"direction˅
ේὐᓳᏫᣇะ㧔‫ޠޟ‬ᣇะ㧕
Zero return direction˄"-"direction˅
a(+)
a(+)
a(-)
A
a a
APPENDICES
[-]LS Origin sensor [+]LS =?.5 Origin

ේὐ࠮ࡦࠨ sensor = ?.5
[-]LS Origin sensor [+]LS
ේὐᓳᏫᣇะ㧔‫ޠޟ‬ᣇะ㧕 ේὐᓳᏫᣇะ㧔‫ޠޟ‬ᣇะ㧕
a(-)
a(-) a(+)
a a
a
=?.5 ේὐ࠮ࡦࠨ
Origin sensor = ?.5 =?.5 ේὐ࠮ࡦࠨ
Origin sensor = ?.5
A-5
2 Zero Return ORG edge
● Start point of zero return: [-] side

ේὐᓳᏫᣇะ㧔‫ޠޟ‬ᣇะ㧕 (1) As starting is beyond detection range of origin
b

direction).

˄Startup
㧔⿠േㅦᐲ㧕 (2) [-] limit switch input, it will move in reverse
c(+) speed˅
direction (+ direction).
(3) Decelerating to starting speed by turning origin
c ˄Startup
㧔⿠േㅦᐲ㧕

speed˅ sensor OFF (▲).

("b" is the movement from origin sensor ON ( ☆)
Origin sensor 2b = ?.5 to decelerating to the starting speed.)
The later operation is same as start point of

zero return ([+] side). (Take the c(+) as
example).}
(4) Only move "2b" in zero return direction ([-]

direction).
("c" is the movement from origin sensor ON to
decelerating to the starting speed.)
(5) Only move "c(+)" in reverse direction ([+]
direction).

ේὐᓳᏫᣇะ㧔‫ޠޟ‬ᣇะ㧕 (1) As starting is beyond detection range of origin
direction).
(2) (3)
˄Startup
(2) [-] limit switch input, it will move in reverse
㧔⿠േㅦᐲ㧕
b speed˅ direction (+ direction).
(5)
2b(-) ˄Startup
㧔⿠േㅦᐲ㧕
speed˅ sensor OFF (▲).
(1) (4)
("b" is the movement from origin sensor ON (☆)
=?.5 Origin
ේὐ࠮ࡦࠨsensor = ?.5 to decelerating to the starting speed.)
(4) Only move "2b(-)" in reverse direction ([-]
direction).
(5) When it cannot reach origin sensor due to
large backlash, etc., it will move in zero return
A
TIP For cases such as small origin sensor amplitude, small deceleration or big backlash, please
APPENDICES
refer to the start point of zero return ([+] side).
● Start point of zero return: "Within detection range of origin sensor"
Zero return direction˄"-"direction˅ (1) As starting is within detection range of origin

sensor, it will move in reverse zero return
move out of detection range of origin sensor.
(1)
(2)
A-6
ORG edge 2 Zero Return
■ When zero return direction is [+]

ZeroේὐᓳᏫᣇะ㧔‫ޟ‬
return direction˄"+"direction˅
‫ޠ‬ᣇะ㧕 (1) As starting is beyond detection range of origin
sensor, it will move in zero return direction ([+]
2b direction).
(4) (1) (2) After [+] limit switch input, it will move in
c Startup
⿠േㅦᐲ
speed
reverse direction ([-] direction).
(6)
c(+)
Startup
⿠േㅦᐲ sensor OFF (▲).
(3) (5) speed ("b"is the movement from origin sensor ON (☆)
b (2) to decelerating to the starting speed.
Origin sensor = ?.5
zero return ([-] side). (Take the c(+) as
example).
(4) Only move "2b" in zero return direction ([+]

direction).
decelerating to the starting speed.)））
(5) Only move "c(+)" in reverse direction ([-]
direction).
(6) Move in zero return direction ([+] direction) at

(1)
direction).
(4)
Startup
(2) After [+] limit switch input, it will move in
2b(-)
(5) speed reverse direction ([-] direction).
b
Startup
(3) speed
sensor OFF (▲).
(2)
("b"is the movement from origin sensor ON ( ☆)
[-]LS Origin sensor [+]LS to decelerating to the starting speed.
direction).
direction ([+] direction) at creep speed, and
A
APPENDICES
refer to the start point of zero return ([-] side).
A-7
2 Zero Return ORG edge

Zero return direction˄"+"direction˅
ේὐᓳᏫᣇะ㧔‫ޠ ޟ‬ᣇะ㧕 (1) As starting is beyond detection range of origin
direction).
(2)
(1)
Startup
⿠േㅦᐲ
(4)
a
speed sensor ON (▲).
("a" is the movement from origin sensor ON (☆)
a(+)
Startup
⿠േㅦᐲ
to decelerating to the starting speed.)
(3) speed (3) Only move "a(+)" in reverse direction ([-]
direction).
=?.5 Origin sensor
ේὐ࠮ࡦࠨ = ?.5 (4) As stop position is beyond detection range of
origin sensor, it will move in zero return

direction).
(2)
(1)
a Startup
⿠േㅦᐲ
(5)
a(-) ("a" is the movement from origin sensor ON (☆)
(4)
Startup
⿠േㅦᐲ
(3) speed (3) Only move "a(-)" in reverse direction ([-]
direction).
=?.5 Origin sensor
ේὐ࠮ࡦࠨ = ?.5 (4) As stop position is within detection range of
origin sensor, it will move out of detection
range of origin sensor at creep speed.
In addition, the following are possible (small origin sensor amplitude, small deceleration or big
backlash). They are for your reference.
ේὐᓳᏫᣇะ㧔‫ޟ‬ ‫ޠ‬ᣇะ㧕 ZeroේὐᓳᏫᣇะ㧔‫ޟ‬
‫ޠ‬ᣇะ㧕
a a
A a(+)
a
a(+) a(-)
APPENDICES
=?.5 Origin
ේὐ࠮ࡦࠨ sensor = ?.5 =?.5 Origin

ේὐᓳᏫᣇะ㧔‫ޟ‬ ‫ޠ‬ᣇะ㧕
a a
a(+)
a(-)
a(-)
a
[-]LS Origin sensor [+ =?.5 Origin

ේὐ࠮ࡦࠨ sensor = ?.
A-8
ORG edge ORG middle 2 Zero Return

(1) As starting is within detection range of origin
(2)
(1)
ORG middle (without Z-phase)

Before final creep speed of , it is common to
"ORG edge".
(1) Standby for 300ms before moving at creep

Startup speed speed.
(4) 300ms
(3)
300ms
(5) (1)
300ms
(2) Move at creep speed, obtain coordinates by
(2) origin sensor ON.
Startup speed
(3)Standby for 300ms after starting to move out of
(6)
detection range of origin sensor.
[-]LS Origin sensor [+]LS (4) Move in reverse direction ([+] direction) at
creep speed, obtain coordinates by origin
sensor ON.
(5) Standby for 300ms. (To calculate coordinates
of middle point of detection range of origin
sensor). Move beyond detection range of
origin sensor.
(6) Stop after moving to the middle point of
Before final creep speed of , it is common to "RG edge".

A
APPENDICES
(1)Standby for 300ms before moving at creep speed.

(6)
(2) Move at creep speed, obtain coordinates by
(2) Startup sp
(3)
300ms
origin sensor ON.
300ms
(5)
(1)
300ms (4) (3)Standby for 300ms after starting to move out of
Startup sp
(4) Move in reverse direction ([-] direction) at
creep speed, obtain coordinates by origin
sensor ON.
(5) Standby for 300ms. (To calculate coordinates
of middle point of detection range of origin
sensor). Move beyond detection range of
origin sensor.
(6) Stop after moving to the middle point of
A-9
2 Zero Return [-] w/oLS
[-]w/o LSORG
ORGedge
edge
[-] LS edge (w/o Z-phase)
■ When zero return direction is [-] ■ When zero return direction is [+]
● Start point of zero return: [+] side ●Start point of zero return: [+] side
Ԛ
(3) Startup
speed
ԛ
(4) Startup
speed
(2) (1)

[-]LS Origin sensor [+]LS [-]LS Origin sensor [+]LS
(1) As starting is beyond detection range of origin Because [-] limit switch has been overrun
sensor, it will move in zero return direction ([-] during moving, zero return is not set in this
direction). setting.
sensor ON (▲).
(3) Move in reverse direction ([+] direction) before
origin sensor OFF.
● Start point of zero return: [-] side ● Start point of zero return: [-] side
Zero return direction˄"-"direction˅ Zero return direction˄"+"direction˅
[-]LS [-]LS Origin sensor [+]LS
A
Origin sensor [+]LS
Because start point has overrun [-] limit switch, Because start point has overrun [-] limit
zero return is not set in this setting. switch, zero return is not set in this setting.
APPENDICES
A-10
[-]w/o LS ORG edge 2 Zero Return
● Start point of zero return: ● Start point of zero return:

" Within detection range of origin sensor " "within detection range of origin sensor"
Zero return direction˄"-"direction˅ Zero return direction˄"+"direction˅
Ԙ
(1) Startup
speed
(2)
Startup
speed
(1) As starting is within detection range of origin Because [-] limit switch has been overrun
sensor, it will move in reverse zero return during moving, zero return is not set in this
direction ([-] direction) at creep speed, and setting.
A
APPENDICES
A-11
2 Zero Return Z-phase
normal
Z-phase normal

Zero return direction᷉"-"direction᷊ (1) As starting is beyond detection range of origin
Z-phase
direction).
Startup
a(+)
(4) ("a"is the movement from origin sensor ON ( ☆)
a
Startup to decelerating to the starting speed.)）
(1) speed
(2) (3) Only move "a(+)" in reverse direction.
[-]LS Origin sensor [+]LS (4) As stop position is beyond detection range of
stop when both origin sensor and Z-phase are
ON.

Z-phase sensor, it will move in zero return direction ([-]
(3)
direction).
Startup speed (2) Decelerating to starting speed by turning origin
a(-) (4)
(5) sensor ON (▲).
a
Startup speed
(1)
("a"is the movement from origin sensor ON (☆)
(2)
to decelerating to the starting speed.)）
(3) Only move "a(-)"î in reverse direction ([+]
direction).
(4) As stop position is within detection range of
A
Zero return direction˄"-"direction˅ ේὐᓳᏫᣇะ㧔‫ޠޟ‬ᣇะ㧕
Z-phase Z-phase
<⋧
APPENDICES
a(+) a(-)
a a

Z-phase Z-phase
a(-)
a(-)
a a

A-12
Z-phase normal 2 Zero Return

Z-phase sensor, it will move in zero return direction ([-]
b
direction).
(2) (3)
(5)
Startup (2) [-] limit switch input, it will move in reverse
c(+)
speed
direction (+ direction).
(6)
c Startup (3) Decelerating to starting speed by turning origin
(1) speed
(4) sensor OFF (▲).
2b
[-]LS Origin sensor [+]LS ("b"is the movement from origin sensor ON (☆)

zero return ([+] side). (Take the c(+) as example).
(4) Only move " 2b" in zero return direction ([-]

direction).
direction).

Z-phase
direction).
(2) (3) (2) [-] limit switch input, it will move in reverse
b Startup direction (+ direction).
speed
(5) 2b(-)
Startup sensor OFF (▲).
(1) (4) speed ("b"is the movement from origin sensor ON (☆)
direction).
ON.
A
APPENDICES
A-13
2 Zero Return Z-phase normal

Z-phase
direction ([+] direction).
(2) Because Z-phase can not be detected during
(1) Startup moving, it will move out of detection range of
(2) speed
origin sensor.
(3)
Startup
speed creep speed, and stop when both origin sensor
and Z-phase are ON.

Z-phase sensor, it will move in reverse zero return
direction ([+] direction).
Startup (2) When Z-phase is detected, it will move in zero
(1)
speed
return direction ([-] direction) at creep speed,
(2)
Startup and stop when both origin sensor and Z-phase
speed
are ON.
A
APPENDICES
A-14


Z-phase sensor, it will move in zero return direction ([+]
<⋧
2b direction).
Startup
⿠േㅦᐲ
(6) c speed reverse direction ([-] direction).
c(+) Startup
⿠േㅦᐲ
speed sensor OFF (▲).
(3) (5)
(2)
("b"is the movement from origin sensor ON ( ☆) to
b
=?.5 Origin sensor
ේὐ࠮ࡦࠨ = ?.5 decelerating to the starting speed.)

zero return ([-] side). (Take the c(+) as
example).

direction).
("C" is the movement from origin sensor ON to
(5) Only move "C(+)" in reverse direction ([-]
direction).
creep speed, and stop when both origin sensor
and Z-phase are ON.
Zero return direction˄"+"direction˅ (1) As starting is beyond detection range of origin

Z-phase
direction).
(4)
(1) (2) After [+] limit switch input, it will move in
Startup reverse direction ([-] direction).
(5)
2b(-) speed (3) Decelerating to starting speed by turning origin
b sensor OFF (▲).
Startup
(3) speed ("b"is the movement from origin sensor ON (☆
(2) ) to decelerating to the starting speed.)）
[-]LS Origin sensor [+]LS (4) Only move ì2b(-)î in reverse direction ([-]
direction).
A
APPENDICES
ON.
A-15
2 Zero Return Z-phase normal

ේὐᓳᏫᣇะ㧔‫ޟ‬ ‫ޠ‬ᣇะ㧕 (1) As starting is beyond detection range of origin
Z-phase
<⋧
a
direction).
(1) (2) (2) Decelerating to starting speed by turning origin
Startup
(4)
⿠േㅦᐲ
speed
sensor ON (▲).
("a"is the movement from origin sensor ON ( ☆)
a(+) Startup to decelerating to the starting speed.)
⿠േㅦᐲ
(3)
speed (3) Only move "a(+)" in reverse direction ([-]
direction).
=?.5 Origin sensor
ේὐ࠮ࡦࠨ = ?.5 (4) As stop position is beyond detection range of
ON.

ේὐᓳᏫᣇะ㧔‫ޟ‬ ‫ޠ‬ᣇะ㧕 (1) As starting is beyond detection range of origin
<⋧
Z-phase
a direction).
Startup
⿠േㅦᐲ
Ԝ
(5) speed sensor ON (▲).
a(-) ("a" is the movement from origin sensor ON ( ☆) to
(4) Startup
(3)
⿠േㅦᐲ
speed decelerating to the starting speed.)）
(3) Only move "a(-)" in reverse direction ([-]
=?.5 Origin
ේὐ࠮ࡦࠨ sensor = ?.5 direction).
and Z-phase are ON.
ZeroේὐᓳᏫᣇะ㧔‫ޟ‬
‫ޠ‬ᣇะ㧕 ේὐᓳᏫᣇะ㧔‫ޠ ޟ‬ᣇะ㧕
Z-phase <⋧ Z-phase

<⋧
A a a
APPENDICES
a(+) a(-)
Origin sensor = ?.5 =?.5 Origin
Zero ॳ⚍໡ᔦᮍ৥˄"+"ᮍ৥˅
return direction˄"+"direction˅ Zero return direction˄"+"direction˅
Z-phase Z-phase
a a
a(-)
a(-)
A-16
Zero return direction˄"+"direction˅ (1) As starting is within detection range of origin

Z-phase
direction ([-] direction).
(2) Because Z-phase can not be detected during
(3) Startup
speed
moving, it will move out of detection range of
origin sensor.
(2) Ԙ
(1) Startup (3) Move in zero return direction ([+] direction) at
speed
[-]LS Origin sensor [+]LS and Z-phase are ON.

Z-phase
direction ([-] direction).
(2) When Z-phase is detected, it will move in zero
(2)
Startup return direction ([+] direction) at creep speed,
speed
and stop when both origin sensor and Z-phase
(1)
Startup
are ON.
speed
A
APPENDICES
A-17
2 Zero Return Z-phase rear
Z-phase rear

Z-phase
direction).
a(+)
Startup sensor ON (▲).
speed
("a"is the movement from origin sensor ON (☆)
(4)
a to decelerating to the starting speed.)
Startup
(2) (1) speed (3) Only move "a(+)" in reverse direction.
[-]LS Origin sensor [+]LS origin sensor, it will move in zero return
ON.

Z-phase
direction).
(3)
a(-) (4) speed
("a"is the movement from origin sensor ON (☆
(5)
a ) to decelerating to the starting speed.)）
Startup
(1) speed (3) Only move "a(-)"î in reverse direction ([+]
(2)
direction).
[-]LS Origin sensor [+]LS (4)As stop position is within detection range of
and Z-phase are ON.
backlash). They are for
Zero return your reference.
direction˄ direction˅
A Z-phase Zero return direction˄"-"direction˅
Z-phase
APPENDICES
a(-)
C
=?.5 Origin sensor = ?.5

ේὐᓳᏫᣇะ㧔‫ޠޟ‬ᣇะ㧕
Z-phase Z-phase
<⋧
a(-)
a(-)
a C

ේὐ࠮ࡦࠨsensor = ?.5
A-18
Z-phase rear 2 Zero Return

Z-phase
b direction).
(5)
Startup direction (+ direction).
c(+)
speed (3) Decelerating to starting speed by turning origin
c sensor OFF (▲).
Startup
(1) speed ("b"is the movement from origin sensor ON ( ☆)
(4)
2b
zero return ([+] side). (Take the c(+) as
example).）
(4) Only move ì2bî in zero return direction ([-]
direction).
("c" is the movement from origin sensor ON ( ☆)
direction).
and Z-phase are ON.

