# embedding_metadata

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5 Clears all data in memory.
6 Reserved
7 Reserved
8 Saves battery backed-up main board data in a memory card at a time.
9 Reserved
A Restores battery backed-up main board data from a memory card at a time.
B Reserved
C Reserved
D Reserved
E Does not wait for the display unit.
F Performs maintenance work.
J.3 OPERATION OF EACH FUNCTION
Function number 1
This function sets a display unit number in the Ethernet Display function.


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(1) Check that number 1 blinks on the LED, and press the push switch.
(2) If the push switch is pressed, the 16 numbers from 0 to F are displayed on the LED in sequence at 
one second intervals. When the display unit number to be set is displayed on the LED, press the 
push switch.
0 : Not used.
1 : The HSSB connection display unit or CNC-specific display unit is set.
2 to 4 : Not used.
5 : The Ethernet connection display unit is set.
6 to F : Not used.


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6 to F : Not used.
(3) The selected display unit number blinks on the LED. Press the push switch again.
(4) The selected display unit number is displayed on the LED and saved in the CNC.


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B-64695EN/01 APPENDIX
- 783 -
J. MAINTENANCE OF 
STAND-ALONE TYPE UNIT
Function number 2
This function sets a node number in the Ethernet Display function.
(1) Check that number 2 blinks on the LED, and press the push switch.
(2) If the push switch is pressed, the 16 numbers from 0 to F are displayed on the LED in sequence at 
one second intervals. When the node number to be set is displayed on the LED, press the push 
switch.
The node number ranges from 0 to 7.


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(3) The selected node number blinks on the LED. Press the push switch again.
(4) The node number is displayed on the LED and the display unit number is saved in the CNC.
Function number 4
This function checks settings in the Ethernet Display function.
(1) Check that number 4 blinks on the LED, and press the push switch.
(2) When the push switch is pressed, 0 and 1 are displayed on the LED alternately at one second 
intervals. When 0 is displayed, press the push switch.


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(3) The selected number 0 blinks on the LED. Press the push switch to stop blinking.
(4) The three numbers from 0 to 2 are displayed in sequence at one second intervals again. When the 
number to be checked is displayed on the LED, press the push switch.
0 : Not used.
1 : A display unit number is checked.
2 : A node number is checked.
(5) The selected number blinks. Press the push switch to stop blinking.
Function number 5
This function clears all the battery backed-up SRAM data.


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The settings of the Ethernet Display function are also cleared and the display unit number and node 
number are set to 1 and 0, respectively.
(1) Check that number 5 blinks on the LED, and press the push switch.
(2) Number 5 is displayed on the LED. Press the push switch.
(3) Display of the LED changes in the order: "-", "F", and "0".
(4) After all-clear operation terminates normally, the LED display stops changing at number 0.


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(5) Turn off the power, return the rotary switch to the original position, and turn on the power again.
WARNING
1 This operation enables the CNC system to start up solely (initial state). 
Accordingly, to recover various functional operations, the cleared data needs to 
be set again.
2 This operation can be performed by those personnel who received the training of 
maintenance and safety.
Function number 8


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Function number 8
This function saves battery backed-up main board data in a memory card at a time. The data saved using 
this function can be restored at a time by performing the operation for function number A or by using the 
SRAM DATA UTILITY function of the boot function.
(1) Inset a memory card with enough free space into the memory card slot (MEMORY CARD CNM1B) 
of the main body.
(2) Check that number 8 blinks on the LED, and press the push switch.


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(3) Number 8 is displayed on the LED. Press the push switch.
(4) While data is saved in the memory card, display of the LED is rotating clockwise.
(5) If the data cannot fit in one memory card, number 3 blinks. Replace the memory card with another 
one, and press the push switch.
(6) If the data cannot be written to the memory card, number 2 blinks on the LED. Replace the memory
card with another one and press the push switch.


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APPENDIX B-64695EN/01
- 784 -
J. MAINTENANCE OF 
STAND-ALONE TYPE UNIT
(7) When the data has been saved normally, number 0 is displayed on the LED. If the data cannot be 
saved normally, number 1 is displayed on the LED.
(8) If the data cannot be backed up because it is illegal, number 1 blinks on the LED. In this case, it is 
impossible to save the data at a time. Back up individual data items one by one, then perform 
all-clear operation.
Function number A


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Function number A
This function restores battery backed-up main board data from a memory card at a time.
(1) Insert the memory card in the memory card slot (MEMORY CARD CNM1B) of the control unit.
(2) Check that A blinks on the LED, and press the push switch.
(3) When letter A is displayed on the LED, press the push switch.
(4) While data is being restored from the memory card, the LED indication turns counterclockwise.


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(5) If the entire data cannot be restored from the single memory card, number 3 blinks. Replace the 
memory card with the next memory card, and press the push switch.
(6) If the memory card cannot be recognized correctly, number 2 blinks on the LED. Check the memory 
card status, and press the push switch.
(7) When the data has been restored normally, number 0 is displayed on the LED. If the data cannot be 
restored normally, number 1 is displayed on the LED.
Function number E


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Function number E
This setting does not wait for the display unit. Use this setting for a configuration without a display unit.


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B-64695EN/01 INDEX
i-1 
INDEX 
<Number> 
7-SEGMENT LED INDICATIONS (BLINKING) ...... 759 
7-SEGMENT LED INDICATIONS (TURNED ON) .. 757 
<α> 
αi SERVO INFORMATION SCREEN ....................... 492 
αi SERVO WARNING INTERFACE ......................... 489 
<A> 
AC SPINDLE ............................................................... 496 
Additional alarm and operator message ....................... 230 
ADJUSTING REFERENCE POSITION (DOG


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METHOD)................................................................ 485 
Alarm Display .............................................................. 175 
ALARM DS0300 (REQUEST FOR REFERENCE 
POSITION RETURN) .............................................. 543 
Alarm history ............................................................... 153 
ALARM LIST .............................................................. 623 
ALARM LIST (CNC) .................................................. 623


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ALARM LIST (PMC) .................................................. 689 
ALARM LIST (SERIAL SPINDLE) ........................... 705 
ALARM OH0700 (OVERHEAT: CONTROL UNIT) . 547 
ALARM OH0701 (OVERHEAT: FAN MOTOR) ...... 547 
ALARM PS0090 (REFERENCE POSITION RETURN 
IS ABNORMAL) ..................................................... 541 
ALARM SR0085 TO SR0087 (RS-232C INTERFACE 
ALARM) .................................................................. 537


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ALARM SV0401 (V READY OFF) ............................ 544 
ALARM SV0404 (V READY ON).............................. 545 
ALARM SV0417 (DIGITAL SERVO SYSTEM IS 
ABNORMAL) .......................................................... 546 
ALARM SV0462 (SEND CNC DATA FAILED) 
ALARM SV0463 (SEND SLAVE DATA FAILED)546 
ALARM SV5134 (FSSB: OPEN READY TIME OUT) 
ALARM SV5137 (FSSB: CONFIGURATION 
ERROR) ALARM SV5197 (FSSB: OPEN TIME


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OUT) ........................................................................ 547 
ALARM SV5136 (FSSB: NUMBER OF AMPS IS 
SMALL) ................................................................... 548 
Alarms for built-in detectors (αi and βi Pulsecoders) and 
troubleshooting actions ............................................ 579 
Alarms for separate detectors and troubleshooting 
actions ...................................................................... 580


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Analog Input Separate Detector Interface Unit ............ 358 
Appearance inspection of the linear motor (magnet 
plate) ......................................................................... 579 
ATTACHING A COMPACT FLASH CARD ONTO, 
AND DETACHING IT FROM A MAIN BOARD .. 309 
Attaching and Detaching Units .................................... 295 
AUTOMATIC DATA BACKUP ................................. 371 
AUTOMATIC OPERATION CANNOT BE DONE ... 526


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Automatic Setting of Standard Parameters ................... 506 
<B> 
Backing Up and Restoring Communication Parameters449 
Bode graph ................................................................... 137 
BOOT Screen ............................................................... 762 
BOOT SYSTEM .......................................................... 738 
<C> 
Cable Clamp and Shield Processing ............................. 290 
CAUTIONS COMMON TO THE OTHER UNITS .... 330


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CAUTIONS FOR REPLACEMENT ........................... 294 
CAUTIONS RELATED TO GROUNDING AND 
NOISE ...................................................................... 287 
CC-Link Board ............................................................. 284 
CHANGING START SEQUENCES ........................... 761 
Checking input data ..................................................... 238 
Circle graph .................................................................. 121


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CNC Alarm Screen ...................................................... 766 
CNC STATE DISPLAY ................................................ 55 
CNC STATUS NOTIFICATION FUNCTION ............ 441 
COLOR SETTING SCREEN ........................................ 77 
Confirming the Parameters Required for Data Output . 365 
Connection of I/O Module for Operator's Panel and I/O 
Module for Power Magnetics Cabinet [Supporting


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I/O Link i] ................................................................ 336 
CONSUMABLES ........................................................ 736 
Contents Displayed ........................................................ 15 
Contents of E-mail ....................................................... 442 
CONTENTS-OF-MEMORY DISPLAY SCREEN...... 245 
CONTROL UNIT HARDWARE ................................ 247 
Controlling Machine Remote Diagnosis function from


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PMC ......................................................................... 410 
Cooperation with CNC screen Web server function .... 445 
CORRECTIVE ACTION FOR FAILURES ................ 513 
Correspondence between operation mode and 
parameters on spindle tuning screen ........................ 504 
Current Display ............................................................ 175 
CYCLE START LED SIGNAL HAS TURNED OFF . 531 
<D>


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<D> 
Data Batch backup ....................................................... 377 
Data Batch Backup and Restore ................................... 376 
Data Batch Restore ...................................................... 379 
DATA TYPES TO BE CLEARED .............................. 773 
Detailed troubleshooting methods ................................ 581 
DeviceNet Board .......................................................... 279


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DIAGNOSIS FUNCTION ............................................. 15 
Diagnosis Number ........................................................ 230 
DIGITAL SERVO ....................................................... 466 
DISPLAY AND OPERATION ........................................ 1 
Display IPL monitor and Menu for Batch backup and 
restore ....................................................................... 376 
Display Method ........................................... 11,58,174,499


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Display of the servo amplifier operation status ............ 587 
Displaying and operating the file list ........................... 454


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INDEX B-64695EN/01 
i-2 
Displaying Diagnosis Screen ......................................... 15 
Displaying Servo Tuning Screen .................................. 484 
Displaying the Maintenance Information Screen ......... 149 
Displaying the Power ON Sequence ............................ 739 
DOGLESS REFERENCE POSITION SETTING ........ 488 
<E> 
EMBEDDED ETHERNET FUNCTION ..................... 389 
EMBEDDED ETHERNET OPERATIONS ................. 452 
EMBEDDED ETHERNET PORT AND PCMCIA


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ETHERNET CARD ................................................. 389 
Environment for Making Trouble Diagnosis Message . 231 
Environmental Conditions outside the Cabinet ............ 286 
ENVIRONMENTAL REQUIREMENTS OUTSIDE 
THE CABINET ........................................................ 286 
ERROR CODES (SERIAL SPINDLE) ........................ 717 
Error Message .............................................................. 382 
ERROR MESSAGES AND REQUIRED ACTIONS .. 752


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EXAMPLE OF HARDWARE CONFIGURATION .... 247 
Example of Output File ................................................ 381 
Example of setting the FOCAS2/Ethernet function ..... 393 
Example of setting the FTP file transfer function ........ 398 
Example of the Hardware Configuration of the 
LCD-mounted Type Control Unit ........................... 247 
Example of the Hardware Configuration of the 
Stand-alone Type Control Unit................................. 248


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Execution methods ....................................................... 426 
EXPLANATION OF SCREENS ................................. 762 
External operator message history ............................... 157 
<F> 
Fan Monitor Screen ...................................................... 177 
Fast Ethernet Board ...................................................... 273 
File operation ............................................................... 764


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Fourier graph ................................................................ 132 
FSSB Communication Error Diagnosis Display .......... 174 
FSSB CONNECT STATE SCREEN ........................... 174 
FSSB SETTING SCREEN ........................................... 472 
FTP File Transfer Function .......................................... 452 
Function Keys .................................................................. 2 
FUNCTION KEYS AND SOFT KEYS ........................... 1 
<G>


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<G> 
General Screen Operations ............................................... 1 
Guidance Table for Machine Alarm Diagnosis ............ 231 
<H> 
Half-Size Kana Input on the Maintenance Information 
Screen ....................................................................... 151 
HANDLE OPERATION CANNOT BE DONE .......... 521 
HARDWARE CONFIGURATION ............................. 756 
Hardware Configuration Screen ..................................... 11 
HARDWARE OF LCD-MOUNTED TYPE


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HARDWARE OF LCD-MOUNTED TYPE 
CONTROL UNIT ..................................................... 255 
HARDWARE OF OPTIONAL BOARDS ................... 273 
HARDWARE OF STAND-ALONE TYPE CONTROL 
UNIT ........................................................................ 269 
HARDWARE OVERVIEW ......................................... 249 
HSSB interface board ................................................... 275 
<I> 
I/O Link Connection Unit [Supporting I/O Link i] ...... 345


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I/O Module for Connector Panel [Supporting I/O Link i]
 .................................................................................. 331 
I/O Module for Operator’s Panel (Supporting Matrix 
Input) [Supporting I/O Link i] ................................. 334 
I/O module for operator's panel supporting safety 
function [for I/O Link i only] ................................... 353 
I/O Module Type-2 for Connector Panel [Supporting


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I/O Link i] ................................................................ 337 
I/O Unit for Power Magnetics Cabinet [Supporting I/O 
Link i] ....................................................................... 355 
IN A CONNECTOR PANEL I/O UNIT, DATA IS 
INPUT TO AN UNEXPECTED ADDRESS .......... 535 
IN A CONNECTOR PANEL I/O UNIT, NO DATA IS 
OUTPUT TO AN EXPANSION UNIT ................... 536 
INITIAL SETTING SERVO PARAMETERS ............ 466


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INPUT AND OUTPUT OF DATA .............................. 363 
INPUT FROM AND OUTPUT TO I/O DEVICES 
CANNOT BE PERFORMED, INPUT/OUTPUT 
CANNOT BE PERFORMED PROPERLY ............ 533 
Input Guidance Data .................................................... 236 
Inputting and Outputting Parameters ............................. 86 
Inputting CNC Parameters ........................................... 368 
Inputting Custom Macro Variable Values .................... 370


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Inputting data in the sheet for multi-languages ............ 243 
Inputting Part Programs ............................................... 370 
Inputting Pitch Error Compensation Amount ............... 370 
Inputting Tool Compensation Amount ......................... 370 
INPUTTING/ OUTPUTTING DATA ......................... 365 
INSERTING AND EXTRACTING OPTIONAL 
BOARDS .................................................................. 310