Z-phase
direction).
b Startup direction (+ direction).
2b(-)
(5) sensor OFF (▲).
Startup
(1) (4) speed ("b"is the movement from origin sensor ON ( ☆)
[-]LS Origin sensor [+]LS (4) Only move "2b(-)" in reverse direction ([-]
direction).
ON. A
APPENDICES
A-19
2 Zero Return Z-phase rear

Startup move out of detection range of origin sensor.
(1)
speed
(2)
Startup creep speed, and stop when both origin sensor
speed
and Z-phase are ON.

Startup move out of detection range of origin sensor.
(1)
speed
(2) Startup creep speed, and stop when both origin sensor
speed
and Z-phase are ON.
A
APPENDICES
A-20


Z-phase
direction).
2b
(4) (1)
(2) After [+] limit switch input, it will move in reverse
Startup direction ([-] direction).
(6) c
c(+) sensor OFF (▲).
Startup ("b" is the movement from origin sensor ON ( ☆)
(3) (5) speed
b (2)
[-]LS Origin sensor [+]LS The later operation is same as start point of zero
return ([-] side). (Take the c(+) as example).）
direction).
("c" is the movement from origin sensor ON ( ☆)
(5) Only move "c(+)" in reverse direction ([-]
direction).
and Z-phase are ON.

Z-phase
direction).
(5)
Startup reverse direction ([-] direction).
2b(-) speed
b
Startup sensor OFF (▲).
(3) speed ("b"is the movement from origin sensor ON ( ☆)
(2) to decelerating to the starting speed.)
direction).
large backlash, etc., it will move in zero return A
APPENDICES

ON.
A-21
2 Zero Return Z- phase rear

Z-phase
direction).
a
(4)
speed ("a" is the movement from origin sensor ON (☆)
a(+)
to decelerating to the starting speed.)）
Startup (3) Only move "a(+)" in reverse direction ([-]
speed
(3) direction).
[-]LS
Origin sensor [+]LS
origin sensor, it will move in zero return direction
([+] direction) at creep speed, and stop when
both origin sensor and Z-phase are ON.

Z-phase
a direction).
Ԝ
(5) Startup sensor ON (▲).
speed
("a" is the movement from origin sensor ON (☆)
C
(4)
Startup
(3)
speed (3) Only move "a(-)" in reverse direction ([-]
direction).
and Z-phase are ON.
Zero return direction˄"+"direction˅ Zero return direction˄"+"direction˅
Z-phase Z-phase
A a a
APPENDICES
a(+) a(-)
Zero return direction˄"+"direction˅ Zero return direction˄"+"direction˅
Z-phase Z-phase
a a
a(-)
a(-)
A-22
● Start point of zero return: "within detection range of origin sensor"

(2)
(1)Ԙ creep speed, and stop when both origin sensor
and Z-phase are ON.

(2)
(1) creep speed, and stop when both origin sensor
and Z-phase are ON.
A
APPENDICES
A-23
3 Operation Sequence at Power Up
In this section, the operation sequences when powering ON, main power off, servo OFF or alarm
occurs are described.
Power ON/Stop Sequence
■ When power on
Control power 㧔ON㧕
Power of main circuit 㧔ON㧕

˄Servo ON signal is not received for 1.5s.˅
servo ON signal 㧔ON㧕
servo motor excitation ˄excitation˅
Electromagnetic brake timing ˄Keep˅ ˄release˅

output
˄Electromagnetic brake release wait time˅
Servo ready relay *3 㧔ON㧕
[Electromagnetic brake wait torque limit] ˄enable˅
Dynamic brake Ԙ ԙ ˄free˅*2
*2 The relay has a wait time after dynamic brake is released and before servo motor is energized (ca. 100ms)。
A *3 In manual pulse mode, pulses can also be received after servo motor is energzed and before servo ready relay is ON.
Stop way/Status list
APPENDICES
Control Parameter Setup Operation

Mode Stop Way State after Stop Status(1) (power off) Status(2) (power on)
dynamic brake dynamic brake dynamic brake
Position free dynamic brake free
servo brake stop
free (dynamic brake
Control dynamic brake dynamic brake
disabled)
Speed
Control
dynamic brake stop free dynamic brake free
Torque
free (dynamic brake disabled) dynamic brake dynamic brake
ControlManu
al Pulse free operation free dynamic brake free
free (dynamic brake disabled) free free
A-24
■ main circuit power off (1)
Control power ON
OFF
Power of main circuit
servo ON signal
ON
Electromagnetic brake hold wait time *4
Electromagnetic brake operation start

wait or zero speed status
Electromagnetic brake timing output release Keep
[Electromagnetic brake wait torque limit] enable
servo brake in progress

Servo ready relay OFF 3
Dynamic brake State Ԙ

*3 Servo ready relay is off by turning main circuit off.
*4 During electromagnetic brake wait time, when servo voltage in servo amplifier dropped, "Undervoltage in
main circuit " alarm message will be displayed and operation is stopped.

Control Parameter Setup Operation A
Mode Stop Way State after Stop Actual Stop Way Status(1) (power off)
APPENDICES
dynamic brake servo brake dynamic brake

free servo brake dynamic brake
servo brake stop
free (dynamic brake
servo brake dynamic brake
Position disabled)
Control dynamic brake servo brake dynamic brake
Speed free servo brake dynamic brake
dynamic brake stop
Control free (dynamic brake
servo brake dynamic brake
Manual disabled)
Pulse dynamic brake servo brake dynamic brake
free servo brake dynamic brake
free operation
free (dynamic brake
servo brake free
disabled)
A-25
㧔OFF㧕
servo ON signal
㧔ON㧕
(Electromagnetic brake operation start

wait or zero speed status)
Electromagnetic brake timing output (release) (Keep)
[Electromagnetic brake wait torque limit] (disable)
Servo ready relay 㧔OFF㧕*3
(Electromagnetic brake hold wait time)

Dynamic brake (brake) State Ԙ

Stop Way State after Stop Actual Stop Way Status(1) (power off)
A Mode
free dynamic brake dynamic brake
APPENDICES
servo brake stop

free (dynamic brake
dynamic brake dynamic brake
disabled)
Torque dynamic brake dynamic brake dynamic brake
control free dynamic brake dynamic brake
dynamic brake stop
free (dynamic brake
dynamic brake dynamic brake
disabled)
free operation
free dynamic brake dynamic brake
A-26
㧔OFF㧕
servo ON signal
㧔ON㧕

Servo ready relay 㧔OFF㧕 3
Dynamic brake State Ԙ


Stop Way State after Stop Actual Stop Way Status(1) (power off)
Mode
Torque control free operation free (dynamic brake disabled) free operation free A
APPENDICES
A-27
■ Servo OFF (1)
servo ON signal 㧔ON㧕 OFF
Electromagnetic brake hold wait time
servo motor excitation excitation
㧔㔚⏛ࡉ࡟࡯ࠠേ૞㐿ᆎᓙߜ
Electromagnetic brake operation start wait or zero speed status
Electromagnetic brake timing output
release Keep
[Electromagnetic brake wait torque limit] enable

˄servo brake in progress˅
㧔ࠨ࡯ࡏࡉ࡟࡯ࠠਛ㧕
Servo ready relay OFF *5
Dynamic brake State ԙ State Ԙ
*5 Servo ready relay is off by turning servo ON relay off.

Parameter Setup Operation
A Control Mode
Stop Way State after Stop Actual Stop Way
Status(1)
(power off)
Status(2)
(power on)
Position dynamic brake servo brake dynamic brake dynamic brake
APPENDICES
Control servo brake free servo brake free dynamic brake

Speed Control stop free (dynamic brake
servo brake dynamic brake dynamic brake
Manual Pulse disabled)
A-28
■ Servo OFF (2)

servo ON signal 㧔ON㧕 OFF
servo ON signal ˄excitation˅

Electromagnetic brake timing output (keep)
Servo ready relay 㧔OFF㧕 5
(Electromagnetic brake hold wait tim)
Dynamic brake (brake) State ԙ State Ԙ

Control Mode Status(2) Status(1)
Stop Way State after Stop Actual Stop Way
(power on) (power off)
Position Control dynamic brake dynamic brake dynamic brake dynamic brake A
Speed Control Brake free dynamic brake free dynamic brake
APPENDICES
Torque control stop

free (dynamic
Manual Pulse dynamic brake dynamic brake dynamic brake
brake disabled)
dynamic brake dynamic brake dynamic brake dynamic brake
servo brake free dynamic brake free dynamic brake
Torque control
stop free (dynamic
brake disabled)
A-29
■ Servo OFF (3)
servo ON signal 㧔ON㧕 (OFF)


Dynamic brake State ԙ State Ԙ

Control
Status(2) Status(1)
Mode Stop Way State after Stop Actual Stop Way
(power on) (power off)
A dynamic brake free operation dynamic brake dynamic brake
Position
APPENDICES
Control free free operation free dynamic brake

free operation
Speed
free (dynamic
Control free operation free free
brake disabled)
A-30
■ Alarm (1)
Alarming(Alarm Output) (Alarming)
Control power (ON)
Power of main circuit *7 (ON)
servo ON signal (ON)

Electromagnetic brake timing output (Keep)
Dynamic brake (brake) State Ԛ
*7 If alarm occurs, suppose that main power is off.

*8 If alarm occurs, servo ready relay is OFF.

A
APPENDICES
Mode Stop Way State after Stop Actual Stop Way Status(3)(Alarm)
Position dynamic brake dynamic brake dynamic brake
Control
servo brake stop free dynamic brake dynamic brake
Speed
Control free (dynamic brake disabled) dynamic brake dynamic brake
Position dynamic brake dynamic brake dynamic brake

Control
dynamic brake stop free dynamic brake dynamic brake
Speed
Control free (dynamic brake disabled) dynamic brake dynamic brake
A-31
■ Alarm (2)
Alarming(Alarm Output) (Alarming)
servo ON signal 㧔ON㧕

Dynamic brake State Ԛ
*8 If alarm occurs, servo ready relay is OFF.

A Control Mode
Stop Way State after Stop Actual Stop Way Status(3)(Alarm)
APPENDICES

Position
Control free dynamic brake dynamic brake
free operation
Speed
free (dynamic brake
Control free operation free
disabled)
A-32
4 Alarm and Remedy
In this chapter, alarm information, remedy and operation when alarms occur are described.
Alarm List
■ Legends
Alarm Name
• There are 2 types of alarm reset methods.
(1) Turn ON MV-L40 with servo amplifier again at the same time.
(2)Restart by "Servo amplifier restart relay" after turn ON servo amplifier again.
"Restart Servo Amplifier"(page 9-103)
• The abbreviation of alarm names are as follows.
AW : Access Window display
HP : KV-HPD1 display
Stop Way
Immediate : Immediately stops if it's not relative to "*alarm stop mode".
(Blank) :set according to "* Alarm stop mode".
"Others"(page 10-98)
Stop axis
All axis : stop all axes if it's not relative to "*alarm stop axis selection".
(Blank) :set according to "* Alarm stop axis selection".
"Others"(page 10-98)
Alarm Stop
Alarm Name Alarm contents and Countermeasure Stop Way
No. axis
(1) It may result in accident or malfunction due
to noise. Please keep away noise such as
*Servo amplifier abnormal [01]
electromagnetic exchange when using.
(2) Bus communication circuit may break.
AW : *Servo amplifier abnormal
17 Please check cable connection state. Immediately All axis
[01]
(3) Servo amplifier No. setting may be wrong.
HP : *Servo amplifier abnormal
Please check setting.
[01]
When the occurs frequently, please contact our
sales office. A
Other servo amplifier abnormal
APPENDICES
Other servo amplifier are alarmed. Please

AW : Other servo amplifier
18 release alarm cause of servo amplifier
abnormal
alarmed.
HP : Other servo amplifier
abnormal
(1) Motor output terminals may be short-
circuited and ground fault. Please check
Output element abnormal
wiring between servo amplifier and
33 servomotor. Immediately All axis
AW : output element abnormal
(2) Maybe start IPM overheat detection. Please
HP : output element abnormal
check whether the ambient temperature of
servo amplifier is lower than55°C.
It may result in accident or malfunction due to
Current detection abnormal 1
noise. Please keep away noise such as
34 electromagnetic exchange when using. Immediately All axis
AW : current detection abnormal 1
HP : current detection abnormal 1
sales office.
A-33
4 Alarm and Remedy
Alarm Stop
No. axis
sales office.
sales office.
Overload (1) Actual torque may exceeds rated torque.
Please check the movement condition
65 Immediately
AW : Overload load.
HP : Overload (2) Electromagnetic brake of servo motor may
be not cancelled. Please check
electromagnetic brake.
Overload 2
(3) UVW phase wiring between servo amplifier
66 and servomotor may be wrong. Please Immediately
AW : Overload 2
check wiring.
HP : Overload 2
(4) Conflick may occur in machine. Please
check machine.
(1) Maybe exceed the allowable value of
regenerative power.Please check the load
operation time.
Regeneration overload
(2) Wiring of brake resistor may be wrong.
67 Please check wiring. Immediately All axis
AW : Regeneration overload
(3) Wiring of brake resistor may break. Please
HP : Regeneration overload
check wiring.
(4) Input power voltage may exceeds specification
range. Please check input voltage.
Built-in brake resistor may be overheated. Please
Built-in brake resistor overheat
check load operation condition and confirm that
84 regeneration power is lower than allowable Immediately All axis
AW : Built-in brake resistor overheat
absorbed power. Please select options of external
HP : Built-in brake resistor overheat
brake resistance if not released.
External brake resistance is
(1) External brake resistor may be overheated.
overheated
Please check load operation condition and
confirm that regeneration power is lower
85 AW : external brake resistance is Immediately All axis
than allowable absorbed power.
overheated
HP : external brake resistance is
(2) Wiring of external brake resistor may break.
Please check wiring.
A
overheated
APPENDICES
(1) Main circuit voltage may exceeds standard

Main circuit overvoltage value. Please check input power voltage.
(2) Load inertia may be larger. Please check load.
97 Immediately All axis
AW : Main circuit overvoltage (3) Brake resistor may not operate since wiring
HP : Main circuit overvoltage of brake resistor connector is wrong.
Please check wiring.
(Only check when servo ON.）
(1) Main circuit may not ON/power voltage is
beyond the specifications. Please check
undervoltage in main circuit
input power.
98 (2) Instantaneous stop may be resulted by the Immediately All axis
AW : undervoltage in main circuit
input voltage lower. Please check input
HP : undervoltage in main circuit
power.
sales office.
A-34
4 Alarm and Remedy
Alarm Stop
No. axis
(1) Input voltage may exceeds specification
*Control power abnormal
range. Please check input power.
113 (2) Instantaneous stop may be resulted by the Immediately All axis
AW : *Control power abnormal
input voltage fluctuations. Please check
HP : *Control power abnormal
input power.
Encoder wiring may be as follows.
* Encoder communication Please check wiring.
abnormal 1 • Wrong wiring
• Connector broken off
132 AW : * Encoder communication • Defective contact on connector Immediately
abnormal 1 • Encoder cable is too long
HP : * Encoder communication • Encoder cable is too thin
abnormal 1 • When the occurs frequently, please
contact our sales office.
Encoder communication abnormal 2
AW : Encoder communication
145 (1) It may result in accident or malfunction due Immediately
abnormal 2
HP : Encoder communication
abnormal 2
(2) Encoder wiring may be abnormal. Please
Encoder communication abnormal 3 check wiring.
AW : Encoder communication
146 sales office. Immediately
abnormal 3
abnormal 3
* Encoder communication abnormal 4 to noise. Please keep away noise such as
AW : * Encoder communication (2) Encoder wiring may be abnormal. Please
147 Immediately
abnormal 4 check wiring.
HP : *Encoder communication When the occurs frequently, please contact our
abnormal 4 sales office.
"Need zero return"
Encoder communication abnormal (1) It may result in accident or malfunction due
5 to noise. Please keep away noise such as
148 AW : Encoder communication (2) Encoder wiring may be abnormal. Please Immediately
abnormal 5
sales office. A
Encoder communication abnormal (1) It may result in accident or malfunction due
APPENDICES
6 to noise. Please keep away noise such as