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Install ........................................................................... 231 
Installation Conditions of the Control Unit .................. 286 
INTERFACE BETWEEN CNC AND PMC ................ 383 
INTERFACE SIGNAL BETWEEN CNC AND PMC 387 
Investigating the Conditions under which Failure 
Occurred ................................................................... 513 
Investigation Procedure of Cause of Alarm Occurrence206


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IPL MENU ................................................................... 770 
IPL MONITOR ............................................................ 769 
IPL Screen .................................................................... 765 
Items Common to Units Supporting I/O Link i ............ 330 
<J> 
JOG OPERATION CANNOT BE DONE ................... 518 
Jump from CNC guidance table to MTB’s guidance 
table .......................................................................... 241


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<L> 
Lathe system ................................................................ 498 
LCD-mounted Type Control Unit .................. 300,312,318 
LCD-mounted Type Control Unit Overview ............... 249 
Leakage Detection Monitor Screen .............................. 178 
LED DISPLAY ............................................................ 757 
LEDS ON UNITS SUPPORTING I/O LINK i ............ 566


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B-64695EN/01 INDEX
i-3 
Lightning Surge Absorber ............................................ 292 
LIST OF MANUALS RELATED TO MOTORS AND 
AMPLIFIERS ........................................................... 572 
LISTS OF UNITS, PRINTED CIRCUIT BOARDS, 
AND CONSUMABLES .......................................... 732 
LOAD BASIC SYSTEM ............................................. 752 
LOG SCREEN OF THE EMBEDDED ETHERNET 
FUNCTION .............................................................. 460


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<M> 
MACHINE ALARM DIAGNOSIS .............................. 229 
Machine Operator's Panel [Supporting I/O Link i] ...... 347 
Machine State History CNC Data Screen .................... 197 
Machine State History List Screen ............................... 190 
Machine State History Operation History Screen ........ 198 
Machine state history screen ........................................ 189 
MACHINE STATE MONITORING FUNCTION ...... 182


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Machine state monitoring screen .................................. 184 
Main inspection items .................................................. 575 
MAINTENANCE INFORMATION SCREEN ............ 148 
MAINTENANCE MONITOR ..................................... 177 
Maintenance of a Detector ........................................... 579 
Maintenance of a Servo Amplifier ............................... 587 
MAINTENANCE OF PERSONAL COMPUTER 
FUNCTIONS (BOOT-UP AND IPL) ..................... 760


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MAINTENANCE OF STAND-ALONE TYPE UNIT 781 
MAINTENANCE OF THE OTHER UNITS ............... 330 
Maintenance of the Pulsecoder of βiS-B/βiS servo 
motors (40 and 60) ............................................ 582 
MAINTENANCE SCREEN FOR EMBEDDED 
ETHERNET FUNCTION ........................................ 456 
Making a file to input trouble diagnosis messages ....... 232 
Making a memory card format file ............................... 240


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Making Messages for Multi-languages ........................ 241 
Making sheets for multi-languages .............................. 242 
Making Trouble Diagnosis Messages .......................... 235 
MDI UNIT ................................................................... 733 
Meanings of LEDs on units supporting I/O Link i ....... 566 
MEMORY CARD FORMAT Screen ........................... 751 
MEMORY CARD SLOT ............................................. 754


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MEMORY CARD TYPES (FUNCTIONS) ................. 754 
MEMORY CLEAR ...................................................... 772 
Messages That May Be Displayed on the PMC Alarm 
Screen ....................................................................... 689 
Method A of gear change for machining center system 
(bit 2 (SGB) of Parameter No.3705 = 0) .................. 498 
Method B of gear change for machining center system 
(bit 2 (SGB) of Parameter No.3705 = 1) .................. 498


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Mode selection ............................................................. 421 
Monitoring of PMC signals .......................................... 185 
MOTOR/DETECTOR/AMPLIFIER PREVENTIVE 
MAINTENANCE ..................................................... 572 
MOUNTING AND DEMOUNTING CARD PCBS .... 305 
MOUNTING AND DEMOUNTING FROM/SRAM 
MODULE ................................................................. 308 
<N> 
NO MANUAL OPERATION NOR AUTOMATIC


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OPERATION CAN BE EXECUTED ...................... 515 
Noise Suppressor .......................................................... 288 
Notes ......................................................................... 80,89 
Notes on motor cleaning .............................................. 578 
Notes on the cutting fluid (informational) .................... 578 
NOTHING IS DISPLAYED ON THE LCD WHEN 
THE POWER IS TURNED ON .............................. 532


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Notice ........................................................................... 243 
<O> 
Operating Machine Remote Diagnosis screen ............. 413 
OPERATING MONITOR .............................................. 58 
Operating the Maintenance Information Screen ........... 150 
OPERATING THE PMC SCREEN ............................. 384 
OPERATION ............................................................... 782


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Operation history ......................................................... 160 
Operation history signal selection ................................ 166 
OPERATION METHOD ............................................. 772 
OPERATION OF EACH FUNCTION ........................ 782 
Operation of the CNC screen Web server function ...... 436 
Operation of the WEB SERVER screen ...................... 435 
Operation on the FOCAS2/Ethernet setting screen ...... 391


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Operation on the FTP file transfer setting screen ......... 394 
Operation on the Setting screen ............................ 403,406 
Operations for Color Setting .......................................... 77 
Operations on the System Alarm Screen ...................... 550 
Operator's Panel Connection Unit [Supporting I/O Link 
i] ............................................................................... 350 
Option Setting Screen .................................................. 767


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Optional Information File ............................................ 295 
OTHER SCREENS ...................................................... 766 
OTHER UNITS............................................................ 734 
Outline .................................................................. 202,229 
Outline of Spindle Control ........................................... 497 
Output CNC Information ............................................. 199


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Outputting all history data ............................................ 171 
Outputting CNC Parameters ........................................ 367 
Outputting Custom Macro Variable Values ................. 367 
Outputting Data .............................................................. 71 
Outputting Part Program .............................................. 367 
Outputting Pitch Error Compensation Amount ............ 367 
Outputting System Alarm History................................ 181


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Outputting System Configuration Data .......................... 14 
Outputting Tool Compensation Amount ...................... 367 
Overview ............................................................................ 
 .............................................. 182,360,417,433,441,549, 
 ........................................ 738,754,757,760,769,772,781 
Overview of the History Function ................................ 152 
<P>


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<P> 
Packing ......................................................................... 298 
PANEL iH Pro ............................................................. 359 
Parameter .................................................. 78,152,182,227 
Parameter Setting ......................................................... 484 
Parameters .......................................................... 59,87,147 
Periodic cleaning of a motor ........................................ 577


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INDEX B-64695EN/01 
i-4 
PMC System Alarm Messages ..................................... 698 
POWER MATE CNC MANAGER FUNCTION .......... 80 
PREFACE .................................................................... p-1 
Preventive Maintenance of a Linear Motor .................. 578 
Preventive Maintenance of a Motor (Common to All 
Models) ..................................................................... 575 
Preventive Maintenance of a Servo Amplifier ............. 586


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PREVENTIVE MAINTENANCE OF MOTORS AND 
DETECTORS ........................................................... 573 
PREVENTIVE MAINTENANCE OF SERVO 
AMPLIFIERS ........................................................... 583 
PRINTED CIRCUIT BOARDS COMMON TO 
LCD-MOUNTED AND STAND-ALONE TYPE 
CONTROL UNITS .................................................. 733 
PROFIBUS-DP Board .................................................. 276 
<R>


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<R> 
Related NC parameter .................................................. 448 
Related parameters ........................... 397,402,404,432,440 
Related signals ............................................................. 440 
Replacement of a fan motor ......................................... 593 
Replacement of fuses on printed-circuit boards ........... 612 
Replacing a Commercial D-size Alkaline Dry Cells .... 317 
REPLACING A FAN ................................................... 318


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Replacing a Lithium Battery ........................................ 314 
Replacing Batteries ...................................................... 360 
REPLACING BATTERY FOR ABSOLUTE 
PULSECODERS ...................................................... 360 
REPLACING CONTROL UNIT MAINTENANCE 
PARTS ..................................................................... 294 
REPLACING FUSES .................................................. 312


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REPLACING LCD UNITS .......................................... 303 
Replacing the Batteries in a Separate Battery Case ...... 361 
Replacing the Battery Built into the Servo Amplifier .. 362 
Replacing the keyboard cover ...................................... 321 
REPLACING THE MAIN BOARD ............................ 300 
REPLACING THE MEMORY BACKUP BATTERY 
IN THE CONTROL UNIT ...................................... 314 
REPLACING THE TOUCH PANEL PROTECTION


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SHEET ..................................................................... 323 
RESTART OF THE EMBEDDED ETHERNET ......... 456 
Restrictions................................................................... 228 
<S> 
Safety IO unit [for I/O Link i only] .............................. 352 
SAFETY PRECAUTIONS ........................................... s-1 
SCREEN CONFIGURATION AND OPERATING 
PROCEDURE .......................................................... 741


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Screen Display .......................................................... 77,81 
SEPARATE DETECTOR INTERFACE UNIT ........... 356 
Separating Cables ......................................................... 287 
SERIAL INTERFACE AC SPINDLE ......................... 497 
SERVO ALARMS ....................................................... 548 
SERVO GUIDE MATE ................................................. 90 
SERVO TUNING SCREEN ........................................ 484


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Setting of CNC Status Notification function ................ 445 
Setting of the CNC Screen Display Function ............... 402 
Setting of the CNC Screen Web Server Function ........ 433 
Setting of the FOCAS2/Ethernet Function ............ 390,418 
Setting of the FTP File Transfer Function .................... 394 
Setting of the Machine Remote Diagnosis package ..... 404 
Setting of the Unsolicited Messaging Function ............ 417


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Setting on the CNC screen ........................................... 423 
Setting on the personal computer ................................. 426 
SETTING PARAMETERS FOR INPUT/OUTPUT .... 363 
Setting up DHCP .......................................................... 400 
Setting up DNS ............................................................ 399 
Setting Up the DNS/DHCP Function ........................... 399 
SETTING UP THE EMBEDDED ETHERNET


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FUNCTION .............................................................. 390 
Signal ........................................................................... 228 
Soft Key Structure ............................................................ 1 
Soft Keys .......................................................................... 3 
Software Configuration Screen ...................................... 12 
SPINDLE ALARMS .................................................... 548


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Spindle Information Screen .......................................... 508 
Spindle monitor screen ................................................. 502 
Spindle Setting and Tuning Screen .............................. 499 
Spindle setting screen ................................................... 499 
Spindle tuning screen ................................................... 501 
SRAM DATA UTILITY Screen .................................. 749


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SRAM operation .......................................................... 763 
Stand-alone Type Control Unit ...................... 302,313,319 
Stand-alone Type Control Unit Overview.................... 250 
STARTING OF THE IPL MONITOR ......................... 769 
Starting the Boot System .............................................. 740 
Status Screen ................................................................ 766 
Structure of the file to input trouble diagnosis messages233


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SWITCHING BETWEEN THE EMBEDDED 
ETHERNET DEVICES ........................................... 451 
System alarm 194 (related to the I/O Link i)................ 562 
System alarm 195 (related to the I/O Link) .................. 561 
System alarm 196 (PMC watchdog) ............................ 560 
System Alarm History Detail Screen ........................... 181 
System Alarm History Display .................................... 176


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System Alarm History List Screen ............................... 180 
SYSTEM ALARM HISTORY SCREEN .................... 179 
SYSTEM ALARM LIST ............................................. 721 
SYSTEM ALARMS .................................................... 549 
System Alarms 114 to 160 (Alarms on the FSSB) ....... 555 
System alarms 197, 199 (PMC general) ....................... 558 
System Alarms Detected by Hardware ........................ 553 
SYSTEM ALARMS RELATED TO THE PMC AND


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I/O Link .................................................................... 557 
SYSTEM CONFIGURATION SCREEN ...................... 11 
SYSTEM DATA CHECK Screen ................................ 743 
SYSTEM DATA DELETE Screen .............................. 745 
SYSTEM DATA SAVE Screen ................................... 747 
System Files and User Files ......................................... 740 
<T> 
Terminal Type I/O Module [Supporting I/O Link i] .... 339


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Tightening Torque for Fastening Units and Ground 
Terminals .................................................................. 296 
TOTAL CONNECTION DIAGRAMS ........................ 251 
TOUCH PANEL CALIBRATION .............................. 327


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B-64695EN/01 INDEX
i-5 
Tracing Data ................................................................... 70 
Transition of the PMC Screens .................................... 386 
Translating Data Used with the Former Series (Series 0i
/0i Mate-B/C, Series 16i /18i /21i-B) ....................... 243 
TROUBLE DIAGNOSIS ............................................. 202 
Trouble Diagnosis Graphic Screen ............................... 220


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Trouble Diagnosis Guidance Screen ............................ 207 
Trouble Diagnosis Monitor Screen .............................. 209 
Trouble Forecast Level Setting Screen ........................ 224 
TROUBLESHOOTING ............................................... 513 
<U> 
Uninstall ....................................................................... 232 
Unit’s LED on I/O Link i ............................................. 568 
UNITS AND PRINTED CIRCUIT BOARDS FOR


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LCD-MOUNTED TYPE CONTROL UNIT ............ 732 
UNITS AND PRINTED CIRCUIT BOARDS FOR 
STAND-ALONTE TYPE CONTROL UNIT ........... 733 
UNITS SUPPORTING I/O Link i ................................ 330 
USB FUNCTION LOG SCREEN ................................ 777 
USB FUNCTION MAINTENANCE ........................... 775 
USB FUNCTION MAINTENANCE SCREEN ........... 775 
USER DATA LOADING/SYSTEM DATA LOADING 
Screen ....................................................................... 742


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User data manipulation ................................................ 763 
<W> 
Warning Interface......................................................... 507 
Warnings That Occurs on the Maintenance Information 
Screen ....................................................................... 151 
Warnings, Cautions, and Notes on Preventive 
Maintenance of Motors and Detectors ..................... 573 
Warnings, Cautions, and Notes on Preventive


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Maintenance of Servo Amplifiers ............................. 583 
Wave Display ................................................................. 91 
WAVEFORM DIAGNOSIS DISPLAY ......................... 59 
Waveform Diagnosis Graph Screen ............................... 60 
Waveform Diagnosis Parameter Screen ......................... 61 
WHAT IS PMC? .......................................................... 383 
With Multi-Sensor Unit ................................................ 186 
<X>


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<X> 
XY graph ...................................................................... 110 
<Y> 
Y-time graph .................................................................. 92


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 No part of this manual may be reproduced in any form.
 All specifications and designs are subject to change without notice.
In this manual we have tried as much as possible to describe all the
various matters.
However, we cannot describe all the matters which must not be done,
or which cannot be done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in
this manual should be regarded as ”impossible”.


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B-65395EN/01 SAFETY PRECAUTIONS
s-1 
SAFETY PRECAUTIONS 
The "Safety Precautions" section describes the safety precautions 
relating to the use of FANUC servo motors and servo amplifiers (βi
SVM). Users of any servo motor or amplifier model are requested to 
read the "Safety Precautions" carefully before using the motor or 
amplifier. 
The users are also requested to read an applicable specification manual 
carefully and understand each function of the motor or amplifier for 
correct use.