149 AW : Encoder communication (2) Encoder wiring may be abnormal. Please Immediately
HP : Encoder communication When the occurs frequently, please contact our
abnormal 6 sales office.
Battery voltage low
(1) Battery voltage may lower. Replace battery.
(2) Battery cable may break. Please check
162 AW : Battery voltage low need Immediately
wiring.
reset
"Need alarm reset" "Need zero return"
HP : Battery voltage low need reset
(1) Motor may be overheated. Please check
Encoder overheat
the cooling condition of servo motor.
163 (2) Abmient temperature of encoder may raise. Immediately
AW : Encoder overheat
Please check the cooling condition of
HP : Encoder overheat
servo motor.
A-35
4 Alarm and Remedy
Alarm Stop
No. axis
* Revolving accumulated counter
abnormal
179 AW : * Revolving accumulated Immediately

counter abnormal
HP : * Revolving accumulated
counter abnormal electromagnetic exchange when using.
*1 Revolving counter abnormal
sales office.
"Need zero return"
AW : *1 Revolving counter
180 Immediately
abnormal
HP : *1 Revolving counter
abnormal
Encoder overspeed
181 (2) May be caused by external impacts. Please Immediately
AW : Encoder overspeed
check the installation condition of servo.
HP : encoder overspeed
sales office.
Encoder EEPROM abnormal
182 electromagnetic exchange when using. Immediately
AW : Encoder EEPROM abnormal
HP : Encoder EEPROM abnormal
sales office.
(1) Overtune may be larger. Please check the
Overspeed acceleration/deceleration condition/gain
etc.
193 Immediately
AW : Overspeed (2) UVW phase wiring between servo amplifier
HP : Overspeed and servomotor may be wrong. Please
check wiring.
Servo motor drive abnormal
UVW phase wiring between servo amplifier
195 and servomotor may be wrong. Please check Immediately
AW : Servo motor drive abnormal
wiring.
HP : Servo motor drive abnormal
A
APPENDICES
A-36
4 Alarm and Remedy
Alarm Stop
No. axis
(1) Instruction deviation/frequency may be
larger. Please check the acceleration/
deceleration time/electronic gear.
(2) Load inertia may be larger. Please check
load. Power capacity.
(3) Electromagnetic brake may be not
cancelled. Please check electromagnetic
brake.
(4) Motor may be locked by machine. Conflict
may occur in machine. Please check
machine.
(5) UVW phase wiring between servo amplifier
and servomotor may be wrong. Please
Position deviation larger check wiring.
(6) When stopping, motor maybe rotate by
209 Immediately
AW : Position deviation larger external force. Please check load.
HP : Position deviation larger (7) Torque limit value may be smaller. Please
check the set value of torque limit.
(8) "Position deviation larger than setting"may
be smaller. Please check "Position
deviation larger than setting".
(9) Power voltage may lower. Please check
power voltage.
(10) Positioning operation may be performed
under speed limit state. Please check
"Speed limit value".
It is necessary to do "Deviation clear" or
"Power ON/OFF" when "Deviation clear
when servo OFF" is set OFF under manual
pulse mode.
(1) Instruction deviation may be larger. Please
check the acceleration/deceleration time.
electronic gear (Position control mode).
(2) Pulse frequency above set value of 損ulse
train input time constantī may be input.
Position command larger 1 Please check input time constant, or lower
input pulse frequency (manual pulse
210 Immediately
AW : Position command larger 1 mode).
HP : Position command larger 1 (3) Instruction deviation may be larger. Please
check electronic gear and 搈anual pulse
input %ī.
It is necessary to do "Deviation clear"or "Power
A
ON/OFF" when "Deviation clear when servo
APPENDICES
OFF"is set OFF under manual pulse mode.

Electronic gear setting may be larger. Please
Position command larger 2
check setting. It is necessary to do "Deviation
211 clearī or " Power ON/OFF" when "Deviation Immediately
AW : Position command larger 2
clear when servo OFF" is set OFF under
HP : Position command larger 2
manual pulse mode.
*Servo amplifier data abnormal to noise. Please keep away noise such as
AW : *Servo amplifier data (2) Power may be OFF during EEPROM
225 Immediately
abnormal writing. Please do not OFF power during
HP : *Servo amplifier data EEPROM writing.
abnormal When the occurs frequently, please contact our
sales office.
A-37
4 Alarm and Remedy
Alarm Stop
No. axis
226 Immediately
AW : *Servo amplifier abnormal [02]
HP : *Servo amplifier abnormal [02]
sales office.
228 Immediately
*Servo motor combination
abnormal 1 Servo amplifier that is difficult to identify may
be connected. Servo motor. Please check
229 AW : *Servo motor combination servo amplifier. Servo motor. Immediately
abnormal 1 When the occurs frequently, please contact our
HP : *Servo motor combination sales office.
abnormal 1
*Servo motor combination
abnormal 2 Combination of servo amplifier and servo
motor is wrong. Please check servo amplifier.
230 AW : *Servo motor combination Servo motor. Immediately
abnormal 2 When the occurs frequently, please contact our
HP : *Servo motor combination sales office.
abnormal 2
241 (2) Bus communication circuit may break. Immediately
Please check cable connection state.
sales office.
sales office.
*Bus communication abnormal
A
300 (2) Bus communication circuit may break. Immediately All axis
APPENDICES
AW : *Bus communication abnormal

Please check cable connection state.
HP : *Bus communication abnormal
sales office.
*Bus communication abnormal 1
(X1 axis)
(2) X1 axis bus communication circuit may
break. Please check cable connection
AW : *Bus abnormal 1 (X1 axis)
state.
HP : *Bus abnormal 1 (X1 axis)
sales office.
A-38
4 Alarm and Remedy
Alarm Stop
No. axis
(Y1 axis)
(2) Y1 axis bus communication circuit may
AW : *Bus abnormal 1 (Y1 axis)
state.
HP : *Bus abnormal 1 (Y1 axis)
sales office.
(X2 axis)
AW : *Bus abnormal 1 (X2 axis)
state.
HP : *Bus abnormal 1 (X2 axis)
sales office.
(Y2 axis)
state.
HP : *Bus abnormal 1 (Y2 axis)
sales office.
Bus communication abnormal 2
(X1 axis)
AW : Bus abnormal 2 (X1 axis)
state.
HP : Bus abnormal 2 (X1 axis)
sales office.
(Y1 axis)
state.
HP : Bus abnormal 2 (Y1 axis)
sales office.
(1) It may result in accident or malfunction due A
APPENDICES

(X2 axis)
AW : Bus abnormal 2 (X2 axis)
state.
HP : Bus abnormal 2 (X2 axis)
sales office.
Bus communication abnormal 2 to noise. Please keep away noise such as
(Y2 axis) electromagnetic exchange when using.
309 (2) Y2 axis bus communication circuit may Immediately All axis
AW : Bus abnormal 2 (Y2 axis) break. Please check cable connection state.
HP : Bus abnormal 2 (Y2 axis) When the occurs frequently, please contact our
sales office.
A-39
4 Alarm and Remedy
Alarm Stop
No. axis
*Initialization abnormal (X1 axis) break. Please check cable connection
state.
AW : *Initialization abnormal X1 axis (3) Servo amplifier No. setting may be wrong.
HP : *Initialization abnormal X1 axis Please check setting.
(4) Motor axis may be rotated at above 300r/
min When servo amplifier ON.
sales office.
*Initialization abnormal (Y1 axis) break. Please check cable connection
state.
AW : *Initialization abnormal Y1 axis (3) Servo amplifier No. setting may be wrong.
HP : *Initialization abnormal Y1 axis Please check setting.
sales office.
*Initialization abnormal (X2 axis) break. Please check cable connection
state.
AW : *Initialization abnormal X2 axis (3) Servo amplifier No. setting may be wrong.
HP : *Initialization abnormal X2 axis Please check setting.
sales office.
A
*Initialization abnormal (Y2 axis) break. Please check cable connection
state.
AW : *Initialization abnormal Y2 axis (3) Servo amplifier No. setting may be wrong.
APPENDICES
HP : *Initialization abnormal Y2 axis Please check setting.

sales office.
(2) Bus communication circuit may break.
316 Please check cable connection state. Immediately All axis
(3) Servo amplifier No. setting may be wrong.
Please check setting.
sales office.
A-40
4 Alarm and Remedy
Alarm Stop
No. axis
Alarm log abnormal
322 All axis
AW : alarm log abnormal
HP : alarm log abnormal
* Parameter abnormal 1
AW : * initialize parameter Err1
326 electromagnetic exchange when using. All axis
setting
HP : * initialize parameter Err1
sales office.
setting
* Parameter abnormal 2
328 All axis
AW : * send parameter Err2 PC
HP : * send parameter Err2 PC
Absolute position disappear
Absolute position is abnormal. "Need zero
335 return" of backup position information is not
AW : absolute position disappear
read correctly.
HP : absolute position disappear
Out of coordinate specified range
Movement from current position is beyond the
AW : out of coordinate specified
350 range -2147483648 to 2147483647
range
[ENC_PLS]
HP : out of coordinate specified
range
Interpolation target axis servo
OFF
Interpolation target axis is not servo ON.
351 AW : Interpolation target axis Please check the state of interpolation target
servo OFF axis.
HP : Interpolation target axis servo
OFF
Other control mode of
interpolation target axis
Interpolation target axis is not position control
352 AW : Other control mode of mode. Please check the state of interpolation
interpolation target axis target axis.
HP : Other control mode of
interpolation target axis
Interpolation target axis at alarm
AW : Interpolation target axis at Interpolation target axis is at alarm. Please

A
353
alarm check the state of interpolation target axis.
APPENDICES
HP : Interpolation target axis at

alarm
Interpolation target axis in
operation progress
Interpolation target axis is in operation
354 AW : Interpolation target axis in progress. Please check the state of
operation progress interpolation target axis.
HP : Interpolation target axis in
operation progress
Moving distance 0 setting
Moving distance 0 is still used after electronic
355 gear conversion. Please check the " target
AW : moving distance 0 setting
coordinates "setting.
HP : moving distance 0 setting
A-41
4 Alarm and Remedy
Alarm Stop
No. axis
Cycle operation setting abnormal
Set " Continuous operation modeī as cont 1, 2,
AW : Cycle operation setting
356 but set "repeat counts" more than 1. Please
abnormal
check setting.
HP : Cycle operation setting
abnormal
Position type speed control setting
abnormal
" Position type speed/Deceleration "can be set
" return " and " Position type speed/inching "
357 AW : Position type speed control
can be set " Cont 1, 2/return ". Please check
setting abnormal
setting.
HP : Position type speed control
setting abnormal
Nearest rotary angle control/
interpolation setting abnormal
Attempt to perform interpolation operation
358 AW : nearest rotary angle control/ during nearest rotary angle control. Please
interpolation setting abnormal check the operation condition.
HP : nearest rotary angle control/
interpolation setting abnormal
Interpolation setting abnormal
AW : Interpolation setting Interpolation setting is in error. Please check

359
abnormal setting.
HP : Interpolation setting
abnormal
Nearest rotary angle control/soft
limit setting abnormal
Set soft limit in nearest rotary angle control.
360 AW : nearest rotary angle control/ Soft limit and nearest rotary angle control can
soft limit setting abnormal not be set at the same time.
soft limit setting abnormal
Nearest rotary angle control/
decimal setting abnormal
When "nearest rotary angle control" is set
361 AW : nearest rotary angle control/ "Yes", decimal position exceeds 0.000001 (6
decimal setting abnormal digit(s). Please check setting.
decimal setting abnormal
Acceleration/deceleration
A
movement overflow
APPENDICES
The acceleration/deceleration movement

362 AW : acceleration/deceleration exceeds 32bit value in positioning calculation.
movement overflow Please check setting.
HP : acceleration/deceleration
movement overflow
One point timeout
The moving time of one point constant speed
363 exceeds (2 to the 32th power)μs(approx. 70
AW : one point timeout
min). Please check setting.
HP : one point timeout
Acceleration/deceleration timeout
The acceleration/deceleration time exceeds
AW : acceleration/deceleration
364 65535ms in positioning calculation. Please
timeout
check setting.
timeout
A-42
4 Alarm and Remedy
Alarm Stop
No. axis
Interpolation continuous operation
setting abnormal The point operation set in next point No. of
single operation is interpolation operation. Or
365 AW : Interpolation continuous the point operation set in next point No. of
operation setting abnormal interpolation operation is single operation.
HP : Interpolation continuous Please check setting.
operation setting abnormal
(1) An emergency stop input will be issued.
Please check whether I/O terminal EMG
Emergency stop
input is performed. Please check whether
367 press EMG button in KV-HPD1. Please Immediately
AW : emergency stop
check whether turn ON " force stop relay ".
HP : emergency stop
(2) Trial operation may be cancelled during
motor driving.
Soft limit [+] detection
Current coordinate exceeds " [+] soft limit
368
AW : soft limit [+] detection coordinate ". Please check setting.
HP : soft limit [+] detection
Soft limit [-] detection
Current coordinate exceeds " [-] soft limit
369
AW : soft limit [-] detection coordinate ". Please check setting.
HP : soft limit [-] detection
Interpolation start axis abnormal
Interpolation target axis attempt to start
AW : Interpolation start axis
374 operation. Please check the operation
abnormal
condition.
HP : Interpolation start axis
abnormal
Positioning calculation abnormal
375 Immediately
AW : Positioning calculation abnormal
Calculation error occurs in positioning
HP : Positioning calculation abnormal
calculation. Please check positioning
Positioning calculation overflow parameter.
376 Immediately
AW : Positioning calculation overflow
HP : Positioning calculation overflow
Point parameter read error 1
377
AW : point parameter read error 1
HP : point parameter read error 1 Pre-reading a point fails. Please check
Point parameter read error 2 positioning parameter.
A
APPENDICES
378
AW : point parameter read error 2
HP : point parameter read error 2
Interpolation calculation abnormal
AW : Interpolation calculation Square root calculation failed. Please check

379
abnormal positioning parameter.
HP : Interpolation calculation
abnormal
Acceleration setting abnormal
AW : Acceleration setting Acceleration setting is abnormal. Please check

380
abnormal positioning parameter.
HP : Acceleration setting
abnormal
A-43
4 Alarm and Remedy
Alarm Stop
No. axis
*Servo amplifier No. setting
abnormal
Servo amplifier No. setting is not 2 to 5. Please
400 AW : *Servo amplifier No. setting All axis
check setting.
abnormal
HP : *Servo amplifier No. setting
abnormal
*Undercapacity in frequency
converter The capacity in system frequency converter is
not enough. Verify the setting sequence of
401 AW : *Undercapacity in frequency servo amplifiers and the configuration of servo All axis
converter amplifiers capable of supplying power and add
HP : *Undercapacity in frequency it when the power capacity is insufficient.
converter
JOG running abnormal
JOG running can not be started. Please check
402
AW : JOG running abnormal JOG relative parameters.
HP : JOG running abnormal
WDT error occurs in last operation. It may
WDT abnormal result in accident or malfunction due to noise.
Please keep away noise such as
AW : WDT abnormal electromagnetic exchange when using.
HP : WDT abnormal When the occurs frequently, please contact our
sales office.
Instantaneous break abnormal
Instantaneous break error occurs in last
operation. Battery voltage may lower. Please
AW : Instantaneous break
451 check power supply. Immediately All axis
abnormal
HP : Instantaneous break
sales office.
abnormal
NMI process fails in last power OFF. It may
NMI abnormal result in accident or malfunction due to noise.
AW : NMI abnormal electromagnetic exchange when using.
HP : NMI abnormal When the occurs frequently, please contact our
sales office.
SRAM Backup Alarm
Data saved in SRAM is in error. The voltage of
453 super capacitor may lower since power OFF Immediately All axis
AW : SRAM Backup Alarm
HP : SRAM Backup Alarm
Flash ROM comment abnormal
for a long time.
The data saved in Flash ROM is in error. It may

A
result in accident or malfunction due to noise.
APPENDICES
AW : Flash ROM comment Please keep away noise such as

abnormal electromagnetic exchange when using.
HP : Flash ROM comment When the occurs frequently, please contact our
abnormal sales office.
Out of indirect specified range
(position)
The indirect specified parameter (relative to
455 AW : out of indirect specified position control) value is beyond the range. Immediately
range (position) Please check parameter value.
HP : indirect specified range
abnormal (position)
Fail to write in Flash ROM. It may result in
Write flash ROM abnormal accident or malfunction due to noise. Please
keep away noise such as electromagnetic
AW : write flash ROM abnormal exchange when using.
HP : write flash ROM abnormal When the occurs frequently, please contact our
sales office.
A-44
4 Alarm and Remedy
Alarm Stop
No. axis
Control mode alarm error
Attempt to position control operation such as
458 starting not under position control mode. Immediately
AW : control mode alarm error
Please check control mode.
HP : control mode alarm error
Positioning completion overtime It is not in positioning completion state even if
through INPOS detection time. Please
459
AW : INPOS overtime increase INPOS detection time, or adjust gain,
HP : INPOS overtime reduce positioning set time.
Fail to read parameter when initializing. It may
*Initialization abnormal (L40) result in accident or malfunction due to noise.
AW : *Initialization abnormal (L40) electromagnetic exchange when using.
HP : *Initialization abnormal (L40) When the occurs frequently, please contact our
sales office.
+ side moving [+] (CCW) limit
(+ side moving) [+] (CCW) limit switch
switch detection
detection
461 Please check " Coordinate increase direction ".
AW : + moving [+] CCWLS alarm
"Limit switch polarity" "Limit switch switch", "
HP : + moving [+] CCWLS
*pulse train rotation direction ".
detection
- side moving [-] (CW) limit switch
(- side moving) [-] (CW) limit switch detection
detection
Please check " Coordinate increase direction".
462
"Limit switch polarity " " Limit switch switch ", "
AW : - moving [-] CWLS alarm
*pulse train rotation direction ".
HP : - moving [-] CWLS detection
+ side moving [-] (CW) limit switch
+ side moving [-] (CW) limit switch detection
detection
Please check " Coordinate increase directionī.
463
" Limit switch polarity " " Limit switch switch ",
AW : + moving [-] CWLS alarm
" *pulse train rotation direction ".
HP : + moving [-] CWLS detection
- side moving [+] (CCW) limit
switch detection - side moving) [+] (CCW) limit switch detection
Please check " Coordinate increase direction ".
464
AW : - moving [+] CCWLS alarm " Limit switch polarity " "Limit switch switch ",
HP : - moving [+] CCWLS " *pulse train rotation direction ".
detection
+ side moving [+] (CW) limit switch
+ side moving [+] (CW) limit switch detection
detection
Please check " Coordinate increase direction ".
465
AW : + moving [+] CWLS alarm
HP : + moving [+] CWLS detection
" Limit switch polarity " " Limit switch switch ",
" *pulse train rotation direction ". A
- side moving [-] (CCW) limit
APPENDICES
switch detection - side moving) [-] (CCW) limit switch detection

Please check " Coordinate increase directionī.
466
AW : - moving [-] CCWLS alarm "Limit switch polarity " " Limit switch switch ",
HP : - moving [-] CCWLS " *pulse train rotation direction ".
detection
+ side moving [-] (CCW) limit
switch detection (+ side moving) [-] (CCW) limit switch detection
467
AW : + moving [-] CCWLS alarm " Limit switch polarity " "Limit switch switch ",
HP : + moving [-] CCWLS " *pulse train rotation direction ".
detection
- side moving [+] (CW) limit switch
- side moving [+] (CW) limit switch detection
detection
468
" Limit switch polarity " "Limit switch switch",
AW : - moving [+] CWLS alarm
" *pulse train rotation direction ".
HP : - moving [+] CWLS detection
A-45
4 Alarm and Remedy
Alarm Stop
No. axis
Zero return abnormal 1
469
AW : zero return abnormal 1
HP : zero return abnormal 1
470
HP : zero return abnormal 2 Zero return fails.
Zero return abnormal 3 (1) Please check zero return relative
parameters.
471
AW : zero return abnormal 3 (2) Please check servo parameter and
HP : zero return abnormal 3 increase motor tracing corresponding to
Zero return abnormal 4 instruction.
472
473
Zero return fails.
(1) Z-phase should be adjusted in the range of
Zero return abnormal 6 origin sensor when zero return method is "
Z-phase regular " or " Z-phase backend ".
474
AW : zero return abnormal 6 (2) Please connect [-] limit switch and origin
HP : zero return abnormal 6 sensor when setting "Zero return method "
as " [-] without LS ORG edge ". In addition,
please adjust to avoid chattering.
Speed abnormal
Setting speed is smaller. The speed of
480 electronic gear switching setting range
AW : speed abnormal
exceeds 1ENC_PLS.
HP : speed abnormal
Acceleration/deceleration range
alarm
The value that is converted in encoder pulse
481 AW : acceleration/deceleration unit of acceleration/deceleration must be 1
range alarm ENC_PLS/ms or more.
range alarm
A
APPENDICES
A-46
5 Troubleshooting
When Judged to be in Error
（1）No data is reflected in normal read area.

• The DM/relay in the unit setting info (set contents of unit editor) is inconsistent with that used in ladder diagram.
（2）Can't execute cyclic operation or return operation.

• Please confirm whether " Standby release relay " is ON, or input release standby instruction
(RESUM).
• Check whether " M code outputting relay " is OFF.
• When " Continuous operation mode " is set to " Cont-1" or " Cont-2 ", it will be ignored even if
cycling or returning is set in the point last run.
（3）MV-L40 can't get the up edge of relay.

• MV-L40 cannot capture the relay, etc. that is turned ON or OFF for only one scanning.
So, for the faster CPU scan time, MV-L40 cannot read the OFF or ON signal.
Therefore, for signal exchange done in relay ON/OFF (to set/reset by Finish relay), please
guarantee that MV-L40 can capture.
However if the changing time of relay is very slow (more than 10ms), it can operate smoothly even
if the relay is ON/OFF.
（4）All input relays at power on are OFF.

• Input relay contents are enabled after MV-L40 and servo amplifier are started.
Since the starting time of CPU unit is earlier, MV-L40 will be ready after powering on and entering
in RUN mode. In this time, it will read default of relay.
In this case, please set contents of other input relays to be effective after confirming that
Operation Enable relay is ON.
（5）It doesn't start normally at power ON.

• Is the servo amplifier connected with MV-L40 turned ON?
• Whether there are any questions in wiring?
• Whether SRAM Backup Alarm occurs?
• Make sure that the communication cable wires (SA丄SB丄SG) are connected correctly.
• Check that the setting for amplifier No. switch is correct. A
• Make sure that axis no.s for servo amplifier set in unit editor are the same as actually connected no.s.
APPENDICES
• Whether turn ON servo amplifier supported by MV-L40?
（6）Action is not stable after power ON when using auto-tuning.

• Auto-tuning started by defaults of parameters. AT parameter mapping may be performed after
operation is stable.
（7）Exceeding limit switch in zero returning.

• In mode using both [-] CCW_LSW and origin sensor, it will make emergency stop when detecting
[-] CCW_LSW.
In this case, if the speed is quick, sometimes it may exceed limit switch.
In this case, please reduce the speed of zero returning.
A-47
5 Troubleshooting
(8) At zero returning, it maintains stop state at limit switch but not ends.
• In mode using both [-] CCW_LSW and origin sensor, Origin sensor (ORGS) and [-] limit switch
(CCW-LS or CW-LS: depending on parameter setting) may not be short-circuited.
Or, although they are short circuited, they are not used as combined mode.
(9) After origin returning or moving to home position, the operation of MV-L40 can start in any way.
• After zero returning or moving to home position, Positioning Finish relay will be ON. Compile
ladder program for operation start when Positioning Finish relay is ON, after origin returning or
moving to home position, operation starts.
(10) No action for pause time.

• When " Continuous operation modeî is set to " Cont-1" or " Cont-2 ", only the wait time of start
point parameter after operation starts will become active.
(11) Can't change speed.

• If you already run in speed specified in "max. speed " in system parameter, it can't change to
speed higher than this (neglected)
(12) Motor doesn't run.

• Whether "operation enable relay " is ON?
• Whether control mode is correct?
• Is the speed command value too small?
• Is the torque command value too small? (It will not rotate if smaller than load)
• Is the torque command value too small? (unit ×0.1%)
• Is the "Speed limit" set value too small?
• Is the torque threshold ("[+] side torque threshold ")/ "[-] side torque threshold") too small?
• Whether only "Speed Limit DM Enable Relay at Torque Limit " is ON?
"Speed limit DM" default is 0, so speed limit is 0.
• Whether "Servo ready relay " is ON?
• Is electronic gear setting too small?
• Whether deviation clear (CLR) maintains input state?
• Whether electromagnetic brake is released?
• Whether the input of Start command can identify edge after servo ON?
A • Whether limit switch (CCW-LS/CW-LS) or emergency stop (EMG) is input?
(13) The rotation times can not rise up to the set speed.
APPENDICES
• Does it reach to servo parameter "Speed limit"?

• Whether operation speed exceeds "Max. speed" of system parameter?
• Does it reach to servo parameter "[+] torque threshold"/"[-] torque thresholdî?
• Under position control mode, is it of delta control (not trapezoidal without reaching to operation speed)?
(14) No Servo ON
• Whether main circuit is on?
• Whether alarm reset (RESET) maintains input state?
• Check that setting for "*Servo ON" way is correct.
• Permitted to run?
• Whether EMG stop input (EMG) maintains input state?
A-48
5 Troubleshooting
(15) No way to start operation from MV LINK STUDIO Servo ON.

(MV LINK STUDIO has used device inside PLC
• Check that *Servo ONî way is set as by PLC device.
• Check that ì*Position operationî way is set as by PLC device.
• Whether "Operation enable relay" is ON?
(16) No way to start operation in midway after starting several times from PLC.
• This problem will happen in such cases that when no M code is used for combining the reading of
Positioning Finish relay and Start Program of Next Point as well as when the scanning time is
shorter than positioning command time.
(17) Even if servo OFF, the position deviation will not be 0.

• Has carried out proportional control?
• "Deviation clear at Servo OFF"is set as "no"?
(18) No way to carry out JOG run.

• Whether "operation enable relay" is ON?
• Control mode is position control mode?
• Whether "servo ready relay" is ON?
(19) No way to switchover gain.

• Have not set as "Track gain " or "Set gain"?
(20) No way to restart the servo amplifier.

• All axes are servo OFF?
• Whether "operation enable relay" of X1 axis is ON?
• "Restart Keyword for Servo Amplifier DM" for communication space at normal time is correctly set?
(21) o way to increase no.s of axes of servo amplifier connected.

• The connected no.s of servo amplifier are set in unit editor of KV STUDIO/KV BUILDER.
(22) All axes will alarm and stop even if only power of expanded axis is off.
• For the sake of safety, power of all axes connected with MV-L40 are monitored (control power,
main power). Therefore, if the power of any axis is off, all axes ofMV-L40 connected to this axis
will alarm and stop.
(23) The set time for positioning maintains 0 and doesn't change.
A
APPENDICES
• The setting of "positioning End Range" is too high?

If the moment when positioning command ends is at positioning end state, the positioning set time
maintains 0ms.
• Whether the control mode is position control mode?
(24) " Moving relay " doesn't become ON. (Other than position control mode)
• Is the "zero speed detection" set value too high?
• Is the rotation speed of motor too small?
A-49
5 Troubleshooting
Causes for Error Relay to be ON
Relay name and function Possible error causes

• Error in specified point no.
• Writing was done in positioning.
Point parameter
• Attempt to write a value out of range.
Error in writing
• Attempt to write while writing flash ROM or mapping AT parameters.
• Attempt to write while initializing parameters in KV-HPD1.
• Attempt to write while writing system parameters.
• Attempt to write in positioning.
System parameter
Error in writing
Speed Parameter • Attempt to write a value out of range.
Error in writing • Attempt to write while writing flash ROM or mapping AT parameters.
Point parameter
• Attempt to read while writing flash ROM or mapping AT parameters.
Error in reading
• Attempt to read while initializing parameters in KV-HPD1.
System parameter • Attempt to read while writing flash ROM or mapping AT parameters.
Error in reading • Attempt to read while initializing parameters in KV-HPD1.
Speed Parameter • Attempt to read while writing flash ROM or mapping AT parameters.
• Test running.
Error in changing current
• The specified coordinate is out of range.
coordinate
• Positioning.
• Attempt to change speed not in position control mode.
Error in changing speed • The specified speed is out of range.
• Attempt to change speed in less than 50ms from last speed changing.
Error in teaching
A • Attempt to write while initializing parameters in KV-HPD1.
• ì*Position operationî way is not by "PLC device".
APPENDICES

Error in starting operation • Already in positioning.
• Test running.
• Determining frequency.
Error in cycle interruption • Attempt to interrupt not in position control mode.
Changing control modes Error • Can't get response from servo amplifier due to some reason.
• Attempt to write while writing servo parameters.
AT parameter reflection Error
• Attempt to write while writing servo parameters.
Servo parameter • Attempt to write a value out of range.
A-50
5 Troubleshooting
Relay name and function Possible error causes

Servo parameter • Attempt to read while writing flash ROM or mapping AT parameters.
Flash ROM • Attempt to write while mapping AT parameters.
Error in writing • Attempt to write while initializing parameters in KV-HPD1.
• Flash ROM damaged.
Clear alarm log
• Fails in accessing SRAM.
Error
Common Set Parameters • Attempt to write a value out of range.
Common Set Parameters • Attempt to read while writing flash ROM or mapping AT parameters.
• Error in restart keyword.
Servo amplifier restart
• Any servo amplifier is SVON.
Error
• Communication with servo amplifier is abnormal.
Alarm log
• Fails in accessing SRAM.
Error in reading
Log of operation point
• Fails in accessing SDRAM.
Error in reading
• Already in positioning.
Zero return
• Test running.
Error
• Already in positioning.
home position
• Test running.
Error in moving
A
APPENDICES
A-51
6 Difference for using MV series and MV-L40
Difference
■ Servo contents
Items MV MV-L40
• Position control mode
• Positioning mode • Speed control mode
Control mode
• Burst input mode • Torque control mode
• Manual pulse mode
Not necessary to turn on/off power
"Restart Servo Amplifier" (page 9-
Changing control modes It's necessary to turn on/off power 103)
However, it is position control mode
when turning on power
Electronic gear 1to32767 1to65535
Torque unit % ×0.1%
Automatic tune 1to13 1to15
No.s of servo amplifiers
6 axis 4 axis
connected
When deviation alarm occurs Current coordinate is 0 Current coordinate is not 0
Changeover of enable/ [+]/[When[+]/[-] side torque limit enable
Depending on parameter (500% is disabled)
disable for torque limit relay is ON, the torque limit is enabled.
Critical torque 30to500(%) 0to5000(×0.1%)
■ Positioning relevant contents

Items MV MV-L40
Setting range -999999 to+999999 -99999999to+99999999
Point No. 50/ axis 100/ axis
The combination setting of the following
3 parameters.
Origin Returning way • Origin Return mode Select from Origin Returning way
• Polarity detection way for origin sensor
• Z-phase detection at origin returning
Value of return speed after converting by
A Current coordinate Positioning command speed
electronic gear
Value of return speed after converting by
Current speed Positioning command speed
electronic gear
APPENDICES
Point No. assignment The DMs are different for specifying the DMs are common for specifying the
(Point operation, operation start point no. and teaching operation start point no. and teaching
teaching) point no. point no.
Device is enabled for assigning the start
operation no., (start operation no. from
external input is disabled), Start
In " *Position operation way ", PLC
Operation Command relay and external
Way for starting device is selected for external input, the
output are also enabled.
operation selected point no. and start operation
If the start operation no. is not assigned
command are enabled.
by device, external input is used for
specifying the start operation no. and
executing the Start Operation command.
Condition for operation When operation enable relay is ON at
"operation enable relay" is ON.
enable relay to be ON SVON state
A-52
■ Others
Items MV MV-L40
• All parameter editing
• Partial parameter editing • Monitoring
• Monitoring • Teaching/HP-JOG
Function of HPD1
• Teaching/JOG • Demo operation
• Alarm log • Alarm log
• Log of operation point
Polarity of emergency N.O. contact and N.C. contact can be
Only N.C. contact
stop changed over
Burst/Manual pulse
EMG, Limit switch disabled EMG, Limit switch enabled
mode
2-axis (X1, Y1), 2-axis (x2, Y2)
Limit on opposite axis
Free combination 3-axis (X1, Y1, X2),
for interpolation
4-axis (X1, Y1, X2, Y2)
Operation mode, absolute/relative will
Operation Mode setting Set only under Operation Mode
be set separately
Motor rotation direction/
To set under "coordinate increasing
coordinate increasing Setting of motor rotation direction
direction"
direction
To be determined by setting of
To be determined by name (CCW/CW)
Limit switch "coordinate increasing direction" and
in the physical connection.
"limit switch changeover"
Initializing parameters Value transferred from Servo Builder Fixed value (before shipping)
SRAM, Flash ROM
Way for writing flash ROM

Parameter • Turn on again MV-L40
EEPROM
Backup method • Write from MV LINK STUDIO
flash ROM
• Write by ladder program flash ROM
Encoder output pulse Only master axis None