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correct use. 
The users are basically forbidden to do any behavior or action not 
mentioned in the "Safety Precautions." They are invited to ask FANUC 
previously about what behavior or action is prohibited. 
Contents
1.1 DEFINITION OF WARNING, CAUTION, AND NOTE ........s-2 
1.2 FANUC AC SERVO MOTOR βis series..................................s-3 
1.2.1 Warning.........................................................................s-3


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1.2.2 Caution ..........................................................................s-6 
1.2.3 Note ..........................................................................s-7 
1.3 FANUC SERVO AMPLIFIER βi series ...................................s-9 
1.3.1 Warnings and Cautions Relating to Mounting..............s-9 
1.3.1.1 Warning.............................................................s-9 
1.3.1.2 Caution............................................................s-11


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1.3.1.3 Note ................................................................s-13 
1.3.2 Warnings and Cautions Relating to a Pilot Run..........s-14 
1.3.2.1 Warning...........................................................s-14 
1.3.2.2 Caution............................................................s-15 
1.3.3 Warnings and Cautions Relating to Maintenance .......s-16 
1.3.3.1 Warning...........................................................s-16


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1.3.4.2 Caution............................................................s-18 
1.3.4.3 Note ................................................................s-19


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SAFETY PRECAUTIONS B-65395EN/01
s-2 
1.1 DEFINITION OF WARNING, CAUTION, AND NOTE 
This manual includes safety precautions for protecting the user and 
preventing damage to the machine. Precautions are classified into 
Warning and Caution according to their bearing on safety. Also, 
supplementary information is described as a Note. Read the Warning, 
Caution, and Note thoroughly before attempting to use the machine. 
 WARNING 
 Applied when there is a danger of the user being


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injured or when there is a damage of both the user 
being injured and the equipment being damaged if 
the approved procedure is not observed. 
 CAUTION 
 Applied when there is a danger of the equipment 
being damaged, if the approved procedure is not 
observed. 
NOTE 
 The Note is used to indicate supplementary 
information other than Warning and Caution. 
* Read this manual carefully, and store it in a safe place.


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B-65395EN/01 SAFETY PRECAUTIONS
s-3 
1.2 FANUC AC SERVO MOTOR βis series 
1.2.1 Warning 
 WARNING 
• Be safely dressed when handling a motor.
 Wear safety shoes or gloves when handling a motor as you may 
get hurt on any edge or protrusion on it or electric shocks. 
• Use a crane or lift to move a motor from one place to another.
 A motor is heavy. If you lift the motor by hand, you may get a 
backache, or you may be seriously injured when you drop the


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motor. A suitable crane or lift must be used to move the motor. 
(For the weight of motors, refer to their respective Descriptions.) 
 When moving a motor using a crane or lift, use a hanging bolt if 
the motor has a corresponding tapped hole, or textile rope if it has 
no tapped hole. 
 If a motor is attached with a machine or any other heavy stuff, do 
not use a hanging bolt to move the motor as the hanging bolt 
and/or motor may get broken.


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and/or motor may get broken. 
• Before starting to connect a motor to electric wires, make sure 
they are isolated from an electric power source.
 A failure to observe this caution is vary dangerous because you 
may get electric shocks. 
• Be sure to secure power wires.
 If operation is performed with a terminal loose, the terminal block 
may become abnormally hot, possibly causing a fire. Also, the 
terminal may become disconnected, causing a ground fault or


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short-circuit, and possibly giving you electric shocks. See the 
section in this manual that gives the tightening torque for attaching 
power wires and short-bars to the terminal block. 
• Be sure to ground a motor frame.
 To avoid electric shocks, be sure to connect the grounding 
terminal in the terminal box to the grounding terminal of the 
machine. 
• Do not ground a motor power wire terminal or short-circuit it 
to another power wire terminal.


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A failure to observe this caution may cause electric shocks or a 
burned wiring. 
(*) Some motors require a special connection such as a winding 
changeover. Refer to their respective motor Descriptions for 
details.


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SAFETY PRECAUTIONS B-65395EN/01
s-4 
 WARNING 
• Do not supply the power to the motor while any terminal is 
exposed.
 A failure to observe this caution is very dangerous because you 
may get electric shocks if your body or any conductive stuff 
touches an exposed terminal. 
• Do not bring any dangerous stuff near a motor.
 Motors are connected to a power line, and may get hot. If a 
flammable is placed near a motor, it may be ignited, catch fire, or 
explode.


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explode. 
• Do not get close to a rotary section of a motor when it is 
rotating.
 You may get your clothes or fingers caught in a rotary section, and 
may be injured. Before starting a motor, ensure that there is no 
stuff that can fly away (such as a key) on the motor. 
• Do not touch a motor with a wet hand.
 A failure to observe this caution is vary dangerous because you 
may get electric shocks. 
• Before touching a motor, shut off the power to it.


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Even if a motor is not rotating, there may be a voltage across the 
terminals of the motor. 
 Especially before touching a power supply connection, take 
sufficient precautions. 
 Otherwise you may get electric shocks. 
• Do not touch any terminal of a motor for a while (at least 5 
minutes) after the power to the motor is shut off.
 High voltage remains across power line terminals of a motor for a 
while after the power to the motor is shut off. So, do not touch any


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terminal or connect it to any other equipment. Otherwise, you may 
get electric shocks or the motor and/or equipment may get 
damaged. 
• To drive a motor, use a specified amplifier and parameters.
 Driving a motor with other than the specified combinations of an 
amplifier and parameters may cause the motor to perform an 
unexpected operation; for example, the motor may get out of 
control, or produce excessively high torque. This may result in the


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motor or machine being damaged. Also, an object such as a 
workpiece or tool may fly off due to excessive rotation, possibly 
causing injury. 
• Do not touch a regenerative discharge unit for a while (at least 
30 minutes) after the power to the motor is shut off.
 A regenerative discharge unit may get hot when the motor is 
running. 
 Do not touch the regenerative discharge unit before it gets cool 
enough. Otherwise, you may get burned.


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B-65395EN/01 SAFETY PRECAUTIONS
s-5 
• When designing and assembling a machine tool, make it 
compliant with EN60204-1.
 To ensure the safety of the machine tool and satisfy European 
standards, when designing and assembling a machine tool, make it 
compliant with EN60204-1. For details of the machine tool, refer 
to its specification manual. 
• Do not touch a motor when it is running or immediately after 
it stops.
 A motor may get hot when it is running. Do not touch the motor


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before it gets cool enough. Otherwise, you may get burned. 
• Be careful not get your hair or cloths caught in a fan.
 Be careful especially for a fan used to generate an inward air flow. 
Be careful also for a fan even when the motor is stopped, because 
it continues to rotate while the amplifier is turned on. 
• Ensure that motors and related components are mounted 
securely.
 If a motor or its component slips out of place or comes off when 
the motor is running, it is very dangerous.


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SAFETY PRECAUTIONS B-65395EN/01
s-6 
1.2.2 Caution 
 CAUTION 
• FANUC motors are designed for use with machines. Do not 
use them for any other purpose.
 If a FANUC motor is used for an unintended purpose, it may cause 
an unexpected symptom or trouble. If you want to use a motor for 
an unintended purpose, previously consult with FANUC. 
• Ensure that a base or frame on which a motor is mounted is 
strong enough.
 Motors are heavy. If a base or frame on which a motor is mounted


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is not strong enough, it is impossible to achieve the required 
precision. 
• Be sure to connect motor cables correctly.
 An incorrect connection of a cable cause abnormal heat generation, 
equipment malfunction, or failure. Always use a cable with an 
appropriate current carrying capacity (or thickness). For how to 
connect cables to motors, refer to their respective Descriptions. 
• Ensure that motors are cooled if they are those that require 
forcible cooling.


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forcible cooling.
 If a motor that requires forcible cooling is not cooled normally, it 
may cause a failure or trouble. For a fan-cooled motor, ensure that 
it is not clogged or blocked with dust and dirt. For a liquid-cooled 
motor, ensure that the amount of the liquid is appropriate and that 
the liquid piping is not clogged. 
 For both types, perform regular cleaning and inspection. 
• When attaching a component having inertia, such as a pulley,


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to a motor, ensure that any imbalance between the motor and 
component is minimized.
 If there is a large imbalance, the motor may vibrates abnormally, 
resulting in the motor being broken. 
• Be sure to attach a key to a motor with a keyed shaft.
 If a motor with a keyed shaft runs with no key attached, it may 
impair torque transmission or cause imbalance, resulting in the 
motor being broken.


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B-65395EN/01 SAFETY PRECAUTIONS
s-7 
1.2.3 Note 
NOTE 
• Do not step or sit on a motor.
 If you step or sit on a motor, it may get deformed or broken. Do not 
put a motor on another unless they are in packages. 
• When storing a motor, put it in a dry (non-condensing) place 
at room temperature (0 to 40°C).
 If a motor is stored in a humid or hot place, its components may 
get damaged or deteriorated. In addition, keep a motor in such a


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position that its shaft is held horizontal and its terminal box is at 
the top. 
• Do not remove a nameplate from a motor.
 If a nameplate comes off, be careful not to lose it. If the nameplate 
is lost, the motor becomes unidentifiable, resulting in maintenance 
becoming impossible. 
 For a nameplate for a built-in spindle motor, keep the nameplate 
with the spindle. 
• Do not apply shocks to a motor or cause scratches to it.
 If a motor is subjected to shocks or is scratched, its components


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may be adversely affected, resulting in normal operation being 
impaired. Be very careful when handling plastic portions, sensors, 
and windings, because they are very liable to break. Especially, 
avoid lifting a motor by pulling its plastic portion, winding, or 
power cable. 
• Do not conduct dielectric strength or insulation test for a 
sensor.
 Such a test can damage elements in the sensor. 
• When testing the winding or insulation resistance of a motor,


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satisfy the conditions stipulated in IEC60034.
 Testing a motor under a condition severer than those specified in 
IEC60034 may damage the motor. 
• Do not disassemble a motor.
 Disassembling a motor may cause a failure or trouble in it. 
 If disassembly is in need because of maintenance or repair, please 
contact a service representative of FANUC. 
• Do not modify a motor.
 Do not modify a motor unless directed by FANUC. Modifying a 
motor may cause a failure or trouble in it.


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SAFETY PRECAUTIONS B-65395EN/01
s-8 
NOTE 
• Use a motor under an appropriate environmental condition.
 Using a motor in an adverse environment may cause a failure or 
trouble in it. 
 Refer to their respective Descriptions for details of the operating 
and environmental conditions for motors. 
• Do not apply a commercial power source voltage directly to a 
motor.
 Applying a commercial power source voltage directly to a motor 
may result in its windings being burned. Be sure to use a specified


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amplifier for supplying voltage to the motor. 
• For a motor with a terminal box, make a conduit hole for the 
terminal box in a specified position.
 When making a conduit hole, be careful not to break or damage 
unspecified portions. 
 Refer to an applicable Descriptions. 
• Before using a motor, measure its winding and insulation 
resistances, and make sure they are normal.
 Especially for a motor that has been stored for a prolonged period


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of time, conduct these checks. A motor may deteriorate depending 
on the condition under which it is stored or the time during which 
it is stored. For the winding resistances of motors, refer to their 
respective Descriptions, or ask FANUC. For insulation resistances, 
see the following table. 
• To use a motor as long as possible, perform periodic 
maintenance and inspection for it, and check its winding and 
insulation resistances.


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insulation resistances.
 Note that extremely severe inspections (such as dielectric strength 
tests) of a motor may damage its windings. For the winding 
resistances of motors, refer to their respective Descriptions, or ask 
FANUC. For insulation resistances, see the following table. 
MOTOR INSULATION RESISTANCE MEASUREMENT
 Measure an insulation resistance between each winding and 
motor frame using an insulation resistance meter (500 VDC).


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Judge the measurements according to the following table. 
Insulation resistance Judgment 
100MΩ or higher Acceptable 
10 to 100 MΩ The winding has begun deteriorating. There is no 
problem with the performance at present. Be sure 
to perform periodic inspection. 
1 to 10 MΩ The winding has considerably deteriorated. 
Special care is in need. Be sure to perform 
periodic inspection. 
Lower than 1 MΩ Unacceptable. Replace the motor.


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B-65395EN/01 SAFETY PRECAUTIONS
s-9 
1.3 FANUC SERVO AMPLIFIER βi series 
1.3.1 Warnings and Cautions Relating to Mounting 
1.3.1.1 Warning 
 WARNING 
• Check the specification code of the amplifier.
 Check that the delivered amplifier is as originally ordered. 
• Mount a ground fault interrupter.
 To guard against fire and electric shock, fit the factory power 
supply or machine with a ground fault interrupter (designed for 
use with an inverter). 
• Securely ground the amplifier.


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Securely connect the ground terminal and metal frame of the 
amplifier and motor to a common ground plate of the power 
magnetics cabinet. 
• Be aware of the weight of the amplifier and other components.
 Some amplifiers, AC reactors and AC line filters are heavy. When 
transporting them or mounting them in the cabinet, therefore, be 
careful not to injured yourself or damage the equipment. Be 
particularly careful not to jam your fingers between the cabinet 
and amplifier.


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and amplifier. 
• Never ground or short-circuit either the power supply lines or 
power lines.
 Protect the lines from any stress such as bending. Handle the ends 
appropriately.
• Ensure that the power supply lines, power lines, and signal 
lines are securely connected.
 A loose screw, loose connection, or the like will cause a motor 
malfunction or overheating, or a ground fault. 
 Be extremely careful with power supply lines, motor power lines,


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and DC link connections through which a large amount of current 
passes, because a loose screw (or poor contact in a connector or 
poor connection between a connector terminal and a cable) may 
cause a fire. 
• Insulate all exposed parts that are charged. 
• Never touch the regenerative discharge resistor or radiator 
directly.
 The surface of the radiator and regenerative discharge unit become 
extremely hot. Never touch them directly. An appropriate 
structure should also be considered.


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SAFETY PRECAUTIONS B-65395EN/01
s-10 
 WARNING 
• Close the amplifier cover after completing the wiring.
 Leaving the cover open presents a danger of electric shock. 
• Do not disassemble the amplifier. 
• Ensure that the cables used for the power supply lines and 
power lines are of the appropriate diameter and temperature 
ratings. 
• Do not apply an excessively large force to plastic parts.
 If a plastic section breaks, it may cause internal damage, thus


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interfering with normal operation. The edge of a broken section is 
likely to be sharp and, therefore, presents a risk of injury.


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B-65395EN/01 SAFETY PRECAUTIONS
s-11 
1.3.1.2 Caution 
 CAUTION 
• Do not step or sit on the amplifier.
 Also, do not stack unpacked amplifiers on top of each other. 
• Use the amplifier in an appropriate environment.
 See the allowable ambient temperatures and other requirements, 
given in the corresponding Descriptions. 
• Protect the amplifier from corrosive or conductive mist or 
drops of water.
 Use a filter if necessary. 
• Protect the amplifier from impact.


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Do not place anything on the amplifier. 
• Do not block the air inlet to the radiator.
 A deposit of coolant, oil mist, or chips on the air inlet will result in 
a reduction in the cooling efficiency. In some cases, the required 
efficiency cannot be achieved. The deposit may also lead to a 
reduction in the useful life of the semiconductors. Especially, 
when outside air is drawn in, mount filters on both the air inlet and 
outlet. These filters must be replaced regularly.


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So, an easy-to-replace type of filter should be used. 
• Connect the power supply lines and power lines to the 
appropriate terminals and connectors. 
• Connect the signal lines to the appropriate connectors. 
• Before connecting the power supply wiring, check the supply 
voltage.
 Check that the supply voltage is within the range specified in the 
Descriptions, then connect the power supply lines. 
• Ensure that the combination of motor and amplifier is 
appropriate.


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appropriate. 
• Ensure that valid parameters are specified.
 Specifying an invalid parameter for the combination of motor and 
amplifier may not only prevent normal operation of the motor but 
also result in damage to the amplifier. 
• Ensure that the amplifier and peripheral equipment are 
securely connected.
 Check that the magnetic contactor, circuit breaker, and other 
devices mounted outside the amplifier are securely connected to


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SAFETY PRECAUTIONS B-65395EN/01
s-12 
 CAUTION 
• Check that the amplifier is securely mounted in the power 
magnetics cabinet.
 If any clearance is left between the power magnetics cabinet and 
the surface on which the amplifier is mounted, dust entering the 
gap may build up and prevent the normal operation of the 
amplifier. 
• Apply appropriate countermeasures against noise.
 Adequate countermeasures against noise are required to maintain


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normal operation of the amplifier. For example, signal lines must 
be routed away from power supply lines and power lines. 
• Attachment and detachment of connectors 
 When power is on, avoid attaching and detaching connectors 
unless otherwise noted. Otherwise, the amplifier can become 
faulty.


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B-65395EN/01 SAFETY PRECAUTIONS
s-13 
1.3.1.3 Note 
NOTE 
• Keep the nameplate clearly visible. 
• Keep the legend on the nameplate clearly visible.
• After unpacking the amplifier, carefully check for any 
damage. 
• Mount the amplifier in a location where it can be easily 
accessed periodic inspection and daily maintenance. 
• Leave sufficient space around the machine to enable 
maintenance to be performed easily.
 Do not place any heavy objects such that they would interfere with


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the opening of the doors. 
• Keep the parameter table and spare parts at hand.
 Also, keep the Descriptions at hand. These items must be stored in 
a location where they can be retrieved immediately. 
• Provide adequate shielding.
 A cable to be shielded must be securely connected to the ground 
plate, using a cable clamp or the like.


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SAFETY PRECAUTIONS B-65395EN/01
s-14 
1.3.2 Warnings and Cautions Relating to a Pilot Run 
1.3.2.1 Warning 
 WARNING 
• Before turning on the power, check that the cables connected 
to the power magnetics cabinet and amplifier, as well as the 
power lines and power supply lines, are securely connected. 
Also, check that no lines are slack. 
A loose screw, loose connection, or the like will cause a motor 
malfunction or overheating, or a ground fault. Be extremely


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careful with power supply lines, motor power lines, and DC link 
connections through which a large amount of current passes, 
because a loose screw (or poor contact in a connector or poor 
connection between a connector terminal and a cable) may cause a 
fire. 
• Before turning on the power, ensure that the power magnetics 
cabinet is securely grounded. 
• Before turning on the power, check that the door of the power 
magnetics cabinet and all other doors are closed.


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Ensure that the door of the power magnetics cabinet containing the 
amplifier, and all other doors, are securely closed. During 
operation, all doors must be closed and locked. 
• Apply extreme caution if the door of the power magnetics 
cabinet or another door must be opened.
 Only a person trained in the maintenance of the corresponding 
machine or equipment should open the door, and only after 
shutting off the power supply to the power magnetics cabinet (by


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opening both the input circuit breaker of the power magnetics 
cabinet and the factory switch used to supply power to the cabinet). 
If the machine must be operated with the door open to enable 
adjustment or for some other purpose, the operator must keep his 
or her hands and tools well away from any dangerous voltages. 
Such work must be done only by a person trained in the 
maintenance of the machine or equipment. 
• When operating the machine for the first time, check that the


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machine operates as instructed.
 To check whether the machine operates as instructed, first specify 
a small value for the motor, then increase the value gradually. If 
the motor operates abnormally, perform an emergency stop 
immediately. 
• After turning on the power, check the operation of the 
emergency stop circuit.
 Press the emergency stop button to check that the motor stops 
immediately, and that the power being supplied to the amplifier is 
shut off by the magnetic contactor.


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B-65395EN/01 SAFETY PRECAUTIONS
s-15 
 WARNING 
• Before opening a door or protective cover of a machine to 
enable adjustment of the machine, first place the machine in 
the emergency stop state and check that the motor has 
stopped.


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SAFETY PRECAUTIONS B-65395EN/01
s-16 
1.3.2.2 Caution 
 CAUTION 
• Note whether an alarm status relative to the amplifier is 
displayed at power-up or during operation.
 If an alarm is displayed, take appropriate action as explained in 
this manual. If the work to be done requires that the door of the 
power magnetics cabinet be left open, the work must be carried out 
by a person trained in the maintenance of the machine or 
equipment. Note that if some alarms are forcibly reset to enable


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operation to continue, the amplifier may be damaged. Take 
appropriate action according to the contents of the alarm. 
• Before operating the motor for the first time, mount and 
adjust the position and speed sensors.
 Following the instructions given in this manual, adjust the position 
and speed sensors for the spindle so that an appropriate waveform 
is obtained. 
 If the sensors are not properly adjusted, the motor may not rotate 
normally or the spindle may fail to stop as desired.


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• If the motor makes any abnormal noise or vibration while 
operating, stop it immediately.
 Note that if operation is continued in spite of there being some 
abnormal noise or vibration, the amplifier may be damaged. Take 
appropriate corrective action, then resume operation. 
• Observe the ambient temperature and output rating 
requirements.
 The continuous output rating or continuous operation period of 
some amplifiers may fall as the ambient temperature increases. If


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the amplifier is used continuously with an excessive load applied, 
the amplifier may be damaged. 
• Unless otherwise specified, do not insert or remove any 
connector while the power is turned on. Otherwise, the 
amplifier may fail.


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B-65395EN/01 SAFETY PRECAUTIONS
s-17 
1.3.3 Warnings and Cautions Relating to Maintenance 
1.3.3.1 Warning 
 WARNING 
• Read this manual carefully and ensure that you are totally 
familiar with its contents.
 This manual describes daily maintenance and the procedures to be 
followed in the event of an alarm being issued. The operator must 
be familiar with these descriptions. 
• Notes on replacing a fuse or PC board 
1) Before starting the replacement work, ensure that the circuit


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breaker protecting the power magnetics cabinet is open. 
2) Check that the red LED that indicates that charging is in 
progress is not lit. 
 The position of the charging LED on each model of amplifier 
is given in the Descriptions. While the LED is lit, hazardous 
voltages are present inside the unit, and thus there is a danger 
of electric shock. 
3) Some PC board components become extremely hot. Be 
careful not to touch these components.


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4) Ensure that a fuse having an appropriate rating is used. 
5) Check the specification code of a PC board to be replaced. If 
a modification drawing number is indicated, contact FANUC 
before replacing the PC board. 
 Also, before and after replacing a PC board, check its pin 
settings. 
6) After replacing a fuse, make sure that the fuse is inserted into 
the socket all the way to the root. 
7) After replacing the PC board, ensure that it is securely 
connected.


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connected. 
8) Ensure that all power lines, power supply lines, and 
connectors are securely connected. 
• Take care not to lose any screws. 
When removing the case or PC board, take care not to lose any 
screws. If a screw is lost inside the nit and the power is turned on, 
the machine may be damaged.


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SAFETY PRECAUTIONS B-65395EN/01
s-18 
 WARNING 
• Notes on replacing the battery of the absolute Pulsecoder
 Replace the battery only while the power is on. If the battery is 
replaced while the power is turned off, the stored absolute 
positioning data will be lost. A battery may be mounted on the 
servo amplifier of the βi series servo amplifier module. In this 
case, before starting to replace the battery, you must open the 
power magnetics cabinet door and take the machine to an


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emergency stop to shut down the power to the amplifier without 
turning off the control power. Replacement work should be done 
only by a person who is trained in the related maintenance and 
safety requirements. The power magnetics cabinet in which the 
servo amplifier is mounted has a high-voltage section. This section 
presents a severe risk of electric shock. 
• Check the number of any alarm.
 If the machine stops upon an alarm being issued, check the alarm


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number. Some alarms indicate that a component must be replaced. 
If the power is reconnected without first replacing the failed 
component, another component may be damaged, making it 
difficult to locate the original cause of the alarm. 
• Before resetting an alarm, ensure that the original cause of the 
alarm has been removed. 
• Contact FANUC whenever a question relating to maintenance 
arises. 
• Notes on removing the amplifier


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Before removing the amplifier, first ensure that the power is shut 
off. Be careful not to jam your fingers between the power 
magnetics cabinet and amplifier.


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B-65395EN/01 SAFETY PRECAUTIONS
s-19 
1.3.3.2 Caution 
 CAUTION 
• Ensure that all required components are mounted. 
 When replacing a component or PC board, check that all 
components, including the snubber capacitor, are correctly 
mounted. If the snubber capacitor is not mounted, for example, the 
IPM will be damaged. 
• Tighten all screws firmly. 
• Check the specification code of the fuse, PC board, and other 
components.
 When replacing a fuse or PC board, first check the specification


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code of the fuse or PC board, then mount it in the correct position. 
The machine will not operate normally if a fuse or PC board 
having other than the correct specification code is mounted, or if a 
fuse or PC board is mounted in the wrong position. 
• Mount the correct cover.
 The cover on the front of the amplifier carries a label indicating a 
specification code. When mounting a previously removed front 
cover, take care to mount it on the unit from which it was removed.


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• Notes on cleaning the heat sink and fan 
1) A dirty heat sink or fan results in reduced semiconductor 
cooling efficiency, which degrades reliability. Periodic 
cleaning is necessary. 
2) Using compressed air for cleaning scatters the dust. A deposit 
of conductive dust on the amplifier or peripheral equipment 
will result in a failure. 
3) To clean the heat sink, do so only after turning the power off 
and ensuring that the heat sink has cooled to room


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temperature. The heat sink becomes extremely hot, such that 
touching it during operation or immediately after power-off 
is likely to cause a burn. Be extremely careful when touching 
the heat sink.


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SAFETY PRECAUTIONS B-65395EN/01
s-20 
1.3.3.3 Note 
NOTE 
• Ensure that the battery connector is correctly inserted.
 If the power is shut off while the battery connector is not 
connected correctly, the absolute position data for the machine 
will be lost. 
• Store the manuals in a safe place.
 The manuals should be stored in a location where they can be 
accessed immediately it so required during maintenance work. 
• Notes on contacting FANUC


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• Notes on contacting FANUC
 Inform FANUC of the details of an alarm and the specification 
code of the amplifier so that any components required for 
maintenance can be quickly secured, and any other necessary 
action can be taken without delay.


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B-65395EN/01 PREFACE
p-1 
PREFACE 
Organization of this manual
This manual describes information necessary to maintain FANUC 
SERVO AMPLIFIER βi series products, such as a βi SVM and 
FANUC SERVO MOTOR βis series products. 
Parts I, II, III and IV explain the start-up procedure, operation, 
troubleshooting, and maintenance for the βi series SVM. 
Part V explains the maintenance for βis series servo motor. 
The abbreviations listed below are used in this manual. 
Product name Abbreviations


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Product name Abbreviations 
FANUC Series 15i FS15i
FANUC Series 16i FS16i
FANUC Series 18i FS18i
FANUC Series 21i FS21i
FANUC Series 0i FS0i
FANUC Series 30i FS30i
FANUC Series 31i FS31i
FANUC Series 32i FS32i
FANUC Power Mate i-D 
FANUC Power Mate i-H 
PMi
FANUC SERVO AMPLIFIER βi series SVM 
Power Supply Module 
βi SVM, SVM, 
Servo Amplifier Module 
* The manuals shown below provide information related to this 
manual. This manual may refer you to these manuals.


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FANUC SERVO AMPLIFIER βi series Descriptions B-65322EN 
FANUC AC SERVO MOTOR βis series Descriptions B-65302EN 
FANUC AC SERVO MOTOR αis/αi/βis series Parameter Manual 
 B-65270EN 
 WARNING 
 When maintaining and inspecting the servo 
amplifier module, keep the power turned off and 
make sure that the LED (red) on the front panel of 
the servo amplifier module that indicates whether 
electric charge is in progress is off. (See Appendix 
A.)