Indirect parameter
None Yes
assignment
Setting of servo amplifier
1st axis is "1" 1st axis (X1 axis) is ì2î
(rotation switch)
Output signal MOVE/ZSP MOVE
A
■ Changing initial value
APPENDICES
Items MV MV-L40
"*Format for Burst Input" Double pulse input A/B phase input
"*Servo ON way" External input PLC device
KV-HPD1 buzzer OFF ON
A-53
Added Function
■Servo contents
Items Contents
Same with action when turning on power again.
Servo amplifier restart Enabled for mapping the parameter for which power shall be turned on
again.
Vibration control Can suppress vibration at front end of work in equipment with low rigidity.
Instruction tracking control To adjust parameter so as to reduce the setting time and position deviation.
Setting of stopping way and
Can set the stopping way and status after stopping when servo is OFF.
status after stopping
Input override of manual pulse
Electronic gear increasing override.
generator
Automatic changeover
Change over automatically PI and P control.
between proportion control
Automatic gain switching Change automatically gain 1→gain 2 or automatic tune →gain 2.
Acceleration/deceleration time To set the acceleration/deceleration time for reaching rated speed under
for speed control speed control mode.
Acceleration/deceleration time To set the acceleration/deceleration time for reaching rated torque under
for torque control torque control mode.
Warning output It outputs warning before alarms.
Start time for electromagnetic
To set the time before the electromagnetic brake engages.
brake engages
■ Positioning relevant contents

Items Contents
Stop sensor input in Stop sensor is enabled not only in position type speed control but also in
positioning position control.
To add middle point of origin
Getting the middle point at both ends of origin sensor can reduce the input
sensor under origin return
deviation of origin sensor.
mode
It is able to change speed not only in position type speed control but also in
Speed changing in positioning/JOG
position control and JOG mode.
Adding the checking time for By checking positioning end, it is possible to advance in sequence while
A positioning end
Add "external input (no
confirming the actual motor movement.
Will not decelerate&stop even if the start operation (START) command is off
deceleration&stop)" from
APPENDICES
since extern I/O is started.

external I/O start operation
■ Others
Items Contents
Log of operation pointNo. To keep the log of point operation.
Automatically acquire the time Get alarming time from PLC.
Measuring the set time for After the positioning command finishes, it displays the time for reaching the
positioning first positioning finish status.
When the wiring of limit switch is wrong, it can be changed internally without
Changeover of limit switch
modifying the wiring.
A-54
7 System Macro for MV-L40
Here it is to describe the macro which is able to create in simple way MV-L40 control ladder diagram.
The macro described here will become system macro in KV STUDIO Ver2.1 above.
As for details about macro, please refer to KV-1000 PLC Programming Manual.
Note
It's impossible to use system macro in KV-700.
Macro List
Macro name Name Overview See page

No origin sensor will be used, and it will take the
Touch zero
ORG1-L40 position starting from the touch point and returning with A-56
returning
specified movement as origin.
Direction
To return origin by selecting the starting direction for
ORG2-L40 changeover zero A-66
zero returning.
return
PLS-L40 Start operation Start the operation of the specified point. A-71
VADJ-L40 Changing speed To carry out speed changing in position control. A-75
Change
PADJ-L40 To change current coordinate in standstill state. A-80
coordinate
A
APPENDICES
A-55
Name: Touch zero returning

ORG1-L40 Form: self-hold type
With this macro it is possible to carry out touch zero returning for axis that is currently connected to MV-
L40.
■ Operation description
(1) Start moving toward specified direction at specified speed.
motor
(2) Carry out touch operation at specified time and torque.
motor
(3) When the touch ends, it reverses and moves only specified amount.
motor
(4) End the zero returning.
motor
A
APPENDICES
A-56
■ Example for macro to call up ladder diagram
■ Setting argument
Argument Name Form Set range
1st Argument Selecting unit no. Value #1 to #32
2nd Argument Axis selection Value/device #0 to 3/unsigned 16 bit
3rd Argument Forced end Device Bit
4th Argument Error no. notification Device unsigned 16 bit
5th Argument Parameter Device unsigned 32 bit
● 1st Argument: unit selection A

Description: Specify unit no. connected to MV-L40.
APPENDICES
Specified range :#1 to #32
Note
Don't specify any no. that is out of the unit no. connected to MV-L40.
When the unit no. is wrong, it may result in unexpected operation.
A-57
● 2nd Argument: selection of operation axis

Description: to specify the axis for touch zero returning.
Specified range: #0 to #3 or DM saving value
The corresponding relationship between arguments and axis are:
X1 axis: #0
Y1 axis: #1
X2 axis: #2
Y2 axis: #3
● 3rd Argument: Forced end

Description: to specify the relay for ending in a forced way the macro for touch zero returning.
Note
What is ended in forced way is macro.
When it is necessary to do forced stop, please turn ON "Forced Stop relay".
And the state of device of MV-L40 under macro operation will maintain the state at
forced end.
● 4th argument: Error no. notification

Description: to specify DM for end code when macro-saving ends.
As for detailed contents of end code, please refer to "Details of error no." ( page A-60).
Error
Name Remarks
No.
00 Normal end
01 Forced end
02 Error in changeover under speed control mode
03 Error in changeover under position control mode
04 Error in saving and reading point parameter
05 Error in writing zero returning condition for point parameter
06 Error in saving and reading speed parameter
07 Error in writing zero returning condition for speed parameter
08 Error in zero returning action
09 Error in saving and writing point parameter
A 10 Error in saving and writing speed parameter
11 Error in set value range of axis selection
APPENDICES
12 Error in set value range of zero returning speed

13 Error in set value range of touch torque
14 Error in set value range of touch detection time
15 Error in set value range of specified movement
16 Error in set value range of touch torque limit
17 Set value of touch torque<Error in set value of touch torque limit
18 Error in set value range of setting time
19 Error in set value range of operation point no.
20 Error in set value range of operation speed no.
21 Error in set value range of moving speed for specified movement
A-58
● 5th Argument: parameter

Description: to specify the start device of parameter list.
As for parameter list, please refer to the following.
Device
Name Setting unit Set range
position
Start device+0 Depending upon servo #-99999999 to -1
zero returning speed
Start device+1 parameter #1 to 99999999
Start device+2 Touch torque detection value 0.1% #0 to 3000
Start device+3 Reserved*1 - -
Start device+4 Touch detection time ms #0 to 65535
Start device+6 Moving speed for specified Depending upon system
#1 to 99999999
Start device+7 moving amount parameter
Start device+8 Depending upon system
Specified movement #0 to 99999999
Start device+9 parameter
Start device+10 Torque limit at touching 0.1% #0 to 5000
Start device+12 Set detection time ms #0 to 65535
Start device+14 Operation pointNo. - #1 to 100
Start device+16 Operation speedNo. - #1 to 15
*1 Please save 0 for the reserved part.
Details of parameters:
(1)Zero returning speed (start device0 ：signed32bit）
To set the speed at zero returning.
This set value is used in the speed before touching and the moving speed in specified movement
after touching.
The zero returning direction is determined by the symbol of this zero returning speed.
When the set value is positive, it starts moving toward the direction with increasing coordinate, after
touching, moves in specified amount toward the direction with decreasing coordinate.
When the set value is negative, it starts moving toward the direction with decreasing coordinate, after
touching, moves in specified amount toward the direction with increasing coordinate.
A
APPENDICES
(2)Touch torque detection value (start device+2: unsigned 16bit)

To set the detection torque for touching.
When the torque is out of set value, it detects touching.
Set this value as smaller than "(5) torque limit at touching".
When the set value is bigger than "(5) torque limit at touching", it gives error no. notification
Error no.: 17 "error for set value of touch torque＜set value of touch torque limit "
And terminates macro.
(3)Touch torque detection time (start device4 : unsigned 16bit)

To set the detection time for touch.
When the time for torque above "(2) Touch torque detection value" exceeds touch detection time, it
will judge as touched.
(4)Moving speed for specified moving amount (start device+6 : unsigned 32bit)
To set the speed for moving specified amount after touching.
A-59
(5)Specified moving amount (start device+8 : signed 32bit)

To set the moving amount after touching and reversing.
(6)Torque limit at touch (start device+10 : unsigned 16bit)

To set the torque limit at touch.
Set this value as bigger than "(2) Touch torque detection value".
When the set value is smaller than "(2) Touch torque detection value", it gives error no. notification
Error no.: 17 "Error for set value of touch torque＜set value of touch torque limit"
And terminates macro.
(7)Set detection time (start device12 : unsigned 32bit)

To set the adjusting time for moving specified amount after touching.
When the machine has low rigidity, zero returning accuracy is improved by setting long adjusting
time.
(8)Operation point No. .(start device+14: unsigned 16bit)

Point no. temporarily used for macro setting.
For touch-origin-returning macro, it is to save specified moving amount in the operation no. specified
.by operation point no. After moving the specified amount, it returns to the state before macro.
When error happens, it returns to the setting of point no. specified by operation No. For the sake of
safety, please specify as far as possible any point no. not used.
(9)Operation speed No. .(start device+16: unsigned 16bit)

Speed no. temporarily used for macro setting.
For the touch-origin-returning macro, save origin-returning speed in the speed no. specified by
operation speed no., and return to the state before executing macro after moving specified amount.
When error happens, it returns the setting of speed no. specified by operation speed No. For the
sake of safety, please specify as far as possible any speed no. not used.
■ Condition for ending macro

End when the touch zero returning ends or when it has error in executing macro.
A The condition for ending macro can be confirmed by value of error no. notification.
APPENDICES
■ Details of error no.

00: Normal end
Touch zero returning ends normally.
01: Forced end
When the Forced End relay is ON, it will end macro forcedly.
The unit device used in macro maintains the process, first turns OFF then ON "Operation
Enable relayî of MV-L40V, and resets as necessary.
02: Error in changeover under speed control mode

If the changeover of speed control mode fails, it ends macro.
As for the failing in the changeover of speed control mode, please refer to "Causes for Error
Relay to be ON" ( page A-50)。
A-60
03: Error in changeover under position control mode

If the changeover of position control mode fails, the macro ends.
If the changeover of position control mode fails, please refer to "Causes for Error Relay to be
ON" ( page A-50).
04: Error in saving and reading point parameter

If the reading of point parameter for saving point parameter fails, the macro ends.
As for failing in reading point parameter, please refer to "Causes for Error Relay to be ON" (
page A-50).
05: Error in writing zero returning condition for point parameter

If the writing of origin-returning condition for point parameter fails, the macro ends.
As for the failing in writing point parameter, please refer to "Causes for Error Relay to be ON" (
page A-50).
06: Error in saving and reading speed parameter

If the reading of speed parameter for saving speed parameter fails, the macro ends.
As for the failing in reading speed parameter, please refer to "Causes for Error Relay to be ON"
( page A-50).
07: Error in writing zero returning condition for speed parameter

If the writing of origin-returning condition for speed parameter fails, the macro ends.
As for failing in writing speed parameter, please refer to "Causes for Error Relay to be ON" ( A
page A-50).
APPENDICES
08: Error in zero returning action

If the starting of operation for moving specified amount after touching fails, the macro ends.
The unit device used in macro maintains the process, first turns OFF then ON "Operation Enable
relayî of MV-L40, and resets as necessary.
As for the failing in starting operation, please refer to "Causes for Error Relay to be ON" ( page A-
50).
A-61
09: Error in saving and writing point parameter

If the writing of saved point parameter fails, the macro ends.
When this error occurs, both the point parameters and speed parameters can 抰 return to the
parameter setting before executing macro.
And the unit device used in macro maintains the process, first turns OFF then ON "Operation
Enable relayî of MV-L40, and resets as necessary.
As for the failing in writing point parameter, please refer to "Causes for Error Relay to be ON" (
page A-50).
10: Error in saving and writing speed parameter

If the writing of saved speed parameter fails, the macro ends.
When this error occurs, both the point parameters and speed parameters can't return to the
parameter setting before executing macro.
As for the failing in writing speed parameter, please refer to "Causes for Error Relay to be ON" (
page A-50).
11: Error in set value range of axis selection

If the set value for axis selection is out of range, the macro ends.
Please check that the set value for axis selection is within range.
This error is detected after calling up macro (before zero returning), and it has no influence on
operation of MV-L40.
12: Error in set value range of zero returning speed

If the set value for origin-returning speed is out of range, the macro ends.
Please check the origin-returning speed is within range.
13: Error in set value range of touch torque

If the set value for touch torque is out of range, the macro ends.
A Please check that the set value for touch torque is within range.
APPENDICES
14: Error in set value range of touch detection time

If the set value for touch detection time is out of range, the macro ends.
Please check that the set value for touch detection time is within range.
15: Error in set value range of specified movement

If the set value for specified moving amount is out of range, the macro ends.
Please check that the set value for specified moving amount is within range.
A-62
16: Error in set value range of touch torque limit

If the set value for touch torque limit is out of range, the macro ends.
Please check that the set value for touch torque limit is within range.
17: Error for set value of touch torque ＜set value of touch torque limit
If the set value for touch torque limit is less than set value of touch torque, the macro ends.
When the set value for touch torque limit is less than set value of touch torque, the torque is limited
before reaching the set value for touch torque, hence it is impossible to detect the touch.
Please set the set value for touch torque limit to be bigger than set value of touch torque.
18: Error in set value range of setting time

If the set value for adjusting time is out of range, the macro ends.
Please check that the set value for adjusting time is within range.
19: Error in set value range of operation point no.

If the set value of operation point no. . is out of range, the macro ends.
Please check that the set value of operation point no. .is within range.
20: Error in set value range of operation speed no..

If the set value of operation speed no. . is out of range, the macro ends.
Please check that the set value of operation speed no. .is within range.
A
21: Error in set value range of moving speed for specified movement
APPENDICES
If the set value of moving speed for specified moving amount is out of range, the macro ends.
Please check that the set value of moving speed for specified moving amount is within range.
This error is detected after reading macro (before zero returning), and it has no influence on
■ Precautions when calling macro

• Please note the conflict in "Using unit device".
Please don't describe "Using unit device" in OUT command in ladder diagram.
When describing "Using unit device" in macro and module other than this macro, use SET/RESET
command, and use relay to interlock when executing this macro.
"Using unit device" ( page A-65)
A-63
• Before executing this macro, make operation enabled/servo ON for the corresponding MV-L40.
In this macro, before touch zero returning, check that "Servo Ready relay " is ON.
At calling up, when "Servo Ready relay " is OFF, it will wait until "Servo Ready relay " becomes ON.
(During the waiting state, the forced end is enabled.）
When "Servo Ready relay " becomes ON, it begins touch zero returning.
• When executing the macro, please don't turn OFF "Operation enable relay " and "Servo ON relay".
When executing the macro, if the "Operation enable relay" and "Servo ON relay " are OFF, the macro
processing will wait. In this case, the macro will not be ended forcedly, if the "Operation enable relay"and
"Servo ON relay "are ON, maybe it will have operation and unexpected operation in the macro processing.
When executing the macro, if you turn OFF "Operation enable relay " and "Servo ON relay ", please do end it
forcedly.
• When it stops in a forced way, please turn ON "Forced Stop relay ".
When the macro is ended forcedly, maybe the motor will continue to rotate.
In order to avoid this, when stopping the macro in a forced way, please turn ON "Forced Stop relay ".
• Please do check the error no. notification.