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B-65395EN/01 TABLE OF CONTENTS
c-1 
TABLE OF CONTENTS 
SAFETY PRECAUTIONS............................................................................s-1 
PREFACE....................................................................................................p-1 
I. START-UP PROCEDURE 
1 OVERVIEW .............................................................................................3 
2 CONFIGURATIONS ................................................................................4


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2.1 CONFIGURATIONS ......................................................................................5 
2.2 MAJOR COMPONENTS ...............................................................................6 
2.2.1 Servo Amplifier Modules.........................................................................................6 
3 START-UP PROCEDURE.......................................................................7


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3.1 START-UP PROCEDURE (OVERVIEW) ......................................................8 
3.2 CONNECTING THE POWER........................................................................9 
3.2.1 Checking the Voltage and Capacity of the Power....................................................9 
3.2.2 Connecting a Protective Ground ..............................................................................9


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3.2.3 Selecting the Ground Fault Interrupter That Matches the Leakage Current ............9 
3.3 INITIALIZING PARAMETERS 
(SWITCHES AND DUMMY CONNECTORS).............................................. 10 
3.4 PARAMETER INITIALIZATION ................................................................... 11 
4 CONFIRMATION OF THE OPERATION ..............................................15 
4.1 CHECK PROCEDURE ................................................................................ 16


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5 PERIODIC MAINTENANCE OF SERVO AMPLIFIER ..........................19 
5.1 BATTERY FOR THE ABSOLUTE PULSECODER...................................... 20 
5.2 PERIODIC MAINTENANCE OF SERVO AMPLIFIER ................................. 28 
II. HANDLING 
1 OVERVIEW ...........................................................................................33 
1.1 SERVO AMPLIFIER MODULE INTERFACE............................................... 34


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1.2 FANUC I/O LINK INTERFACE AREA.......................................................... 34 
1.3 INTERFACE ................................................................................................ 35 
1.3.1 Peripheral Equipment Control Interface.................................................................35 
1.3.2 Direct Command Interface .....................................................................................35


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1.3.3 Interface Switching.................................................................................................35 
1.4 CAUTIONS ON USING THE POWER MATE CNC ..................................... 36


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TABLE OF CONTENTS B-65395EN/01
c-2 
2 SIGNAL DESCRIPTIONS .....................................................................37 
2.1 DO/DO SIGNALS ........................................................................................ 38 
2.1.1 Peripheral Equipment Control Interface.................................................................38 
2.1.2 Direct Command Interface .....................................................................................40


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2.2 SIGNALS (LISTED IN GROUPS) ................................................................ 42 
2.3 SIGNAL DETAILS........................................................................................ 44 
2.3.1 Preparation Completion..........................................................................................44 
2.3.2 Reset and Emergency Stop.....................................................................................45


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2.3.3 Alarm ......................................................................................................................46 
2.3.4 Mode Selection.......................................................................................................47 
2.3.5 Jog Feed..................................................................................................................47


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2.3.6 Status Signals .........................................................................................................48
2.3.7 Feedrate ..................................................................................................................52 
2.3.8 Interlock .................................................................................................................54


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2.3.9 Reference Position Return......................................................................................54 
2.3.10 Automatic Operation ..............................................................................................55 
2.3.11 Clamp and Unclamp (for the Peripheral Equipment Control Interface Only)........56 
2.3.12 Servo-off.................................................................................................................57


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2.3.13 Peripheral Equipment Control Function Code and Related Information ...............58 
2.3.14 Direct Command Function Code and Related Information....................................62 
2.3.15 Direct Input Signals................................................................................................68 
3 PERIPHERAL EQUIPMENT CONTROL...............................................71 
3.1 COMMAND FORMAT FOR PERIPHERAL EQUIPMENT CONTROL......... 72


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3.2 PERIPHERAL EQUIPMENT CONTROL PROCEDURE.............................. 73 
3.2.1 Specifying Operation Using a Function Code........................................................73 
3.2.2 Receiving Response Data.......................................................................................73 
3.3 FUNCTION CODES .................................................................................... 74


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3.3.1 Function Codes.......................................................................................................74 
3.4 DETAILS OF FUNCTION CODES............................................................... 76 
3.4.1 ATC/Turret Control................................................................................................76 
3.4.2 Point Positioning Control .......................................................................................78


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3.4.3 Reference Position Return......................................................................................80 
3.4.4 Reference Position Setting 
(when the Reference Position External Setting Function is Used).........................82 
3.4.5 Positioning Control (Absolute/Incremental Specification, for Skip Function) ......84 
3.4.6 Speed Control.........................................................................................................86


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3.4.6.1 Overview ........................................................................................................... 86


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B-65395EN/01 TABLE OF CONTENTS
c-3 
3.4.6.2 System configuration ......................................................................................... 86 
3.4.6.3 Peripheral equipment control command format................................................. 87 
3.4.6.4 Command timing chart ...................................................................................... 89


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3.4.6.5 Parameter ........................................................................................................... 92 
3.4.6.6 Signal ................................................................................................................ 94 
3.4.6.7 Alarm ................................................................................................................ 94


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3.4.6.8 Others ................................................................................................................ 95 
3.4.7 Coordinate System Setting .....................................................................................96 
3.4.8 Rewriting of Parameters.........................................................................................97 
3.4.8.1 Overview ........................................................................................................... 97


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3.4.8.2 System configuration ......................................................................................... 97 
3.4.8.3 Peripheral equipment control command format................................................. 98 
3.4.8.4 Command timing chart ...................................................................................... 99 
3.4.8.5 Alarm ................................................................................................................ 99


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3.4.8.6 Parameter ........................................................................................................... 99 
3.4.9 Control of the Point Data External Setting Function............................................100 
3.4.10 Teaching-based Data Setting Control...................................................................101 
3.5 REFERENCE POSITION RETURN FUNCTION WITH DOGS.................. 102


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3.5.1 Explanation of Function .......................................................................................102 
3.5.1.1 Reference position return operation (grid method).......................................... 102 
3.5.1.2 Deceleration limit switch installation condition .............................................. 103 
3.5.1.3 Tip .............................................................................................................. 104


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3.5.2 Parameter..............................................................................................................105 
3.6 UPGRADING OF THE ROTATION AXIS CONTROL FUNCTION ............ 106 
3.6.1 Function for Specifying the Direction of Rotation Axis High-speed Reference 
Position Return.....................................................................................................106


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3.6.1.1 Explanation of function ................................................................................... 106 
3.6.1.2 Parameter ......................................................................................................... 106 
3.6.2 Rotation Axis Rotation Direction Sign Specification Function ...........................107 
3.6.2.1 Explanation of function ................................................................................... 107


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3.6.2.2 Example of program ........................................................................................ 107 
3.6.2.3 Parameter ......................................................................................................... 107 
3.7 UPGRADING OF THE CLAMP/UNCLAMP CONTROL FUNCTION ......... 108 
3.7.1 Start of the Timer Counting Until Servo-off in Clamp Processing ......................108


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3.7.1.1 Explanation of function ................................................................................... 108 
3.7.1.2 Parameter ......................................................................................................... 108 
3.7.2 Disabling of Clamp Processing When Jog Operation is Stopped ........................108 
3.7.2.1 Explanation of function ................................................................................... 108


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3.7.2.2 Parameter ......................................................................................................... 108 
3.8 UPGRADING OF THE RESPONSE DATA READ FUNCTION ................. 109 
3.8.1 Overview ..............................................................................................................109


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TABLE OF CONTENTS B-65395EN/01
c-4 
3.8.2 Details of Function ...............................................................................................109 
3.8.3 DI/DO Signals ......................................................................................................110 
3.8.4 Parameter..............................................................................................................111


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3.8.5 Notes ....................................................................................................................112 
3.9 IMPROVEMENT OF TURRET/MAGAZINE NUMBER OUTPUT............... 114 
3.9.1 Overview ..............................................................................................................114
3.9.2 Details of Function ...............................................................................................114


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3.9.3 Signal ....................................................................................................................118 
3.9.4 Parameter..............................................................................................................120 
3.9.4.1 Related parameters........................................................................................... 121 
3.10 MANUAL HANDLE INTERFACE ............................................................... 124


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3.10.1 Overview ..............................................................................................................124 
3.10.2 Details of Function ...............................................................................................124 
3.10.3 Signal ....................................................................................................................125 
3.10.3.1 Signal on the servo amplifier module .............................................................. 125


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3.10.3.2 Signal on the CNC (host)................................................................................. 126 
3.10.4 Parameter..............................................................................................................127 
3.10.4.1 Parameter on the servo amplifier module ........................................................ 127 
3.10.4.2 Parameter on the CNC (host)........................................................................... 127


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4 DIRECT COMMANDS.........................................................................128 
4.1 DIRECT COMMAND FORMAT ................................................................. 129 
4.2 DIRECT COMMAND CONTROL PROCEDURE ....................................... 131 
4.2.1 Direct Command Control Procedure ....................................................................131 
4.2.2 Instruction Command Control (EBUF, EBSY, and ECNT).................................132


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4.2.3 Response Command Control (EOREND, EOSTB, EOPC, USR1, and ECONT)133 
4.2.4 Command Completion Notification (ECF) ..........................................................133 
4.2.5 Alarm (DAL)........................................................................................................134 
4.2.6 Direct Command Execution Result ......................................................................134


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4.3 LIST OF DIRECT COMMANDS.................................................................135 
4.4 DETAILS OF DIRECT COMMAND FUNCTIONS...................................... 136 
4.4.1 Signal Operation Commands................................................................................136 
4.4.2 Parameter..............................................................................................................137


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4.4.3 Status Read...........................................................................................................140
4.4.4 Axis Movement Commands.................................................................................154 
4.5 THIRTY-TWO-BLOCK BUFFERING OPERATION ................................... 167 
4.5.1 Overview ..............................................................................................................167


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4.5.2 Memory Registration Procedure...........................................................................167


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B-65395EN/01 TABLE OF CONTENTS
c-5 
4.5.3 Operation Procedure.............................................................................................168 
5 EXTERNAL PULSE INPUT FUNCTION .............................................169 
5.1 OVERIVIEW .............................................................................................. 170 
5.2 DETAILED DESCRIPTION........................................................................ 171


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6 UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION 
(OPTIONAL FUNCTION) ....................................................................172 
6.1 OVERVIEW ............................................................................................... 173 
6.2 SERIES AND EDITIONS OF APPLICABLE SERVO SOFTWARE............ 174 
6.3 SETUP METHOD ...................................................................................... 175


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6.3.1 Overview ..............................................................................................................175
6.3.2 Details of the Setup Method.................................................................................176 
6.4 SIGNAL .....................................................................................................180 
6.5 PARAMETER ............................................................................................ 181


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6.6 ALARM ...................................................................................................... 183 
6.7 DIAGNOSIS............................................................................................... 183 
7 QUICK STOP FUNCTION...................................................................184 
7.1 OVERVIEW ............................................................................................... 185


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7.2 SERIES AND EDITIONS OF APPLICABLE SERVO SOFTWARE............ 185 
7.3 SETTING METHOD................................................................................... 185 
7.4 PARAMETER ............................................................................................ 186 
III. TROUBLESHOOTING 
1 OVERVIEW .........................................................................................189 
2 ALARM NUMBERS AND BRIEF DESCRIPTIONS ............................190


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3 ACTION AGAINST NOISE..................................................................201 
3.1 NOTES ON CONNECTING THE GROUND SYSTEMS............................ 203 
3.2 NOTES ON SELECTING THE SPARK KILLER ........................................ 206 
IV. MAINTENANCE OF SERVO AMPLIFIER MODULES 
1 HOW TO REPLACE THE FUSES AND PRINTED CIRCUIT 
BOARDS .............................................................................................211


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1.1 HOW TO REPLACE THE FUSES AND PRINTED CIRCUIT BOARDS..... 212 
1.1.1 Ordering Number of Printed Circuit Board..........................................................214 
1.1.2 Fuse Locations......................................................................................................214 
1.2 HOW TO REPLACE THE FAN MOTOR.................................................... 215


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TABLE OF CONTENTS B-65395EN/01
c-6 
1.2.1 For Fan Motors for Internal Agitation for SVM1-4i and SVM1-20i ...................215 
1.2.2 For Fan Motors for Internal Agitation for SVM1-40i and SVM1-80i .................216 
1.2.3 External-Fan Motor ..............................................................................................217 
V. SERVO MOTOR MAINTENANCE 
1 SERVO MOTOR MAINTENANCE ......................................................221


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1.1 RECEIVING AND KEEPING AC SERVO MOTORS ................................. 222 
1.2 DAILY INSPECTION OF AC SERVO MOTORS ....................................... 223 
1.3 PERIODIC INSPECTION OF AC SERVO MOTORS ................................ 225 
1.4 REPLACING THE PULSECODER ............................................................ 228 
1.5 SPECIFICATION NUMBERS OF REPLACEMENT PARTS...................... 230 
APPENDIX 
A SERVO AMPLIFIER MODULE FRONT VIEW....................................233


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B PARAMETER LIST .............................................................................235 
B.1 CONTROLLED-AXIS PARAMETERS ....................................................... 242 
B.2 COORDINATE SYSTEM AND STROKE LIMIT PARAMETERS ............... 243 
B.3 FEEDRATE PARAMETERS...................................................................... 247 
B.4 ACCELERATION/DECELERATION CONTROL PARAMETERS .............. 250


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B.5 INPUT/OUTPUT SIGNALS PARAMETERS .............................................. 253 
B.6 SERVO PARAMETERS ............................................................................ 264 
B.7 DIGITAL SERVO STANDARD PARAMETER TABLE............................... 286 
C DIAGNOSIS LISTS .............................................................................288 
C.1 SIGNALS SENT FROM CNC (HOST) TO SERVO AMPLIFIER


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MODULE ................................................................................................... 289 
C.1.1 Peripheral Equipment Control Interface (DRC = 0).............................................289 
C.1.2 Direct Command Interface (DRC = 1) .................................................................289 
C.2 SIGNALS SENT FROM SERVO AMPLIFIER MODULE TO CNC (HOST)290 
C.2.1 Peripheral Equipment Control Interface (DRC = 0).............................................290


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C.2.2 Direct Command Interface (DRC = 1) .................................................................290 
C.3 SERVO POSITIONAL DEVIATION AMOUNT 
(SERVO AMPLIFIER MODULE)................................................................ 291 
C.4 ACCELERATION/DECELERATION DELAY AMOUNT 
(SERVO AMPLIFIER MODULE)................................................................ 291 
C.5 FUNCTION BIT (SERVO AMPLIFIER MODULE)...................................... 291


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B-65395EN/01 TABLE OF CONTENTS
c-7 
D POWER MATE CNC MANAGER FUNCTIONS..................................292 
D.1 POWER MATE CNC MANAGER FUNCTIONS 
(Series 16, 18, 21, Power Mate) ................................................................ 293 
D.1.1 Overview ..............................................................................................................293
D.1.2 I/O Link Connection.............................................................................................293


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D.1.3 Function Selection and Termination ....................................................................293 
D.1.3.1 Selection .......................................................................................................... 293 
D.1.3.2 Function Selection Soft Key............................................................................ 294 
D.1.3.3 Termination...................................................................................................... 294


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D.1.3.4 Disabling the Power Mate CNC Manager Functions ...................................... 294 
D.1.3.5 Parameter Setting............................................................................................. 295 
D.1.3.6 Restriction........................................................................................................ 296 
D.1.4 Function Overview...............................................................................................297


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D.1.4.1 Soft key status transition diagram.................................................................... 297 
D.1.4.2 Screen configuration........................................................................................ 299 
D.1.4.3 Operations of an Active Slave ......................................................................... 301 
D.1.5 FUNCTION DETAILS ........................................................................................302


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D.1.5.1 System Configuration ...................................................................................... 302 
D.1.5.2 Parameters........................................................................................................ 304 
D.1.5.3 Diagnosis ......................................................................................................... 306 
D.1.5.4 Absolute Coordinate ........................................................................................ 307


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D.1.5.5 Machine Coordinates....................................................................................... 308 
D.1.5.6 Alarms ............................................................................................................. 308 
D.1.6 Alarm Display on the Power Mate CNC Manager...............................................309 
D.2 POWER MATE CNC MANAGER FUNCTION (Series 30i, 31i, 32i).......... 310


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D.2.1 Screen Display......................................................................................................311 
D.2.2 Inputting and Outputting Parameters....................................................................317 
D.2.3 Parameters ............................................................................................................319
D.2.4 Warning................................................................................................................320


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D.2.5 Note ....................................................................................................................321 
E SERVO CHECK BOARD ....................................................................322


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B-65395EN/01 START-UP PROCEDURE 1.OVERVIEW
- 3 - 
1 OVERVIEW 
This part describes the units and components of the FANUC servo 
amplifier. It also explains the following information necessary to start 
up the servo amplifier: 
• Configurations 
• Start-up procedure 
• Confirmation of the operation 
• Periodic maintenance of servo amplifier


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B-65395EN/01 START-UP PROCEDURE 2.CONFIGURATIONS
- 5 - 
2.1 CONFIGURATIONS 
A system using FANUC servo amplifier βi series SVMs consists of the 
following units and parts: 
(1) Servo amplifier module (SVM) (basic) 
(2) AC line filter (basic) 
(3) Connectors (for connecting cables) (basic) 
(4) Fuses (option) 
(5) Power transformer (option) 
Constituent (example) 
Magnetic 
contactor
Circuit 
breker 
AC line 
filter 
βi series 
SVM 
βi series 
SVM 
Servo 
motor 
Servo 
motor


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Servo 
motor 
Servo 
motor 
Control power 
supply 
24VDC ± 10% 
3φ
200 to 240 VAC 
or 
1φ
220 to 240 VAC 
(4A or 20A models 
only)
: Basic 
: Option 
: Units prepared by the machine tool builder 
NOTE 
1 A circuit breakers, magnetic contactor, and AC line 
filter are always required. 
2 To protect the unit from surge currents caused by 
lightning, connect surge absorbers between lines, 
and between the lines and ground, at the power inlet 
of the power magnetics cabinet.