When it is ended by error no. 1-10, maybe the motor will continue to rotate.
In order to avoid this, when stopping the macro by error no. 1-10, please turn ON "Forced Stop relay".
• If any alarm occurs in executing the macro, please turn ON "Forced Stop relay ".
In order not to hinder the main alarm processing, no alarm relevant processing will be done in macro.
Therefore please end macro forcedly when any alarm gives off.
■ Overview of internal processing for macro

Carry out sequence processing inside macro.
The following are the processing sequence and items.
(1)Accepting forced end
(2)Confirming set value range of argument and parameter
(3) Copying to the local device of parameter
(4) Calculating unit device and axis device
(5) Changing over speed control mode
A (6) Confirming touch
(7)Changing position control mode
APPENDICES
(8)Saving point parameters

Reading and copying specified point parameters to local device
(9) Setting zero returning condition for point parameter
(10) Saving speed parameters
Reading and copying speed parameters to local device
(11) Setting zero returning condition for speed parameter
(12)Requesting to start moving specified amount
(13)Confirming that the moving of specified amount finishes
(14)Writing saved point parameters
(15)Writing saved speed parameters
(16)Judging the adjustment
(17)Writing 0 of current coordinate
A-64
■ Using unit device

Device no. in macro Unit device name
*@EM0:#1 Moving
*@EM0:#5 Positioning ends
*@EM0:#10 Accepting start request
*@EM0:#16 Writing point parameters ends
*@EM0:#18 Writing speed parameters ends
*@EM0:#19 Reading point parameters ends
*@EM0:#21 Reading speed parameters ends
*@EM0:#22 Changing current coordinate ends
*@EM0:#24 Servo ready (RDY)
*@EM0:#28 Changing control mode ends
*@EM0:#32 Error in writing point parameter
*@EM0:#34 Error in writing speed parameter
*@EM0:#35 Error in reading point parameter
*@EM0:#37 Error in reading speed parameter
*@EM0:#38 Error in changing current coordinate
*@EM0:#42 Error in starting
*@EM0:#44 Error in changing control mode
*@EM2:#3 Start operation request
*@EM2:#11 [+]Torque limit active
*@EM2:#12 [-] Torque limit active
*@EM2:#16 Writing point parameter request
*@EM2:#18 Writing speed parameter request
*@EM2:#19 Point parameter request
*@EM2:#21 Reading speed parameter request
*@EM2:#22 Changing current coordinate request
*@EM2:#44 Changing control mode request
*@EM4:#19 Return torque monitoring
*@EM6:#0 Point No. assignment
*@EM6:#2 Change current coordinate
*@EM6:#6 Control mode assignment
*@EM6:#7 Torque command/torque limit at speed control
*@EM6:#8 Speed limit at speed command/torque control
*@EM8:#0 Operation mode, etc.
*@EM8:#1 Next point no.
*@EM8:#2 M code no.
*@EM8:#3 Speed no.
*@EM8:#4 Target coordinate
*@EM8:#6 Cyclic relative movement
*@EM8:#8
*@EM8:#9
Cycle no.s
Pause time
A
*@EM8:#12 Moving amount after stop sensor inputs
APPENDICES
*@EM12:#0 Speed no. 1

*@EM12:#18 Speed no. 10
*@EM12:#20 Speed no. 11
*@EM12:#22 Speed no. 12
*@EM12:#24 Speed no. 13
*@EM12:#26 Speed no. 14
*@EM12:#28 Speed no. 15
*@EM12:#30 Speed no. 16
A-65
Name: Changing zero

ORG2-L40 returning direction
Form: self-hold type
This macro specifies the moving direction in axis connected to MV-L40 for zero returning.
■ Description about command

(1) Start zero returning toward specified direction.
motor
A
APPENDICES
A-66
5th Argument Origin Return direction Value/device #0 to #65535/unsigned 16 bit
● 1st Argument: unit selection

Note

Specified range: #0-#3 or DM saving value
X1 axis: #0
Y1 axis: #1
X2 axis: #2
Y2 axis: #3

Description: to specify the axis for zero returning.
Note
When it is necessary to do forced stop, please turn ON "Forced Stop relayî.
forced end.
A
APPENDICES
A-67

Error
Name Remarks
No.
00 Normal end
01 Forced end
02 Error in saving and reading system parameter
03 Error in writing system parameter condition
04 Error in saving and writing system parameter
05 Error in zero returning
● 5th argument: Origin Return direction

Description: to specify the direction for zero returning.
Specified range : saving #0-#65535 or DM of value
Coordinate increasing direction:
Coordinate decreasing direction: other than #0

When the zero returning ends or when it has error in executing macro, the macro ends.
The condition for ending macro can be confirmed by value of error no. notification.

00: Normal end
zero returning ends normally.
01: Forced end

The unit device used in macro maintains the state under processing, first turns OFF then ON
A "Operation
APPENDICES
02 : Error in saving and reading system parameter

If the reading of system parameter for saving system parameter fails, the macro ends.
As for failing in reading system parameter, please refer to "Causes for Error Relay to be ON" (
page A-50).
03: Error in writing system parameter condition

If the writing of origin-returning condition for system parameter fails, the macro ends.
As for failing in writing system parameter, please refer to "Causes for Error Relay to be ON" ( page
A-50).
A-68
04: Error in saving and writing system parameter

If the writing of saved system parameter fails, the macro ends.
When this error occurs, the system parameters can't return to the parameter setting before
executing macro.
As for failing in writing system parameter, please refer to "Causes for Error Relay to be ON" ( page
A-50).
05: Error in zero returning action

If the zero returning fails, the macro ends.
The unit device used in macro maintains the process, first turns OFF then ON "Operation Enable
relayî of MV-L40, and resets as necessary.
As for the failing in zero returning, please refer to "Causes for Error Relay to be ON" ( page A-50).

Please check the set value for axis selection is within range.

"Using unit device" ( page A-70 )
In this macro, before processing the changeover direction for zero returning, check that "Servo
Ready relay" is ON.
At calling up, when "Servo Ready relay" is OFF, it will wait until "Servo Ready relay" becomes ON. A
(During the waiting state, the forced end is enabled.
APPENDICES
When "Servo Ready relay " becomes ON, it begins the changing of direction for zero returning.
• When executing the macro, please don't turn OFF "Operation enable relay " and "Servo ON relay".
When executing the macro, if the "Operation enable relay " and "Servo ON relay " are OFF, the macro
processing will wait. In this case, the macro will not be ended forcedly, if the "Operation enable relay " and
"Servo ON relay" are ON, maybe it will have operation and unexpected operation in the macro
processing.
When executing the macro, if you turn OFF "Operation enable relay " and "Servo ON relay", please
do end it forcedly.
In order to avoid this, when stopping the macro in a forced way, please turn ON "Forced Stop relay".
A-69

In order to avoid this, when ending the macro by error no. 1-4, please turn ON "Forced Stop relay".
• If any alarm occurs in executing the macro, please turn ON "Forced Stop relay ".

To carry out sequence processing inside macro.
(5)Saving system parameters
Reading and copying system parameters to local device
(6) Setting zero returning condition for system parameter
(7)Requesting for zero returning
(8)Confirming the end of zero returning
(9)Writing saved system parameters

*@EM0:#8 zero returning
*@EM0:#17 Writing system parameters ends
*@EM0:#20 Reading system parameters ends
*@EM0:#33 Error in writing system parameter
*@EM0:#36 Error in reading system parameter
*@EM0:#70 Error in zero returning
*@EM2:#8 Origin return request
*@EM2:#17 Writing system parameter request
A *@EM2:#20
*@EM10:#0
Reading system parameter request
System parameter list
APPENDICES
A-70
Name:Start operation
PLS-L40 Form: self-hold type
This macro starts operation of specified point in axis connected to MV-L40.

(1) Start the operation of the specified point.
motor
A
APPENDICES
A-71
5th Argument Start operation point No. Value/device unsigned 16 bit

Note

Description: to specify the axis for starting operation.
Specified range: #0-#3 or DM saving value
X1 axis: #0
Y1 axis: #1
X2 axis: #2
Y2 axis: #3

In order to avoid this, when ending the macro by error no. 1-4, please turn ON "Forced Stop relay".
Note
forced end.
A ● 4th argument: Error no. notification

APPENDICES

Error
Name Remarks
No.
00 Normal end
01 Forced end
02 Error in starting
12 Error in set value range of start operation point no.
A-72
● 5th argument: start operation point No.

Description: to specify the point no. for starting operation..
Set value range : saving #1-#100 or DM of value

When the operation ends or when it has error in executing macro, the macro ends.
No positioning end is confirmed in this macro.

00: Normal end
Operation ends normally.
01: Forced end

02 ：Error in starting operation

If the starting of operation fails, the macro ends.
As for the failing in starting operation, please refer to "Causes for Error Relay to be ON" (
page A-50).

This error is detected after calling up macro (before starting operation), and it has no influence on
12: Error in set value range of start operation point no.. A

If the set value of operation start point no. . is out of range, the macro ends.
APPENDICES
Please check that the set value of operation start point no. .is within range.

A-73
In this macro, before processing the starting of operation, check that "Servo Ready relayî is ON.
At calling up, when "Servo Ready relay" is OFF, it will wait until "Servo Ready relayî becomes ON.
When "Servo Ready relayî becomes ON, it begins processing the starting of operation.
• When executing the macro, please don't turn OFF "Operation enable relay" and "Servo ON relay ".
When executing the macro, if the "Operation enable relay" and "Servo ON relay" are OFF, the macro
processing will wait. In this case, the macro will not be ended forcedly, if the "Operation enable relay"
and "Servo ON relay" are ON, maybe it will have operation and unexpected operation in the macro
processing.
When executing the macro, if you turn OFF "Operation enable relay" and "Servo ON relay", please
do end it forcedly.
In order to avoid this, when stopping the macro in a forced way, please turn ON "Forced Stop relay ".

In order to avoid this, when ending the macro by error no. 1 to 4, please turn ON "Forced Stop relay".
• If any alarm occurs in executing the macro, please turn ON "Forced Stop relayî.

A (4) Calculating unit device and axis device

(5)Requesting to start operation
APPENDICES
(6)Accepting start operation request

*@EM0:#10 Accepting start request
*@EM0:#42 Error in starting
*@EM2:#3 Start operation request
*@EM6:#0 Point No. assignment
A-74
Name: Changing speed

VADJ-L40 Form: self-hold type
This macro starts speed change for position control operation in axis connected to MV-L40.

(1) To carry out speed changing in position control operation.
motor
speed
Changing speed time
A
APPENDICES
A-75
5th Argument Changing speed Value/device unsigned 32 bit

A Note
APPENDICES

Description: to specify the axis for speed changing.
X1 axis: #0
Y1 axis: #1
X2 axis: #2
Y2 axis: #3

Description: to specify the relay for ending in a forced way the macro for changing speed.
A-76
Note
forced end.

Error
Name Remarks
No.
00 Normal end
01 Forced end
02 Error in changing speed
12 Error in set value range for speed changing
● 5th Argument: changing speed

Description: to specify the speed after changing.
Set value range : saving #1-#99999999 or DM of value

When the speed changing ends or when it has error in executing macro, the macro ends.
A
APPENDICES
A-77

00: Normal end
Changing speed ends normally.
01: Forced end

02 : Error in changing speed

If the speed changing fails, the macro ends.
"Operation Enable relay" of MV-L40, and resets as necessary.
As for the failing in changing speed, please refer to "Causes for Error Relay to be ON" ( page
A-50).

12: Error in set value range for speed changing

If the set value for changing speed is out of range, the macro ends.
Please check that the set value for changing speed is within range.
This error is detected after calling up macro (before changing speed), and it has no influence on

A When describing "Using unit device" in macro and module other than this macro, use SET/RESET
APPENDICES
In this macro, before processing the speed changing, check that "Servo Ready relay" is ON.
At calling up, when "Servo Ready relay"is OFF, it will wait until "Servo Ready relay" becomes ON.
When "Servo Ready relay" becomes ON, it begins processing the speed changing.
A-78
• When executing the macro, please don't turn OFF "Operation enable relay" and " Servo ON relay ".
When executing the macro, if the "Operation enable relayî and "Servo ON relay" are OFF, the macro
processing will wait. In this case, the macro will not be ended forcedly, if the "Operation enable relay"
and "Servo ON relay" are ON, maybe it will have operation and unexpected operation in the macro
processing.
When executing the macro, if you turn OFF "Operation enable relay" and "Servo ON relay", please
do end it forcedly.
• When it stops in a forced way, please turn ON "Forced Stop relay".


When it is ended by error no. 1to2, maybe the motor will continue to rotate.
In order to avoid this, when ending the macro by error no. 1to2, please turn ON "Forced Stop relay".
• If any alarm occurs in executing the macro, please turn ON "Forced Stop relay".

(5)Request to change speed
(6)Confirming that changing speed ends

Device no. in macro
*@EM0:#23 Changing speed ends
Unit device name
A
APPENDICES
*@EM0:#39 Error in changing speed

*@EM2:#23 Changing speed request
*@EM6:#4 Changing speed
A-79
Name: Changing coordinate

PADJ-L40 Form: self-hold type
By this macro it is possible to change coordinate of axis connected to MV-L40 at standstill.

(1) TO change coordinate at standstill.
motor
coordinates
time
A
APPENDICES
A-80
5th Argument Change coordinate Value/device Signed 32 bit

Note
When the unit no. is wrong, it may result in unexpected operation. A
APPENDICES

Description: to specify the axis for coordinate changing.
X1 axis: #0
Y1 axis: #1
X2 axis: #2
Y2 axis: #3

Description: to specify the relay for ending in a forced way the macro for changing coordinate.
Note
A-81

forced end.

Error
Name Remarks
No.
00 Normal end
01 Forced end
02 Error in changing speed
12 Error in set value range for speed changing
● 5th Argument: changing speed

Description: to specify the coordinate after changing.
Set value range: saving #-999999999 to #99999999 or DM of value

When the coordinate changing ends or when it has error in executing macro, the macro ends.
A
APPENDICES
A-82

00: Normal end
Operation ends normally.
01: Forced end

"Operation Enable relayî of MV-L40, and resets as necessary.
02: Changing coordinate has error

If the coordinate changing fails, the macro ends.
"Operation Enable relay" of MV-L40, and resets as necessary.
As for the failing in changing speed, please refer to "Causes for Error Relay to be ON" ( page
A-50).

12: Error in set value range for changing coordinate

If the set value for changing coordinate is out of range, the macro ends.
Please check that the set value for changing coordinate is within range.
This error is detected after calling up macro (before changing coordinate), and it has no influence
on operation of MV-L40.

When describing "Using unit device" in macro and module other than this macro, use SET/RESET A
APPENDICES
• Before executing this macro, make operation enabled for the corresponding MV-L40.
A-83
• When executing the macro, please don't turn OFF "Operation enable relay".
When executing the macro, if the "Operation enable relay" is OFF, the macro processing sometimes
will wait. In this case, the macro will not be ended forcedly, if the "Operation enable relay" is ON,
maybe it will have operation in the macro processing and unexpected operation.
When executing the macro, if you turn OFF "Operation enable relay", please do end macro forcedly.
• When it stops in a forced way, please turn ON "Forced Stop relay".


When it is ended by error no. 1to2, maybe the motor will continue to rotate.
In order to avoid this, when ending the macro by error no. 1 to 2, please turn ON "Forced Stop relay".
• If any alarm occurs in executing the macro, please turn ON "Forced Stop relay".

(5)Requesting to change current coordinate
(6)Confirming that the changing of current coordinate ends

*@EM0:#22 Changing current coordinate ends
A *@EM0:#24
*@EM0:#38
Servo ready (RDY)
Changing current coordinate has error
*@EM2:#22 Changing current coordinate request
APPENDICES
*@EM6:#2 Change current coordinate
A-84
8 Index
This index of terms used in this Manual is assigned by alphabet.
Alarm (Pin No. 24)••••••••••••••••••••••••••••••••••• 6-3
Alarm••••••••••••••••••••••••••••••••••••••••••••••••••• 9-118
English number
Alarm/alarm reset•••••••••••••••••••••••••••••••••••• 9-105
Allowable load of the servo motor axis ••••••••••••3-10
* Alarm stop axis select •••••••••••••••••••••••••••• 10-98
Antiresonance frequency •••••••••••••••••••••••••• 10-37
* Alarm stop mode •••••••••••••••••••••••••••••••••• 10-98
Antivibration control and instruction
*Absolute position detection system••••••••••••• 10-94
tracking control ••••••••••••••••••••••••••••••••• 10-104
*Bias clear when servo OFF •••••••••••••••••••••• 10-51
At electromagnetic brake
*Brake resistor selection ••••••••••••••••••••••••••• 10-46
(BRAKE) (pin No.33)•••••••••••••••••••••••••••••••6-14
*Control mode alarm•••••••••••••••••••••••••••••••• 10-95
AT parameter reflection•••••••••••••••••••••••••••••••9-99
*Electronic gear (numerator)/*electronic gear
Auto home position movement ••••••••••••••••••• 10-86
(denominator) ••••••••••••••••••••••••••••••••••••• 10-27
Auto tuning response characteristic ••••••••••••• 10-31
*Input filter (other than origin/stop sensor) ••••• 10-94
Auto zero return•••••••••••••••••••••••••••••••••••••• 10-86
*Origin/stop sensor input filter •••••••••••••••••••• 10-94
*Overload alarm ••••••••••••••••••••••••••••••••••••• 10-50
*Position operation mode•••••••••••••••••••••••••• 10-94 B
*Pulse train input format ••••••••••••••••••••••••••• 10-39
*Pulse train input logic•••••••••••••••••••••••••••••• 10-40 Backlash compensation •••••••••••••••••••••••••••• 10-88
*Pulse train input time constant •••••••••••••••••• 10-39 Bias too large warning •••••••••••••••••••••••••••••• 10-50
*Pulse train rotating direction ••••••••••••••••••••• 10-40 Brake/stop••••••••••••••••••••••••••••••••••••••••••••• 10-45
*Servo ON mode •••••••••••••••••••••••••••••••••••• 10-93 Buzzer ••••••••••••••••••••••••••••••••••••••••••••••••• 10-97
*Speed 0 when servo ON•••••••••••••••••••••••••• 10-51
[+] side torque limit/[-] side torque limit•••••••••• 10-44
C
A Cabling of the teaching unit••••••••••• 12-2, 4-37, 12-2