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3 The AC line filter is different from the AC reactor, 
which is designed for another purpose. Substituting 
one for the other or using one as both the filter and 
reactor is not allowed.


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2.CONFIGURATIONS START-UP PROCEDURE B-65395EN/01
- 6 - 
2.2 MAJOR COMPONENTS 
2.2.1 Servo Amplifier Modules 
(1) Servo amplifier module (SVM1) 
Model Order specification Unit specification Wiring board 
specification 
Printed circuit board 
specification 
SVM1-4i A06B-6132-H001 A06B-6132-C001 A20B-2101-0090 
SVM1-20i A06B-6132-H002 A06B-6132-C002 A20B-2101-0091 
SVM1-40i A06B-6132-H003 A06B-6132-C003 A16B-3200-0512 
SVM1-80i A06B-6132-H004 A06B-6132-C004 A16B-3200-0513 
A20B-8101-0200


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3.START-UP PROCEDURE START-UP PROCEDURE B-65395EN/01
- 8 - 
3.1 START-UP PROCEDURE (OVERVIEW) 
Make sure that the specifications of the CNC, servo motors, servo 
amplifiers, and other units you received are exactly what you ordered, 
and these units are connected correctly. Then, turn on the power. 
(1) Before turning on the circuit breaker, check the power supply voltage 
connected. 
 Make sure that the protective ground is connected. Also make sure that


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the selected ground fault interrupter is appropriate for the leakage 
current that is anticipated. 
→ See Section 3.2. 
↓
(2) Before the system can be used, some switches and dummy connectors 
require setting. So, check the necessary settings. 
→ See Section 3.3. 
↓
(3) Start the servo amplifier module. 
↓
(4) Start the CNC. 
↓
(5) Set up parameters.


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B-65395EN/01 START-UP PROCEDURE 3.START-UP PROCEDURE
- 9 - 
3.2 CONNECTING THE POWER 
3.2.1 Checking the Voltage and Capacity of the Power 
Before connecting the power, you should measure the AC power 
voltage. 
Table 3.2.1(a) Action for the AC power (200-V input type) 
Permissible 
voltage 
fluctuation 
width 
Nominal 
voltage Action 
-15% 
+10% 
3-phase 
200 to 
240VAC 
SVM1-4i, SVM1-20i
SVM1-40i, SVM1-80i
Permitted. 
Note) If the voltage is below the rated value,


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the rated output may not be obtained. 
-15% 
+10% 
1-phase 
220 to 
240VAC 
SVM1-4i, SVM1-20i
Single-phase input is permitted when the power 
supply is 380 to 415 VAC to neutral grounding.
Other than the above 
SVM1-4i, SVM1-20i
SVM1-40i, SVM1-80i
Not permitted. 
Use an insulating transformer to adjust the input 
voltage. 
Table 3.2.1 (b) list the input power specification. Use a power source 
with sufficient capacity so that the system will not malfunction due to a


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voltage drop even at a time of peak load. 
Table 3.2.1 (b) AC power voltage specifications (200-V input type) 
Model SVM1-4i SVM1-20i SVM1-40i SVM1-80i
Nominal voltage rating 200 to 240VAC -15%, +10% 
Power source frequency 50/60Hz ±1Hz 
Power source capacity 
(for the main circuit) 
[kVA] 
0.2 1.9 3.9 6.2 
Power source capacity 
(for the control circuit) 
[kVA] 
22 
3.2.2 Connecting a Protective Ground 
Check that the protective ground line is connected correctly.


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3.2.3 Selecting the Ground Fault Interrupter That Matches the 
Leakage Current 
Check that a correct ground fault interrupter is selected.


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3.START-UP PROCEDURE START-UP PROCEDURE B-65395EN/01
- 10 - 
3.3 INITIALIZING PARAMETERS (SWITCHES AND DUMMY 
CONNECTORS) 
SVM1-4i, SVM1-20i
• When no regenerative resistor is used 
 Connect connector CXA20 by using a dummy connector. 
 See FANUC SERVO AMPLIFIER βi series DESCRIPTIONS 
(B-65322EN). 
SVM1-40i, SVM1-80i
• Switch (SW) setting 
 The regenerative resistor alarm level is set. The setting condition 
varies depending on the regenerative resistor used (the built-in


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regenerative resistor or separate regenerative resistor). Perform 
the setting properly. 
 WARNING 
 Incorrect setting can damage the regenerative 
resistor. 
 See FANUC SERVO AMPLIFIER βi series DESCRIPTIONS 
(B-65322EN). 
• When the built-in regenerative resistor is used 
 Connect connector CXA20 by using a dummy connector. 
 Connect connector CZ6 by using a dummy connector. 
 See FANUC SERVO AMPLIFIER βi series DESCRIPTIONS 
(B-65322EN).


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B-65395EN/01 START-UP PROCEDURE 3.START-UP PROCEDURE
- 11 - 
3.4 PARAMETER INITIALIZATION 
(1) Preparation prior to servo parameter initialization 
 Before servo parameter initialization, check the following: 
<1> Servo motor model (Example: β8/3000is) 
<2> Amount of travel per motor rotation (Example: 10 mm/motor 
revolution) 
 At first, decide "detection unit", for example detection unit = 1µm. 
Next, calculate number of pulses per motor revolution with


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"detection unit" and "amount of travel per motor revolution". 
 (Number of pulses per motor revolution) 
 = (Amount of travel per motor revolution) / (Detection unit) 
Example) 
 In case detection unit = 1µm, amount of travel per motor 
revolution =10mm 
 10mm/1µm=10000 
 Then, number of pulses per motor revolution = 10000 
pulses/revolution 
(2) Procedure for servo parameter initialization 
<1> Turn on the power to the servo amplifier module.


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<2> Turn on the power to the host controller in the emergency 
stop state. 
<3> Perform parameter initialization from the CNC. 
 Set values for the parameters listed below. (See <5> to <9>.) 
 Example Parameter number
Motor type number 258 No.125 
CMR 2 No.32 
Numerator for the number of 
pulses per revolution 10000 No.105 
Denominator for the number of 
pulses per revolution 1 No.106 
Direction of travel 111 No.31 
Reference counter capacity 10000 No.180


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<4> Set initialization bit DGPR to 0. 
 b7 b6 b5 b4 b3 b2 b1 b0 
No.12 DGPR 
When this bit is set to 0, a power disconnection request alarm 
(alarm No. 0) is issued. However, 5 to 9 below can be set. 
(The power to the CNC is not turned on until 11.) 
← DGPR is automatically set to 1 when the 
power is turned off then back on. 
DGPR (b1) = 0 
Start initialization


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3.START-UP PROCEDURE START-UP PROCEDURE B-65395EN/01
- 12 - 
<5> Set a motor type number. 
 In parameter No. 125, set the motor type number of the servo 
motor to be used. 
SVM1-4i
Motor model β0.2/5000is β0.3/5000is
Motor 
specification 0111 0112 
Motor type number 260 261 
SVM1-20i
Motor model α1/5000i β2/4000is α2/5000i β4/4000is β8/3000is
Motor 
specification 0202 0061 0205 0063 0075 
Motor type number 252 253 255 256 258 
Motor model α2/5000is α4/5000is αC4/3000i αC8/2000i β0.4/5000is


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Motor 
specification 0212 0215 0221 0226 0114 
Motor type number 262 265 271 276 280 
Motor model β0.5/5000is β1/5000is αC12/2000i 
Motor 
specification 0115 0116 0241 
Motor type number 281 282 291 
SVM1-40i
Motor model β12/3000is α4/4000i β22/2000is α8/3000i αC22/2000i
Motor 
specification 0078 0223 0085 0227 0246 
Motor type number 272 273 274 277 296 
SVM1-80i
Motor model α8/4000is α12/4000is α12/3000i α22/3000i αC30/1500i
Motor 
specification 0235 0238 0243 0247 0251


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Motor type number 285 288 293 297 301 
<6> Set CMR. 
 In parameter No. 32, set a factor by which the amount of 
travel specified in the CNC is multiplied for the servo 
system. 
CMR = Command unit/detection unit 
When CMR is 1 to 48 Setting = CMR x 2 
When CMR is 1/2 to 1/27 Setting = 1/CMR + 100 
 Usually, CMR = 1. So, set 2.


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B-65395EN/01 START-UP PROCEDURE 3.START-UP PROCEDURE
- 13 - 
<7> Set the number of pulses per revolution 
 The number of pulses per revolution is calculated with 
reduction ratios or leads of the ball screws and detection unit. 
 (Number of pulses per motor revolution) 
 = (amount of travel per motor revolution) / (detection unit) 
Numerator for the number of pulses 
per rotation (Parameter No. 105) (≤32767) 
Denominator for the number of 
pulses per rotation 
= 
(Parameter No. 106) (≤32767)


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(Parameter No. 106) (≤32767) 
 
 (Parameter No. 179) (>32767) = (Parameter No. 106) (≤32767) 
Example of setting) 
 Example: 10um detection in semi-closed loop 
Ball screw lead Number of pulses per rotation 
Numerator/denominator 
10 (mm/rev) 
20 (mm/rev) 
30 (mm/rev) 
10mm/10µm=1000/1 
20mm/10µm=2000/1 
30mm/10µm=3000/1 
Example of setting) 
 1/100 degree detection with a deceleration ratio of 10:1 for a 
rotation axis


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rotation axis
Every time the motor makes one rotation, the table rotates through 360/10 
degrees. The number of pulses per motor rotation is 360/10 ÷ (1/100) = 3600 
pulses, so set the ollowing:Numerator = 3600, Denominator = 1 
<8> Set the direction of motor travel in parameter No. 31. 
111 Clockwise as viewed from the pulse coder 
-111 Counterclockwise as viewed from the pulse coder
<9> Set the reference counter capacity. (Parameter No. 180)


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Set the reference counter capacity when performing a 
reference position return operation based on the grid method. 
Set the number of position pulses per motor rotation, or set 
that number divided by an integer. 
Example of setting) 
αi pulse coders, semi-closed loop (1µmm detection) 
Ball screw lead 
Number of 
pulses per motor 
revolution 
Reference 
counter Grid width 
10mm/revolution 
20 
30 
10000/1 
20000/1 
30000/1 
10000 
20000 
30000 
10mm 
20mm 
30mm


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3.START-UP PROCEDURE START-UP PROCEDURE B-65395EN/01
- 14 - 
<10>Turn off/on both CNC and servo amplifier module and servo 
parameter initialization is finished. 
 This completes servo parameter initialization. 
<11>If you use αi pulse coder as an absolute pulse coder, some 
procedures described below are needed. 
1 Set the following parameter, then turn off / on the host 
CNC and servo amplifier module. 
 b7 b6 b5 b4 b3 b2 b1 b0 
No.11 APCX ABSX
 APCX (#7) Absolute position detector is


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0 : not used 1 : used 
 ABSX (#0) Position of machine and position of absolute pulse coder is 
0 : not matched 1 : matched 
2 Make sure that a battery is connected to the absolute 
pulse coder, and turn the power to the host CNC and 
servo amplifier module off and on again. 
3 A reference position return request is indicated. 
4 Rotate the servo motor through one or more rotations by 
jogging and so on. 
5 Turn the power to the host CNC and servo amplifier 
module off, then back on again.


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6 CNC requires the reference position return again. 
7 Perform reference position return. The ABSX is set to 1 
after finishing the reference position return.


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B-65395EN/01 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION
- 15 - 
4 CONFIRMATION OF THE OPERATION


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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65395EN/01
- 16 - 
4.1 CHECK PROCEDURE 
1. Turn on the power. 
When the LED indicates data other than or 
Refer to the explanation of troubleshooting in Part III. 
2. The LED indicates 
3. The emergency stop state is released. 
The LED does not indicate 
Check the *ESP signal applied to the servo amplifier module. 
Check the *ESP signal applied through the I/O link. 
4. The LED indicates 
5. Issue a command from the host controller.


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6. Check the operation of the servo motor. 
An alarm is issued. 
Refer to the explanation of troubleshooting in Part III. 
The motor does not rotate. 
Check the command. 
Check the parameter settings. 
Check *RILK applied to the servo amplifier module. 
The motor malfunctions. 
Check the standard setting parameters are correctly set. 
Check the setting value of No.100(load inertia) and No.107(position loop gain).


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B-65395EN/01 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION
- 17 - 
Table 4.1 LED Indications and Meanings 
 LED indication State Description 
 
Servo amplifier 
module not ready
This indicates that control power (+24 
VDC) is supplied. No alarm is issued, but 
the motor is not activated. 
 
Servo amplifier 
module ready 
This indicates that the motor is activated, 
and that commands can now be accepted.
 
Blinking 
Command being 
executed 
This indicates that an accepted command


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is now being executed. 
 
Blinking 
Parameters being 
loaded 
This indicates that parameters are being 
loaded in a batch from the power mate 
CNC manager. 
Indication other 
than the above Alarm 
An alarm is issued. For information about 
alarms, see the explanation of 
troubleshooting in Part III.


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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65395EN/01
- 18 - 
LED 
LED 
4/20A 
40/80A


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B-65395EN/01 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER
- 19 - 
5 PERIODIC MAINTENANCE OF SERVO 
AMPLIFIER


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5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65395EN/01
- 20 - 
5.1 BATTERY FOR THE ABSOLUTE PULSECODER 
The battery unit for the absolute Pulsecoder can be connected using 
[Connection scheme 1] and [Connection scheme 2] explained below. 
[Connection scheme 1] 
Supplying power from one battery unit to more than one SVM 
SVM SVM 
Battery case 
A06B-6050-K060 
Battery 
A06B-6050-K061 
Connector 
A06B-6130-K201 
CXA19A CXA19A 
CXA19B CXA19B


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CXA19A CXA19A 
CXA19B CXA19B 
• If a low battery voltage or a battery voltage of 0 V is indicated by 
an APC (absolute Pulsecoder) alarm, replace the battery. 
 If a battery voltage of 0 V is indicated, you need to make a zero 
point return. 
 If a battery voltage of 0 V is indicated, you need to make a zero 
point return. 
• The absolute Pulsecoder of the βis series servo motor (β0.4/5000iS
to β22/2000iS) is incorporated with a backup capacitor as standard.


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This backup capacitor enables an absolute position detection to be 
continued for about 10 minutes. Therefore, no zero point return 
need be performed if the time during which servo amplifier power 
is kept off for battery replacement is within 10 minutes. 
 The Pulsecoder of the β series servo motors and some of the βiS
series servo motors (β0.2/5000iS to β0.3/5000iS) does not include 
a backup capacitor. Be careful when replacing the battery for this


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Pulsecoder. See [Caution No. 1 for battery replacement] at the end 
of this section for details. 
• The battery service life is about two years for the βiS series servo 
motors (β0.4/5000iS to β22/2000iS) if servo motors for six axes are 
connected. For the β series servo motors and some of the βiS series 
servo motors (β0.2/5000iS to β0.3/5000iS), the battery service life 
is about one year. 
 FANUC recommends that you replace the batteries periodically 
according to the battery service life.


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• The battery unit consists of four R20 alkaline batteries. 
Commercial batteries can be used in the battery unit. The optional 
battery offered by FANUC is A06B-6050-K061.


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B-65395EN/01 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER
- 21 - 
 WARNING 
1 Do not connect more than one battery to the same 
BAT (B3) line. If the output voltage is different 
between the batteries, they may be short-circuited, 
resulting in the batteries becoming very hot. 
2 Install the battery with correct polarity. If the battery 
is installed with incorrect polarity, it may overheat, 
blow out, or catch fire.


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5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65395EN/01
- 22 - 
[Connection scheme 2] Incorporating each SVM with batteries 
SVM 
Battery 
A06B-6093-K001 
Battery case 
A06B-6093-K002 
SVM 
Battery 
A06B-6093-K001 
Battery case 
A06B-6093-K002 
CX5X CX5X 
• If a low battery voltage or a battery voltage of 0 V is indicated by 
an APC (absolute Pulsecoder) alarm, replace the battery 
(A06B-6073-K001). 
 If a battery voltage of 0 V is indicated, you need to make a zero


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point return. 
• The absolute Pulsecoder of the βis series servo motor (β0.4/5000iS
to β22/2000iS) is incorporated with a backup capacitor as standard. 
This backup capacitor enables an absolute position detection to be 
continued for about 10 minutes. Therefore, no zero point return 
need be performed if the time during which servo amplifier power 
is kept off for battery replacement is within 10 minutes. 
 The Pulsecoder of the β series servo motors and some of the βiS


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series servo motors (β0.2/5000iS to β0.3/5000iS) does not include 
a backup capacitor. Be careful when replacing the battery for this 
Pulsecoder. See [Caution No. 1 for battery replacement] at the end 
of this section for details. 
• The battery service life is about two years for the βiS series servo 
motors (β0.4/5000iS to β22/2000iS). For the β series servo motors 
and some of the βiS series servo motors (β0.2/5000iS to 
β0.3/5000iS), the battery service life is about one year.


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FANUC recommends that you replace the batteries periodically 
according to the battery service life. 
• The built-in batteries are not commercially available. They must 
be purchased from FANUC. So, FANUC recommends that you 
keep spares.


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B-65395EN/01 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER
- 23 - 
 WARNING 
1 When using the built-in batteries 
(A06B-6093-K001), do not connect them to the BAT 
(B3) of connector CXA19A/CXA19B. 
 The output voltages from different SVM batteries 
may be short-circuited, resulting in the batteries 
becoming very hot. 
2 Do not connect more than one battery to the same 
BAT (B3) line. If the output voltage is different 
between the batteries, they may be short-circuited,


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resulting in the batteries becoming very hot. 
 - Installation procedure for the battery 
 ⋅ SVM1-4i, SVM1-20i
(1) Install the battery in the SVM. 
(2) Install the battery cover. 
(3) Attach the battery connector to CX5X of the SVM. 
Battery 
SVM 
Battery cover 
Inserting direction 
Red : +6V
Black : 0V 
CX5X 
+6V 
 0V
Connector 
Cable side


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5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65395EN/01
- 24 - 
 ⋅ SVM1-40i, SVM1-80i
(1) Install the battery in the SVM. 
(2) Install the battery cover. 
(3) Attach the battery connector to CX5X of the SVM. 
Battery 
SVM 
Battery cover 
Inserting direction 
Red: +6 V
Black: 0 V
CX5X 
+6 V
 0 V
Connector 
Cable side
 CAUTION 
1 When the battery is installed in the SVM from the 
side from which the cable is drawn, the cable may


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be stretched tight, which can lead to a poor contact 
condition. Therefore, install the battery so that the 
cable is not extended tightly. 
2 Be careful when handling the connector. See 
[Caution No. 2 for battery replacement] at the end of 
this section for details.


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B-65395EN/01 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER
- 25 - 
[Caution No. 1 for battery replacement] 
The Pulsecoder of the β series servo motors and some of the βiS series 
servo motors (β0.2/5000iS to β0.3/5000iS) does not include a backup 
capacitor as standard. To keep the absolute position information in the 
absolute Pulsecoder, you need to keep the control power turned on 
during battery replacement. Follow the procedure explained below.


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[Replacing procedure for the battery] 
1. Make sure that the power to the SVM is on (the LED “POWER” 
on the front of the SVM is on). 
2. Make sure that the emergency stop button of the system has been 
pressed. 
3. Make sure that the motor is not activated. 
4. Make sure that the DC link charge LED of the SVM is off. 
5. Remove the old battery, and install a new battery. 
6. This completes the replacement. You can turn off the power to the 
system. 
 WARNING


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system. 
 WARNING 
1 When replacing the battery, be careful not to touch 
bare metal parts in the panel. In particular, be 
careful not to touch any high-voltage circuits due to 
the electric shock hazard. 
2 Before replacing the battery, check that the DC link 
charge confirmation LED on the front of the servo 
amplifier is off. Neglecting this check creates an 
electric shock hazard. 
3 Install the battery with correct polarity. If the battery


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is installed with incorrect polarity, it may overheat, 
blow out, or catch fire. 
4 Avoid a short-circuit between the +6 V and 0 V lines 
of a battery or cable. A short-circuit may lead to a 
hot battery, an explosion, or fire.


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5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65395EN/01
- 26 - 
[Caution No. 2 for battery replacement] 
If an excessive strain is applied to a connector when it is inserted or 
removed, a poor contact may result. When inserting and removing the 
battery connector, therefore, be careful not to apply an excessive 
wrenching force to it; just follow the instructions given in the following 
table. 
(1) Attaching connectors 
<1> Check the attachment 
position. 
<2>


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position. 
<2> 
10 degrees or less
Plug the cable 
connector while 
raising it slightly. 
<5> 
5 degrees or less
Here, the angle of the 
cable connector to the 
horizontal must be 5 
degrees or less. 
<3> 
After passing the lock 
pin, insert the 
connector straight. 
<4> 
The attachment of the 
connector is 
completed.


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B-65395EN/01 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER
- 27 - 
(2) Detaching the connector 
<1> 
Hold both the sides of 
the cable insulator and 
the cable, and pull 
them horizontally. 
<2> 
10 degrees or less
Pull out the cable side 
while raising it slightly.
<3> 
5 degrees or less
Here, the angle of the 
cable to the horizontal 
must be 5 degrees or 
less.


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5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65395EN/01
- 28 - 
5.2 PERIODIC MAINTENANCE OF SERVO AMPLIFIER 
To use the servo amplifier for a long time and keep its high performance 
and reliability, you should perform maintenance and inspection on it 
routinely. 
Inspection Inspection cycle 
target 
Inspection 
item Routine Periodic
Criterion Remark
Environment Ambient 
temperature O 
Surroundings of the power magnetics cabinet: 
0 to 45 °C


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0 to 45 °C 
Inside of power magnetics cabinet: 0 to 55 °C 
Environment Humidity O 90%RH or lower (no condensation allowed) 
Environment Dust 
Oil mist O No dust or oil mist shall be on and around the servo 
amplifier. 
Environment Cooling air 
path O Whether the cooling air path is free from an obstacle. 
Whether the cooling fan motor is working. 
Environment 
Abnormal 
vibration and 
noise 
O 
(1) There shall be no abnormal sound or vibration that 
has not be experienced so far.


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(2) Any vibration on and around the amplifier shall not 
be over 0.5 G. 
Environment 
Power 
supply 
voltage 
O 
3-phase input : 
Shall be within the rating (200 to 240 V). 
Single-phase input : 
Shall be within the rating (220 to 240 V). 
Amplifier General O Whether the amplifier generates abnormal sound or 
odor. 
Amplifier General O 
Whether there is dust or oil mist on the amplifier. 
Whether the amplifier generates abnormal sound or 
odor.


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odor. 
Amplifier Screw O There shall be no loose screw. 
Amplifier Fan motor O 
(1) Whether the motor is running normally. 
(2) The motor shall not generate abnormal vibration 
or sound. 
(3) There shall be no dust or oil mist on the motor. 
(*1) 
Amplifier Connector O Whether there is a loose connector. 
Amplifier Cable O 
(1) Whether there is a sign of past heat generation. 
(2) Whether there is a deteriorated sheath (discolored 
or cracked). 
External 
device 
Magnetic


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External 
device 
Magnetic 
contactor O The magnetic contactor shall not rattle or chatter. 
External 
device 
Ground fault 
interrupter O The interrupter shall be able to trip. 
External 
device AC line filter O There shall be no hum. 
(*1) Generally, fan motors are periodic-replacement parts. 
 If a fan motor for a servo amplifier does not work, the amplifier 
will not get broken immediately. However, you should inspect the 
fan motor constantly and replace it in a preventive manner.


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B-65395EN/01 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER
- 29 - 
Specification number of fan unit 
 - SVM 
Fan for circulating the inside air Fan for cooling external heat sink fins SVM name 
Fan unit (*1) Fan motor Fan unit (*1) Fan motor 
SVM1-4i 
SVM1-20i - A90L-0001-0423#50 - - 
SVM1-40i A06B-6110-C605 A90L-0001-0510 - - 
SVM1-80i A06B-6110-C605 A90L-0001-0510 A06B-6134-K002 - 
(*1) A fan unit is a set of a fan motor and a cover for mounting it.


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1.OVERVIEW HANDLING B-65395EN/01
- 34 - 
1.1 SERVO AMPLIFIER MODULE INTERFACE 
The servo amplifier module is connected to a host unit such as a CNC 
via 128 DI and 128 DO points of the FANUC I/O Link. The ladder 
program on the host unit sends move commands to the servo amplifier 
module and monitors its status, via this interface. 
Host unit 
interface area
Servo amplifier module
PMC I/O interface area
 in the CNC 
Yy+0 
Yy+1 
: 
Yy+7 
: 
Yy+15
Xx+0 
Xx+1 
: 
Xx+7 
: 
Xx+15


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Xx+1 
: 
Xx+7 
: 
Xx+15
Instruction command 
I/O Link 
Response command 
1.2 FANUC I/O Link INTERFACE AREA 
The interface area used to transfer data via the FANUC I/O Link is 
divided into two sections: A signal area for handling reset and alarm 
signals, and a command code area for handling move commands and 
status monitor command code. 
The host unit can directly read- and write-access the signal area. So it 
can be used to select the interface mode, start/stop operations, and


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monitor for alarm conditions. 
The command code area can be used to issue commands to servo 
amplifier modules by combining function code and command data. For 
example, it is possible to send absolute/incremental move command 
and reference position return move command blocks, and receive the 
current position data.


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B-65395EN/01 HANDLING 1.OVERVIEW
- 35 - 
1.3 INTERFACE 
Interfaces are used to transfer data to and from the servo amplifier 
module. 
Essentially, there are two operation modes: Peripheral equipment 
control interface and direct command interface. The mode to be used is 
selected by the DRC signal in the signal area. 
1.3.1 Peripheral Equipment Control Interface 
This interface offers a high degree of compatibility with the peripheral


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equipment control functions of the Power Mate-E. It is provided with 
commands that can be used to control the peripheral equipment of 
machine tools. It enables the implementation of a series of positioning 
operations, such as axis clamp/unclamp, with a single command. This 
interface is useful if a ladder program, created based on this interface, is 
already available. 
1.3.2 Direct Command Interface 
This interface is used to implement a positioning operation with a single


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command, unlike peripheral equipment control, in which a single 
command can perform multiple operations. Besides a positioning 
command, this interface offers commands such as wait, parameter 
read/write, and diagnosis data read commands, enabling a wide range of 
operations can be implemented. 
The two interface modes can be switched during operation. Interface 
switching causes the meaning of signals to be changed, requiring 
complicated ladder program logic. So, it is recommended that the


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interface mode not be changed during a servo amplifier module control 
sequence. 
1.3.3 Interface Switching 
Either peripheral equipment control or direct command interface mode 
is available depending on the situation. Usually, interface switching is 
not performed while the power is on. When necessary, however, the 
host can switch the interface by issuing a DRC signal. 
When the DRC signal is 0, the peripheral equipment control interface is


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selected. When it is 1, the direct command interface is selected. 
When the DRCO signal is 0, response data received from the servo 
amplifier unit indicates the peripheral equipment control interface. 
When it is 1, the response data indicates the direct command interface.


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1.OVERVIEW HANDLING B-65395EN/01
- 36 - 
DRC signal switching must be performed during a reset state. Signal 
switching causes the meaning of a signal in use to be changed. Be 
careful when a command is being issued or axis movement is occurring, 
as signal switching may result in unexpected behavior. 
Once the DRC signal is switched, defer issuing a command until one 
scan after the DRCO signal is switched. If the DRC signal is inverted


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again before the DRCO signal is switched, it may become impossible to 
exchange data with the servo amplifier module normally. Before 
inverting the DRC signal again, wait for at least one scan after the 
DRCO signal is switched. 
1.4 CAUTIONS ON USING THE POWER MATE CNC 
When the direct command interface is selected, using a Power Mate 
CNC manager function at the same time causes the area for response 
commands (Xx+4 to Xx+15) to be shared by the PMC and the manager.