Calculating capacity of expanded unit•••••••••••••1-14
Abbreviation and name of Causes for Error relay to be ON ••••••••••••••••••• A-50
I/O connector terminal••••••••••••••••••••••••••••• 4-31 CCW limit switch (CCW-LS) (pin no. 2)
About teaching••••••••••••••••••••••••••••••••••••••••• 12-3 CW limit switch (CCW-LS) (pin no. 3) ••••••••••• 6-3
About the counter measures for Change control mode
suppressing high-order harmonics ••••••••••••• 2-32 (position control →speed control) ••••••••••••• 15-23
About the menu•••••••••••••••••••••••••••••••••••••••• 12-3 Change control mode
APPENDICES
About the Unit Monitor ••••••••••••••••••••••••••••••• 13-2 (position control to manual pulse) ••••••••••••• 15-31
About Zero Return Path •••••••••••••••••••••••••••••• A-4 Change control mode
Absolute position detection system•••••••••••••••• 14-2 (position control to manual pulse) ••••••••••••• 15-35
AC servo concept •••••••••••••••••••••••••••••••••••••••17 Change control mode
Access window (CPU unit) •••••••••••••••••••••••••• 11-2 (position control to torque control)•••••••••••• 15-39
Access window (servo amplifier)••••••••••••••••••• 11-7 Change control mode
Access window contrast ••••••••••••••••••••••••••• 10-95 (speed control to position control) ••••••••••••• 15-27
Access window language•••••••••••••••••••••••••• 10-95 Change control mode
Added function•••••••••••••••••••••••••••••••••••••••••A-54 (torque control to position control)•••••••••••• 15-43
Alarm and Remedy •••••••••••••••••••••••••••••••••••A-33 Change control mode•••••••••••••••••••••••••• 7-2,9-101
Alarm display••••••••••••••••••••••••••••••••••••••••• 12-17 Change current coordinate ••••••••••••••••••••••••••9-85
Alarm List •••••••••••••••••••••••••••••••••••••••••••••••A-33 Change speed••••••••••••••••••••••••••••••••••••••••••9-87
Alarm reset (RESET) (Pin No.4)/ Changing speed in position type
A-85
8 Index
speed-control process••••••••••••••••••••••••••••• 15-8 DM List•••••••••••••••••••••••••••••••••••••••••••••••••••9-25

Changing speed in Dwell Time •••••••••••••••••••••••••••••••••••••••••••• 10-60
positioning-control process••••••••••••••••••••••• 15-6
Checking the Content of the Package ••••••••••••••1-2
E
Combination of Servo
Amplifier and Servo Motor••••••••••••••••••••••••••1-6
Electromagnetic brake hold wait time ••••••••••• 10-45
Common parameter area•••••••••••••••••••••••••••• 9-57
Electromagnetic brake operation start time •••• 10-46
Common set parameter•••••••••••••••••••••••••••• 10-97
Electromagnetic brake release wait time ••••••• 10-45
Common Set Parameters list ••••••••••••••••••••• 10-24
Electromagnetic brake wait torque limit ••••••••• 10-45
Common setup parameter area •••••••••••••••••••• 9-57
Electronic Gear •••••••••••••••••••••••••••••••••••••• 10-27
Configuration with peripheral ••••••••••••••••••••••• 1-13
Emergency stop (EMG) (pin No.1)•••••••••••••••••• 6-2
Connecting external device (master axis unit) ••••4-9
Emergency stop polarity ••••••••••••••••••••••••••• 10-88
Connecting external unit (expansion unit)•••••••• 4-17
Emergency stop •••••••••••••••••••••••••••••••••••••••9-66
Contents of Package of Servo
Encoder/monitor power connector kit •••••••••••••4-33
Amplifier Expansion Unit••••••••••••••••••••••••••••1-2
EXAMPLES OF BASIC OPERATION•••••••••••••15-1
Contents of Package of Servo
External brake resistance over hot
Amplifier Master Axis Unit ••••••••••••••••••••••••••1-2
(BOH) (Pin no.20) ••••••••••••••••••••••••••••••••••6-12
Contents of Package of Servo Motor••••••••••••••••1-4
External dimensions ••••••••••••••••••••••••••••••••••2-18
Continuous movement mode ••••••••••••••••••••• 10-62
Control Block Diagram •••••••••••••••••••••••••••••••• A-2
Control Mode•••••••••••••••••••••••••••••••••••••••••••••7-2 F
Converter capacity of master unit•••••••••••••••••• 1-14
Coordinate increasing direction •••••••••••••••••• 10-89 Feature of AC Servo Motor •••••••••••••••••••••••••••• 17
Coordinate unit •••••••••••••••••••••••••••••••••••••• 10-73 Features of MV High-speed Link System•••••••••• 1-7
Cycle interruption•••••••••••••••••••••••••••••••••••••• 9-73 Feedforward gain •••••••••••••••••••••••••••••••••••• 10-33
Cyclic Incremental Movement •••••••••••••••••••• 10-66 Feedforward LPF •••••••••••••••••••••••••••••••••••• 10-35
repeat counts••••••••••••••••••••••••••••••••••••••••• 10-66

G
D
Gain auto switch ••••••••••••••••••••••••••••••••••••• 10-52
Data flow between MV-L40 and CPU ••••••••••••• 1-11 Gain switching (GAIN) (Pin No.10)•••••••••••••••••• 6-7
Data memory assignment overview •••••••••••••••••9-3

Data transfer to CPU •••••••••••••••••••••••••••••••••••8-4 H
APPENDICES
Deceleration stop/Restart Operation •••••••••••••• 9-68

Demonstration operation •••••••••••••••••••••••••• 12-15 Home coordinate •••••••••••••••••••••••••••••••••••• 10-86
Demonstration operation/JOG disable•••••••••• 10-97 How This Manual Is Organized •••••••••••••••••••••••••7
Designation of axis••••••••••••••••••••••••••••••••••••••4-4 How to connect unit with PLC•••••••••••••••••••••••• 3-3
Detailed I/O functions ••••••••••••••••••••••••••••••••••6-2 How to set up using Unit Editor•••••••••••••••••••••• 8-2
Deviation larger than setting •••••••••••••••••••••• 10-50 How to Use the Manual •••••••••••••••••••••••••••••••• 16
Device assignment overview •••••••••••••••••••••••••9-2
Difference for using MV series and MV-L40 •••••A-52
I
Difference •••••••••••••••••••••••••••••••••••••••••••••••A-52
Inching feed of position control type••••••••••••• 15-14
I/O connector terminal block (OP-51417) ••••••••4-27
Inching feed of position type
I/O connector's pin arrangement •••••••••••••••••••4-30
speed control ••••••••••••••••••••••••••••••••••••• 15-15
Indirect parameter area ••••••••••••••••••••••••••••••9-32
A-86
8 Index
Indirect parameter specification list••••••••••••• 10-101 Load inertia torque ratio •••••••••••••••••••••••••••• 10-36
Indirect parameter specification ••••••••••••••••• 10-100
Indirect parameter specification •••••••• 10-100, 15-10
M
INPOS detection time •••••••••••••••••••••••••••••• 10-90
Input relay (MV-L40→PLC) list •••••••••••••••••••••••9-4
M Code Mode •••••••••••••••••••••••••••••••••••••••• 10-67
Input signal ••••••••••••••••••••••••••••••••••••••••••• 10-87
M Code No. ••••••••••••••••••••••••••••••••••••••••••• 10-71
Inspecting MV-L40 ••••••••••••••••••••••••••••••••••••••5-2
M code ON (MOFF) (Pin No.16)
Inspecting servo amplifier and servomotor•••••••••5-3
M code 0 to 4 (M0 to M4) (pin No. 28 to 32) ••6-10
Installation precautions for MV-L40••••••••••••••••••3-2
M Code outputting/Torque Limiting
Installing environment of MV-L40 ••••••••••••••••••••3-2
(MCODE/TLM) (pin No.27) •••••••••••••••••••••••6-14
Installing method of the lithium battery
Macro List •••••••••••••••••••••••••••••••••••••••••••••• A-55
used for the position detection system••••••••• 14-3
Maintenance, service and inspection••••••••••••••• 5-2
Installing MV-L40 ••••••••••••••••••••••••••••••••••••••••3-2
Making connection cable•••••••••••••••••••••••••••••4-33
Instruction tracking control ••••••••••••••••••••••• 10-105
Making electromagnetic brake cable ••••••••••••••4-36
Integral Time Constant 2••••••••••••••••••••••••••• 10-38
Making encoder cable ••••••••••••••••••••••••••••••••4-34
Integral time constant •••••••••••••••••••••••••••••• 10-33
Making motor power cable•••••••••••••••••••••••••••4-35
Manual pulse input %••••••••••••••••••••••••••••••• 10-41
J Manual pulse mode •••••••••••••••••••••••••••••••••••• 7-7
Manual pulse to position control switch ••••••••• 15-35
JOG acceleration curve/deceleration curve•••• 10-81 Manual Pulse ••••••••••••••••••••••••••••••••••••••••• 10-39
JOG acceleration/deceleration •••••••••••••••••• 10-80 Master axis/expansion unit ••••••••••••••••••••••••••1-14
JOG high speed ••••••••••••••••••••••••••••••••••••• 10-80 M-code•••••••••••••••••••••••••••••••••••••••••••••••••••9-72
JOG running command (JOG) (Pin No.8)••••••••••6-6 Menu Configuration ••••••••••••••••••••••••••• 11-3,11-10
JOG running•••••••••••••••••••••••••••••••••••••••••••• 9-76 menu ••••••••••••••••••••••••••••••••••••••••••••••••••••• 11-3
JOG S-shape acceleration Other control after operation
slope/JOG S-shape deceleration slope•••••• 10-81 (M code) •••••••••••••••••••••••••••••••••••••••••••• 15-16
JOG speed ••••••••••••••••••••••••••••••••••••••••••• 10-80 Modes of the access window
JOG startup speed ••••••••••••••••••••••••••••••••• 10-80 (servo amplifier)••••••••••••••••••••••••••••••••••••• 11-8
Single Point Operation ••••••••••••••••••••••••••••••• 15-2 Monitoring ••••••••••••••••••••••••••••••••••••••••••••• 12-12
Motor rotation direction and
coordinate setting•••••••••••••••••••••••••••••••••••1-10
K
Mounting direction and spacing of the
servo amplifier•••••••••••••••••••••••••••••••••••••••• 3-5
KV-HPD1 menu description••••••••••••••••••••••• 12-12
APPENDICES
Mounting to panel surface of KV-HPD1

KV-HPD1 overview ••••••••••••••••••••••••••••••••••• 12-2
teaching unit ••••••••••••••••••••••••••••••••••••••••• 3-11
KV-HPD1•••••••••••••••••••••••••••••••••••••••••••••• 10-97
Move to home position •••••••••••••••••••••••••••••••9-83
Movement after Stop Sensor Input••••••••••••••• 10-60
L Movement mode••••••••••••••••••••••••••••••••••••• 10-53
Moving (MOVE) (Pin No.26) ••••••••••••••••••••••••6-13
Label No.•••••••••••••••••••••••••••••••••••••••••••••• 10-98 MV high-speed link Unit Monitor••••••••••••••••••••13-3
Language ••••••••••••••••••••••••••••••••••••••••••••• 10-97 MV high-speed link unit MV-L40••••••••••••••••••••• 1-2
Limit switch polarity ••••••••••••••••••••••••••••••••• 10-87
Limit switch switch •••••••••••••••••••••••••••••••••• 10-87
List of input relays•••••••••••••••••••••••••••••••••••••••9-4
N
Load inertia torque ratio 2 ••••••••••••••••••••••••• 10-38
Name and function of each part of the
A-87
8 Index
access window•••••••••••••••••••••••••••••••••••••• 11-7 Operation method ••••••••••••••••••••••••••••• 11-2,11-15

Name and function of each part of the Operation S-shape acceleration slope/operation S-
MV-B1 ••••••••••••••••••••••••••••••••••••••••••••••••••2-3 shape deceleration slope ••••••••••••••••••••••• 10-79
Name and function of each part of the Operation Sequence at Power ON•••••••••••••••• A-24
MV-L40 •••••••••••••••••••••••••••••••••••••••••••••••••2-2 Operation start •••••••••••••••••••••••••••••••••••••••••9-64
Name and function of each part of the Operation startup speed ••••••••••••••••••••••••••• 10-76
servo amplifier ••••••••••••••••••••••••••••••••••••••••2-4 Option••••••••••••••••••••••••••••••••••••••••••• 1-18,12-16
Name and function of each part of the ORG1-L40 ••••••••••••••••••••••••••••••••••••••••••••• A-56
servo motor••••••••••••••••••••••••••••••••••••••••••••2-6 ORG2-L40 ••••••••••••••••••••••••••••••••••••••••••••• A-66
Names and Functions of Parts ••••••••••••••• 2-2, 12-2 Origin coordinates ••••••••••••••••••••••••••••••••••• 10-86
Nearest Rotary Angle control ••••••••••••••••••••• 15-21 Origin sensor (ORGS) (pin No. 17) •••••••••••••••• 6-11
Nearest rotation angle•••••••••••••••••••••••••••••• 10-89 Origin sensor polarity ••••••••••••••••••••••••••••••• 10-87
No. of next point ••••••••••••••••••••••••••••••••••••• 10-65 Other (Alarm log/Operation point log etc.)••••••••9-57
Normal communication area •••••••••••••••••••••••• 9-30 Others••••••••••••••••••••••••••••••••••10-47,10-88,10-98
Normal reading area•••••••••••••••••••••••••••••••••• 9-25 Output relay (PLC→MV-L40) list •••••••••••••••••••9-15
Notch filter 1/Notch filter 2 ••••••••••••••••••••••••• 10-36 Output relay list ••••••••••••••••••••••••••••••••••••••••9-15
Notes on Parameter Settings •••••••••••••••••••••••••1-8 Overview and Notes on MV High-speed
Notes on Power Supply••••••••••••••••••••••••••••••••1-8 Link System••••••••••••••••••••••••••••••••••••••••••• 1-7
Notes on Servo Amplifier ••••••••••••••••••••••••••••••1-8 Overview of the absolute position
Notes on Using MV High-speed detection system••••••••••••••••••••••••••••••••••••14-2
Link System •••••••••••••••••••••••••••••••••••••••••••1-8
Notices of the absolute position
P
detection system ••••••••••••••••••••••••••••••••••• 14-4
Notices related to CE mark (MV series servo
PADJ-L40 •••••••••••••••••••••••••••••••••••••••••••••• A-80
amplifier/servo motor) ••••••••••••••••••••••••••••• 2-24
Page Configuration and signs••••••••••••••••••••••••• 16
Notices related to CE mark (MV-L40, MV-B1)••• 2-23
Palletization••••••••••••••••••••••••••••••••••••••••••• 15-13
Notices related to EMC directive (89/336/EEC)•••• 2-
Panel mounting of the
23,2-24
teaching unit •••••••••••••••••••••••••• 12-2, 3-11, 12-2
Notices related to low voltage directive
Parameter list ••••••••••••••••••••••••••••••••••••••••••10-4
(73/23/EEC) •••••••••••••••••••••••••••••••••••••••• 2-27
Parameter Setup Method ••••••••••••••••••••••••••••10-3
Notices related to UL certification
Parameter type•••••••••••••••••••••••••••••••••••••••••10-2
(MV series servo amplifier/servo motor) •••••• 2-29
Parameter••••••••••••••••••••••••••••••••••••••••••••• 12-13
Notices related to UL certification
APPENDICES
Path gain •••••••••••••••••••••••••••••••••••••••••••••• 10-37

(MV-L40, MV-B1) •••••••••••••••••••••••••••••••••• 2-28
Pitch feeding•••••••••••••••••••••••••••••••••••••••••• 15-12
Number 0 to 4 (DT0 to 4) (pin No.11 to 15) ••••••••6-8
PLS-L40 •••••••••••••••••••••••••••••••••••••••••••••••• A-71
Point Parameter List •••••••••••••••••••••••••••••••• 10-14
O Point parameter area) ••••••••••••••••••••••••••••••••9-33
Point parameter •••••••••••••••••••••••••••••••••••••• 10-53
Operating speed••••••••••••••••••••••••••••••••••••• 10-76 Position control mode•••••••••••••••••••••••••••••••••• 7-4
Operation acceleration curve/operation Position control to manual pulse switch••••••••• 15-31
deceleration curve ••••••••••••••••••••••••••••••• 10-78 Position control to speed control switch••••••••• 15-23
Operation acceleration, operation Position control to torque control switch •••••••• 15-39
deceleration ••••••••••••••••••••••••••••••••••••••• 10-77 Position gain •••••••••••••••••••••••••••••••••••••••••• 10-32
Operation enable/Servo ON •••••••••••••••••••••••• 9-63 Position instruction LPF •••••••••••••••••••••••••••• 10-34
Operation max. speed•••••••••••••••••••••••••••••• 10-76 Position of decimal point ••••••••••••••••••••••••••• 10-73
A-88
8 Index
Positioning completion range ••••••••••••••••••••• 10-47 Servo parameter list ••••••••••••••••••••••••••••••••••10-4

Positioning finishes/ends (FIN/INPOS) Servo parameter ••••••••••••••••••••••••••••••••••••• 10-26
(pin No.25)••••••••••••••••••••••••••••••••••••••••••• 6-13 Set gain•••••••••••••••••••••••••••••••••••••••••••••••• 10-37
Power Sequence at ON/OFF •••••••••••••••••••••••A-24 Setting of amplifier No. switch ••••••••••••••••••••••• 4-4
Precautions at manual pulse mode••••••••••••••••••7-7 Setting of terminator and setting of
Precautions at position control mode •••••••••••••••7-4 amplifier No. switch ••••••••••••••••••••••••••••••••• 4-4
Precautions at speed control mode •••••••••••••••••7-5 Setting of terminator ••••••••••••••••••••••••••••••••••• 4-4
Precautions at torque control mode •••••••••••••••••7-6 Setting up Using Unit Editor •••••••••••••••••••••••••• 8-2
Precautions on installation of servo amplifier••••••3-4 Setup Flow ••••••••••••••••••••••••••••••••••••••••••••••1-21
Precautions on installation of servo motor •••••••••3-7 Soft limit [+] side coordinate/soft limit [-] side
Precautions related with control mode change••••7-2 coordinate ••••••••••••••••••••••••••••••••••••••••• 10-93
Proportion control shifting (PCN) (pin No.11)••••••6-9 Specification of the absolute position
Proportional control auto switching •••••••••••••• 10-51 detection system••••••••••••••••••••••••••••••••••••14-3
Pulse input (CW+/CW-/CCW+/CCW-) Specification of the KV-HPD1
(pin No.37 to 40)•••••••••••••••••••••••••••••••••••• 6-15 teaching unit •••••••••••••••••••••••••••••••••• 2-18,12-2
Specification of the MV-B1•••••••••••••••••••••••••••• 2-9
Specification of the MV-L40 •••••••••••••••••••••••••• 2-7
R
Specification of the servo amplifier•••••••••••••••••2-10
Specification of the servo motor ••••••••••••••••••••2-16
Read operating point log••••••••••••••••••••••••••••9-110
Specifications•••••••••••••••••••••••••••••••••••••••••••• 2-7
Read/clear alarm log ••••••••••••••••••••••••••••••• 9-107
Speed control acceleration/deceleration time•• 10-43
Read/Write parameters (change parameters)••• 9-91
Speed control acceleration/deceleration •••••••• 10-43
Relationship between direction of rotation of
Speed control mode•••••••••••••••••••••••••••••••••••• 7-4
motor and coordinate system••••••••••••••••••••••1-9
Speed control to position control switch••••••••• 15-27
Relay assignment overview •••••••••••••••••••••••••••9-2
Speed Control •••••••••••••••••••••••••••••••••••••••• 10-41
Relay/DM Function Table•••••••••••••••••••••••••••• 9-62
Speed gain 2 ••••••••••••••••••••••••••••••••••••••••• 10-38
Relay/DM Function ••••••••••••••••••••••••••••••••••• 9-62
Speed gain •••••••••••••••••••••••••••••••••••••••••••• 10-32
Remarks •••••••••••••••••••••••••••••••••••••••••••••• 10-71
Speed instruction acceleration/de
Restart Servo Amplifier •••••••••••••••••••••••••••• 9-103
celeration unit•••••••••••••••••••••••••••••••••••••• 10-43
Run Start command/deviation clearing
Speed instruction LPF •••••••••••••••••••••••••••••• 10-34
(START/CLR) (pin No. 6) •••••••••••••••••••••••••••6-5
Speed instruction match range ••••••••••••••••••• 10-42
Speed instruction unit••••••••••••••••••••••••••••••• 10-43
S Speed No.••••••••••••••••••••••••••••••••••••••••••••• 10-59
APPENDICES
Speed parameter area••••••••••••••••••••••••••••••••9-47

Servo amplifier ••••••••••••••••••••••••••••••••••• 1-2,2-29 Speed parameter list ••••••••••••••••••••••••••••••• 10-24
Servo Amplifier Installation environment •••••••••••3-4 Speed Parameter •••••••••••••••••••••••••••••••••••• 10-96
Servo Amplifier Installation ••••••••••••••••••••••••••••3-4 Speed reach setting ••••••••••••••••••••••••••••••••• 10-42
Servo motor installation environment •••••••••••••••3-7 Speed •••••••••••••••••••••••••••••••••••••••••••••••••• 10-41
Servo motor installation method••••••••••••••••••••••3-7 SRAM Backup Alarm ••••••••••••••••••••••••••••••• 10-99
Servo motor installation ••••••••••••••••••••••••••••••••3-7 Standard wiring diagram (expansion unit) ••••••••4-18
Servo motor •••••••••••••••••••••••••••••••••••••• 1-4, 2-31 Standard wiring diagram (master axis unit) ••••••4-10
Servo ON (SVON) (Pin No.5)/READY Standby Release command (RESUM)
(RDY) (Pin No.34)••••••••••••••••••••••••••••••••••••6-4 (Pin No. 19) •••••••••••••••••••••••••••••••••••••••••6-12
Servo parameter area •••••••••••••••••••••••••••••••• 9-50 Standby release••••••••••••••••••••••••••••••••••••••••9-71
Servo parameter configuration ••••••••••••••••••• 10-26 Starting steps of the absolute position
A-89
8 Index
detection system ••••••••••••••••••••••••••••••••••• 14-4 Unit ••••••••••••••••••••••••••••••••••••••••••••••••••••• 10-73

Starting steps••••••••••••••••••••••••••••••••••••••••••• 1-21 Use correctly••••••••••••••••••••••••••••••••••••••••••••••••3
State after Stop •••••••••••••••••••••••••••••••••••••• 10-47
Stop sensor (STOP) (pin No. 18) •••••••••••••••••• 6-11
V
Stop sensor polarity••••••••••••••••••••••••••••••••• 10-88
Stop Sensor Set ••••••••••••••••••••••••••••••••••••• 10-59
VADJ-L40 •••••••••••••••••••••••••••••••••••••••••••••• A-75
Stop Way•••••••••••••••••••••••••••••••••••••••••••••• 10-46
Verify completion of point operation ••••••••••••• 9-114
System Configuration •••••••••••••••••••••••••••••••• 1-13
Verify control mode•••••••••••••••••••••••••••••••••• 9-117
System macro list for MV-L40 ••••••••••••••••••••••A-55
Verify current speed••••••••••••••••••••••••••••••••• 9-115
System parameter area•••••••••••••••••••••••••••••• 9-41
Verify cycle operation times ••••••••••••••••••••••• 9-113
System parameter configuration ••••••••••••••••• 10-72
Verify I/O••••••••••••••••••••••••••••••••••••••••••••••• 9-116
System parameter list ••••••••••••••••••••••••••••• 10-16
Verify in process of operation ••••••••••••••••••••• 9-112
System parameter •••••••••••••••••••••••••••••••••• 10-72
Verify point No. in process of operation ••••••••• 9-114
Verify point No. in process of operation ••••••••• 9-114
T Verify set time of location •••••••••••••••••••••••••• 9-118
Verify the state of teaching unit (KV-HPD1) •••• 9-117
Target coordinates •••••••••••••••••••••••••••••••••• 10-58 Verify whether in progress of dwell••••••••••••••• 9-113
TEACH command (pin No.9) •••••••••••••••••••••••••6-7 Verify whether in return to operation••••••••••••• 9-112
Teaching •••••••••••••••••••••••••••••••••••••••••••••••• 9-79
Teaching/HP-JOG••••••••••••••••••••••••••••••••••• 12-14
W
Terminology •••••••••••••••••••••••••••••••••••••••••••••••16
To run by linear interpolation •••••••••••••••••••••• 15-19 When judged to be in error ••••••••••••••••••••••••• A-47
Torque control mode••••••••••••••••••••••••••••••••••••7-5 When running several points continuously •••••••15-4
Torque control to position control switch•••••••• 15-43 Wire size to be used ••••••••••••••••••••••••••••••••••• 4-5
Torque Instruction Acceleration Time/Torque Wiring between MV-L40 and servo amplifier•••••• 4-6
Instruction Deceleration Time•••••••••••••••••• 10-44 Wiring between servo amplifier and servomotor 4-24
Torque instruction LPF ••••••••••••••••••••••••••••• 10-35 Wiring between servo amplifiers••••••••••••••••••••4-22
Torque instruction LPF ••••••••••••••••••••••••••••• 10-38 Wiring brake resistor ••••••••••••••••••••••••••••••••••4-15
Torque ••••••••••••••••••••••••••••••••••••••••••••••••• 10-44 Wiring built-in brake resistor•••••••••••••••••••••••••4-15
Troubleshooting •••••••••••••••••••••••••••••••••••••••A-47 Wiring bus connection cable ••••••••••••••••••••••••4-23
Tuning 2••••••••••••••••••••••••••••••••••••••••••••••• 10-38 Wiring CPU-CPU unit•••••••••••••••••••••••••••••••••4-38
Tuning mode ••••••••••••••••••••••••••••••••••••••••• 10-30 Wiring diagram and setting of servo amplifier •••• 4-3
APPENDICES
Tuning ••••••••••••••••••••••••••••••••••••••••••• 1-23,10-30 Wiring diagram between servo amplifier and

Type example of positioning control••••••••••••••••••17 servomotor •••••••••••••••••••••••••••••••••••••••••••4-24
Type of control mode •••••••••••••••••••••••••••••••••••7-2 Wiring diagram of I/O connector cable •••••••••••4-29
Type of Servo Amplifier ••••••••••••••••••••••••••••••••1-3 Wiring diagram •••••••••••••••••••••••••••••••••••••••••• 4-3
Type of Servo Motor ••••••••••••••••••••••••••••••••••••1-4 Wiring electromagnetic brake cable •••••••••••••••4-26
Types of drive •••••••••••••••••••••••••••••••••••••••• 10-20 Wiring encoder cable •••••••••••••••••••••••••••••••••4-25
Types of positioning according to moving Wiring expansion unit •••••••••••••••••••••••••••••••••4-17
direction •••••••••••••••••••••••••••••••••••••••••••••••••19 Wiring external brake resistor •••••••••••••••••••••••4-16
Wiring I/O connector cable ••••••••••••••••••••••••••4-29
Wiring I/O connector ••••••••••••••••••••••••••••••••••4-27
U
Wiring master axis unit •••••••••••••••••••••••••••••••• 4-9
Wiring motor power cable••••••••••••••••••••••••••••4-25
Unit Monitor display••••••••••••••••••••••••••••••••••• 13-2
Wiring of pulse input ••••••••••••••••••••••••••••••••••4-32
Unit Monitor Overview•••••••••••••••••••••••••••••••• 13-2
A-90
8 Index
Wiring Overview •••••••••••••••••••••••••••••••••••••••••4-2

Wiring power terminal •••••••••••••••••••••••••••••••• 4-14
Wiring Precautions••••••••••••••••••••••••••••••••••••••4-2
Wiring procedure for teaching unit••••••••••••••••• 4-37
Wiring protective ground terminal••••••••••••••••••••4-5
Wiring the power cable of expansion unit •••••••• 4-22
Wiring the terminal block of I/O connector ••••••• 4-27
Write flash ROM••••••••••••••••••••••••••••••••••••••• 9-90
Write protection•••••••••••••••••••••••••••••••••••••• 10-97
Zero return acceleration curve/

deceleration curve ••••••••••••••••••••••••••••••• 10-84
Zero return acceleration/deceleration ••••••••••• 10-83
Zero return creep speed ••••••••••••••••••••••••••• 10-82
zero return direction •••••••••••••••••••••••••••••••• 10-84
Zero Return instruction (ORG) (Pin No.7)••••••••••6-6
Zero return method ••••••••••••••••••••••••••••••••• 10-85
Zero return running speed••••••••••••••••••••••••• 10-83
Zero return S-shape acceleration
(deceleration) slope ••••••••••••••••••••••••••••• 10-84
Zero return startup speed•••••••••••••••••••••••••• 10-82
Zero return•••••••••••••••••••••••••••••••••••••••••••••• 9-81
Zero return••••••••••••••••••••••••••••••• 9-81, 10-82, A-4
Zero speed detection relay•••••••••••••••••••••••• 10-41
APPENDICES
A-91
Revision History
Printing Date Version Details of Revision
October 2005 Initial version

WARRANTIES AND DISCLAIMERS:
(1) KEYENCE warrants the Products to be free of defects in materials and
workmanship for a period of one (1) year from the date of shipment. If
any models or samples were shown to Buyer, such models or samples
were used merely to illustrate the general type and quality of the
Products and not to represent that the Products would necessarily
conform to said models or samples. Any Products found to be defective
must be shipped to KEYENCE with all shipping costs paid by Buyer or
offered to KEYENCE for inspection and examination. Upon examination
by KEYENCE, KEYENCE, at its sole option, will refund the purchase
price of, or repair or replace at no charge any Products found to be
defective. This warranty does not apply to any defects resulting from any
action of Buyer, including but not limited to improper installation,
improper interfacing, improper repair, unauthorized modification,
misapplication and mishandling, such as exposure to excessive current,
heat, coldness, moisture, vibration or outdoors air. Components which
wear are not warranted.
(2) KEYENCE is pleased to offer suggestions on the use of its various

Products. They are only suggestions, and it is Buyer's responsibility to
ascertain the fitness of the Products for Buyer's intended use. KEYENCE
will not be responsible for any damages that may result from the use of
the Products.
(3) The Products and any samples ("Products/Samples") supplied to Buyer

are not to be used internally in humans, for human transportation, as
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(4) OTHER THAN AS STATED HEREIN, THE PRODUCTS/SAMPLES ARE

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If the Products/Samples purchased by Buyer are to be resold or
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© KEYENCE CORPORATION, 2005 KV-1000-UM 0014-1 Printed in Japan

User's Manua L: MV High-Speed Link Unit

Uploaded by

User's Manua L: MV High-Speed Link Unit

Uploaded by

ＭＶ高速リンクユニット

MV High-speed Link Unit

■ MV-L40 Related User's Manuals

Type of Manual Description of Manual

This manual describes how to operate MV LINK STUDIO.

■ Maintenance, service and inspection

This chapter descirbes control block diagram, various sequences, alarms

Chapter 2 SPECIFICATIONS & FUNCTIONS

Chapter 4 AND SETTING OF SERVO AMPLIFIER

Chapter 6 DETAILED I/O FUNCTIONS

Chapter 7 CONTROL MODE

Chapter 8 WIRING SETTING UP USING UNIT EDITOR

Chapter 9 DEVICE ASSIGMENT

Chapter 10 PARAMETER SETUP

Chapter 11 ACCESS WINDOW

Chapter 12 OPERATIONS OF TEACHING UNIT

Chapter 13 UNIT MONITOR

Chapter 14 ABSOLUTE POSITION DETECTION SYSTEM

Chapter 15 EXAMPLES OF BASIC OPERATION

Page Configuration and Symbols

Indicates the main

Installation Precautions of Servo Motor Mid-heading

The following points must be followed when installing servomotor.

Operation keys of the

CAUTION Please note: Failure to

This manual uses the following terminologies excluding some instances.

Features of AC Servo Motor

Compared with other motors, AC servo motor is featured by the following.

Typical Examples of Positioning Control

By "Positioning control" it means to move an object from a position to target position.

■ Inching feed control

TIP Stacking is the repeating of same action,

■ Horizontal (linear positioning)

■ Vertical direction (lifting load)

Servo motor Electromagnetic brake

■ Rotation (index table)

1-1 Checking the Content of the Package •••••••••••••••••••• 1-2

MV High-speed Link Unit MV-L40

Unit (MV-L40) User's Manual

■ Contents of Package of Servo Amplifier Master Axis Unit

Wiring rod for connector

brake resistor connector User's Manual

■ Contents of Package of Servo Amplifier Expansion Unit

Wiring rod for connector

■ Type of Servo Amplifier 1

Master axis unit (200V) Master axis unit (100V)

KEYENCE CORPORATION KEYENCE CORPORATION

MODEL MV-72 MODEL MV-41

marked with "KV-L40 Compliant".

Types of servo amplifier are shown as follows.

Rated Output Type of servo amplifier

Product Name Model Remarks

Product Name Model Remarks

master axis unit and expansion unit

■ Contents of Package of Servo Motor

Unit User’s Manual

■ Type of Servo Motor

Rated Output Induction voltage

Types of servo motor are shown as follows.

Product Name Model Capacity Remarks

Servo amplifier Servo motor

CPU unit + MV-L40

X1 axis Y1 axis X2 axis Y2 axis

1 Precautions on Using MV High-speed Link System

■ Precautions on Servo Amplifier

■ Precautions on Power Supply

■ Precautions on Parameter Settings

■ Precautions for CE Marking

Relationship Between Direction of Rotation of Motor and Coordinate System 1

In the system parameter "Coordinate increase direction", set CCW or

Software limit Software limit

With the system parameter "Switch the limit switch", the

CCW : motor axis rotates counterclockwise

1 ■ Motor rotation direction and coordinate setting

(3)Wiring of CW limit switch and CCW limit switch

Data Flow Between MV-L40 and CPU 1