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For this reason, it is necessary to distinguish between the response 
commands for their respective instruction commands and receive only 
those response commands for the PMC of the host. "USR1" in a 
response command is used to determine whether it is for the PMC or the 
manager. 
If "USR1" is "0", the response command is for the PMC of the host and 
the PMC can receive it; if "USR1" is "1", it is for the Power Mate CNC 
manager and the PMC must ignore it.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
- 38 - 
2.1 DO/DO SIGNALS 
A host unit such as a CNC is connected to the servo amplifier module 
via 128 DI and 128 DO points of the FANUC I/O Link. 
 CAUTION 
 I/O link interface signal assignment differs between 
the peripheral equipment control and direct 
command interfaces. 
2.1.1 Peripheral Equipment Control Interface 
Locations Yy+0, Yy+1, and Yy+7 are allocated as the DO signal area,


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while locations Xx+0, Xx+1, Xx+2, and Xx+7 are allocated as the DI 
signal area. To control the servo amplifier module, it is necessary to 
turn on or off directly those signals that are assigned to these areas of 
read them. 
For the command code area, the function code and command data 1 are 
assigned to location Yy+2, and command data 2 is assigned to locations 
Yy+3 to Yy+6. Command issue to the servo amplifier module must be 
done using these locations. Also, response commands are assigned to


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locations Xx+3 to Xx6; receive the response data for instruction 
commands. 
CNC (host) → Servo amplifier module (DRC=0) 
 7 6 5 4 3 2 1 0 
 Yy+0 ST UCPS2 -X +X DSAL MD4 MD2 MD1 
 Yy+1 DRC ABSRD *ILK SVFX *ESP ERS 
 Yy+2 Function code Command data 1 
 Yy+3 
 Yy+4 
 Yy+5 
 Yy+6 
Command data 2 
 Yy+7 RT DRN ROV2/MP2 ROV1/MP1 *OV8 *OV4 *OV2 *OV1 
 Yy+8 
 Yy+9 
 Yy+10 
 Yy+11 
 Yy+12 
 Yy+13 
 Yy+14 
 Yy+15 
Unusable 
(System reserved area)


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
- 39 - 
Servo amplifier module → CNC (host) (DRC=0) 
 7 6 5 4 3 2 1 0 
 Xx+0 OPC4 OPC3 OPC2 OPC1 INPX SUPX IPLX DEN2 
 Xx+1 OP SA STL UCPC2 OPTENB ZRFX DRCO ABSWT
 Xx+2 MA AL DSP2 DSP1 DSALO TRQM RST ZPX 
 Xx+3 
 Xx+4 
 Xx+5 
 Xx+6 
Response data 
 Xx+7 SVERX PSG2 PSG1 MVX APBAL MVDX 
 Xx+8 
 Xx+9 
 Xx+10 
 Xx+11 
 Xx+12 
 Xx+13 
 Xx+14 
 Xx+15 
Unusable 
(Power mate CNC manager response area)


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See Section 2.3 for details of the signals. Section 3.3 explains the 
function code, command data, and response data. 
 CAUTION 
 In the past, the "V READY OFF alarm ignore signal 
(IGNVRY<Yy+1#6>)" existed. When the servo 
amplifier module is normal, however, V READY 
OFF alarm (No. 401) is not issued. This signal is, 
therefore, deleted. If this signal was used in the 
ladder program, delete it. 
NOTE 
 #4 and #5 of Yy+7 are used by both the rapid


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traverse override signal (ROV1 and ROV2) and the 
incremental feed signal (MP1 and MP2). If bit 5 
(MP) of parameter No. 5 is "1" and the system is in 
manual handle mode, they are for the incremental 
feed signal, and if MP is "0" or the system is not in 
manual handle mode, they are for the rapid traverse 
signal. If MP is "1", before switching from manual 
handle mode to another mode, the signal must be 
returned to such a setting that the bits are for the 
rapid traverse override signal.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
- 40 - 
2.1.2 Direct Command Interface 
Locations Yy+0 to Yy+3 are allocated as the DO signal area, while 
locations Xx+0 to Xx+3 are allocated as the DI signal area. To control 
the servo amplifier unit, turn on or off directly those signals that are 
assigned to these areas or read them. 
In the "instruction command area", direct commands (instruction 
commands) are assigned to locations Yy+4 to Yy+15, which are used to


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send commands to the servo amplifier module. Also, direct commands 
(response commands) are assigned to locations Xx+4 to Xx+15; receive 
the response commands for instruction commands. 
CNC (host) → Servo amplifier module (DRC=1) 
 7 6 5 4 3 2 1 0 
 Yy+0 ST -X +X MD4 MD2 MD1 
 Yy+1 DRC WFN *ILK SVFX *ESP ERS 
 Yy+2 RT DRN ROV2 ROV1 *OV8 *OV4 *OV2 *OV1 
 Yy+3 INPF 
 Yy+4 EBUF EOREND ECNT 
 Yy+5 Direct command (function code) 
 Yy+6 Direct command (command data 1)


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Yy+7 Direct command (command data 2) 
 Yy+8 Direct command (command data 3) 
 Yy+9 Direct command (command data 4) 
 Yy+10 Direct command (command data 5) 
 Yy+11 Direct command (command data 6) 
 Yy+12 Direct command (command data 7) 
 Yy+13 Direct command (command data 8) 
 Yy+14 Direct command (command data 9) 
 Yy+15 Direct command (command data 10) 
 CAUTION 
 In the past, the "V READY OFF alarm ignore signal 
(IGNVRY<Yy+1#6>)" existed. When the servo


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amplifier module is normal, however, V READY 
OFF alarm (No. 401) is not issued. This signal is, 
therefore, deleted. If this signal was used in the 
ladder program, delete it.


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
- 41 - 
Servo amplifier module → CNC (host) (DRC=1) 
 7 6 5 4 3 2 1 0 
 Xx+0 INPX SUPX IPLX DEN2 
 Xx+1 OP SA STL OPTENB ZRFX DRCO WAT 
 Xx+2 MA AL TRQM RST ZPX 
 Xx+3 INPFO SVERX PSG2 PSG1 MVX APBAL MVDX 
 Xx+4 EBSY EOSTB ECF USR1 EOPC DAL ECONT
 Xx+5 Direct command (function code) 
 Xx+6 Reserved Execution result 
 Xx+7 Direct command (response data 1) 
 Xx+8 Direct command (response data 2) 
 Xx+9 Direct command (response data 3)


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Xx+10 Direct command (response data 4) 
 Xx+11 Direct command (response data 5) 
 Xx+12 Direct command (response data 6) 
 Xx+13 Direct command (response data 7) 
 Xx+14 Direct command (response data 8) 
 Xx+15 Direct command (response data 9) 
See Section 2.3 for details of the signals. Section 4.4 explains the 
function number, command data, and response data.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
- 42 - 
2.2 SIGNALS (LISTED IN GROUPS) 
* The following lists not only signals transferred via the I/O link 
interface but also direct input/output signals such as *ESP, *-OT, 
*+OT, *RILK, *DEC, and HDI. 
* Each listed address is based on the I/O link assignment address of 
each slave of the host. 
Function list 
Address 
Group Signal name Symbol Peripheral 
equipment Direct command 
Reference
item 
Preparation completion signal MA Xx+2#7 2.3.1 1


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Servo preparation completion signal SA Xx+1#6 2.3.1 
Emergency stop signal *ESP Yy+1#1 2.3.2 
2 External reset signal ERS Yy+1#0 2.3.2 
Reset in-progress signal RST Xx+2#1 2.3.2 
Alarm signal AL Xx+2#6 2.3.3 
3 Absolute pulse coder battery alarm 
signal APBAL Xx+7#1 Xx+3#1 2.3.3 
4 Mode selection signal MD4,MD2,MD1 Yy+0#0 to Yy+0#2 2.3.4 
5 Feed axis and direction selection signal +X,-X Yy+0#4,Yy+0#5 2.3.5 
Remaining travel in-range signal DEN2 Xx+0#0 2.3.6


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Distribution pulse signal IPLX Xx+0#1 2.3.6 
Acceleration/deceleration pulse signal SUPX Xx+0#2 2.3.6 
In-position signal INPX Xx+0#3 2.3.6 
Servo positional deviation monitor 
signal SVERX Xx+7#6 Xx+3#6 2.3.6 
Axis movement in-progress signal MVX Xx+7#2 Xx+3#2 2.3.6 
Movement direction signal MVDX Xx+7#0 Xx+3#0 2.3.6 
Area signal PSG1,PSG2 Xx+7#3,Xx+7#4 Xx+3#3,Xx+3#4 2.3.6 
Speed control in-progress signal TRQM Xx+2#2 2.3.6 
6 
Function enable signal OPTENB Xx+1#3 2.3.6


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Feedrate override signal *OV1 to *OV8 Yy+7#0 to Yy+7#3 Yy+2#0 to Yy+2#3 2.3.7 
Manual rapid traverse selection signal RT Yy+7#7 Yy+2#7 2.3.7 
Rapid traverse override signal ROV1,ROV2 Yy+7#4,Yy+7#5 Yy+2#4,Yy+2#5 2.3.7 
7 
Incremental feed signal MP1, MP2 Yy+7#4,Yy+7#5 -- 2.3.7 
8 Interlock signal *ILK Yy+1#3 2.3.8 
Reference position return completion 
signal ZPX Xx+2#0 2.3.9 
9 
Reference position establishment 
signal ZRFX Xx+1#2 2.3.9 
Automatic operation start signal ST Yy+0#7 2.3.10


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Automatic operation start in-progress 
signal STL Xx+1#5 2.3.10 
Automatic operation signal OP Xx+1#7 2.3.10 
10 
Dry run signal DRN Yy+7#6 Yy+2#6 2.3.10


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
- 43 - 
Address 
Group Signal name Symbol Peripheral 
equipment Direct command 
Reference
item 
Unclamp command signal UCPC2 Xx+1#4 -- 2.3.11 11 
Clamp/unclamp state output signal UCPS2 Yy+0#6 -- 2.3.11 
12 Servo-off signal SVFX Yy+1#2 2.3.12 
Operation completion signal OPC1, OPC2, 
OPC3, OPC4 Xx+0#4 to Xx+0#7 -- 2.3.13 
Function code CMD CODEP Yy+2#4 to Yy+2#7 -- 2.3.13 
Command data 1 CMD DATA1 Yy+2#0 to Yy+2#3 -- 2.2.13


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Command data 2 CMD DATA2 Yy+3 to Yy+6 -- 2.3.13 
Response data ANS DATAP Xx+3 to Xx+6 -- 2.3.13 
Response data check signal DSP1,DSP2 Xx+2#4 to Xx+2#5 -- 2.3.13 
Response data write completion signal ABSWT Xx+1#0 -- 2.3.13 
Response data read completion signal ABSRD Yy+1#4 -- 2.3.13 
Alarm output command signal DSAL Yy+0#3 -- 2.3.13 
13 
Alarm output state check signal DSALO Xx+2#3 -- 2.3.13 
Function code command strobe signal EBUF -- Yy+4#7 2.3.14 
Function code command read


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Function code command read 
completion signal EBSY -- Xx+4#7 2.3.14 
Function code CMD CODE -- Yy+5 2.3.14 
Command data CMD DATA -- Yy+6 to Yy+15 2.3.14 
Response data ANS DATA -- Xx+7 to Xx+15 2.3.14 
Continuously output data signal EOPC -- Xx+4#2 2.3.14 
Response data readable signal EOSTB -- Xx+4#6 2.3.14 
Response data read completion signal EOREND -- Yy+4#6 2.3.14 
Command continuation notification 
signal ECNT -- Yy+4#0 2.3.14 
PMM data signal USR1 -- Xx+4#3 2.3.14


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Response data continuation notification 
signal ECONT -- Xx+4#0 2.3.14 
Function code command completion 
notification signal ECF -- Xx+4#5 2.3.14 
Alarm signal DAL -- Xx+4#1 2.3.14 
Wait signal WAT -- Xx+1#0 2.3.14 
Wait completion signal WFN -- Yy+1#4 2.3.14 
Memory registration signal INPF -- Yy+3#7 2.3.14 
Memory registration in-progress signal INPFO -- Xx+3#7 2.3.14 
Interface switch signal DRC -- Yy+1#5 2.3.14 
14 
Interface status notification signal DRCO -- Xx+1#1 2.3.14


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Emergency stop signal *ESP Direct input 2.3.15 
Overtravel signal *-OT,*+OT Direct input 2.3.15 
High-speed interlock signal *RILK Direct input 2.3.15 
Deceleration signal for reference 
position return *DEC Direct input 2.3.15 
15 
Skip signal HDI Direct input 2.3.15


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
- 44 - 
2.3 SIGNAL DETAILS 
2.3.1 Preparation Completion 
(1) Preparation completion signal MA 
 [Classification] Input signal <Xx+2#7> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] This signal indicates that the servo amplifier module is ready to operate. 
 [Input condition] The signal becomes 1 when: 
1. Self-diagnosis in the servo amplifier module completes normally 
when the power is switched on.


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The signal becomes 0 when: 
1. The power to the servo amplifier module is switched off. 
2. A control unit error such as a CPU or memory failure is detected. 
(2) Servo preparation completion signal SA 
 [Classification] Input signal <Xx+1#6> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] This signal indicates that the servo amplifier module is ready to operate. 
Conversely, if this signal is not issued, the servo amplifier module is not 
operating.


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operating. 
 [Input condition] The signal becomes 1 when: 
1. Self-diagnosis in the servo system completes normally when the 
power to the control unit is switched on. 
2. A servo alarm (if any has occurred) is reset. 
3. An emergency stop condition (if any has occurred) is reset. 
The signal becomes 0 when: 
1. The power to the control unit is switched off. 
2. A servo alarm condition is detected. 
3. An emergency stop is effected. 
NOTE 
 In the servo-off state, the SA signal remains at 1


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
- 45 - 
2.3.2 Reset and Emergency Stop 
(1) Emergency stop signal *ESP 
 [Classification] Output signal <Yy+1#1> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] This signal brings the control unit to an emergency stop. 
 [Operation] When the signal becomes 0, the control unit operates as follows: 
1. The control unit stops immediately during axis movement. 
2. A reset is applied after the stop.


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3. When the emergency stop signal is 0, the servo preparation 
completion signal SA is also 0, because the servo system is not 
operating. If axis movement occurs while the servo system is not 
operating, the amount of movement is reflected in the current 
position coordinates held in the control unit (follow-up). 
4. While the emergency stop signal is 0, jog and function code 
commands cannot be issued. 
(2) External reset signal ERS


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(2) External reset signal ERS 
 [Classification] Output signal <Yy+1#0> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] This signal resets the servo amplifier module. 
 [Operation] When the signal becomes 1, the servo amplifier module operates as 
follows: 
1. The servo amplifier module immediately decelerates axis 
movement to a stop. 
2. After a stop, the servo amplifier module is reset, then the 
following are canceled:


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following are canceled: 
• Function code commands are canceled regardless of whether 
they are under execution, buffered, or on input signals. 
• In an alarm state, those alarms that can be canceled are 
canceled. 
3. While the external reset signal is 1, jog and function code 
commands cannot be issued. 
(3) Reset in-progress signal RST 
 [Classification] Input signal <Xx+2#1> (common to both the peripheral equipment 
control and direct command interfaces)


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[Function] This signal indicates that the control unit is being reset. 
 [Input condition] The signal becomes 0 when: 
1. A reset is completed. 
The signal becomes 1 when: 
1. A reset is in progress. 
That is, the external reset signal ERS ((2) in Section 2.3.2) is 1, or the 
emergency stop signal *ESP ((1) in Section 2.3.2) is 0.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
- 46 - 
2.3.3 Alarm 
(1) Alarm signal AL 
 [Classification] Input signal <Xx+2#6> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] This signal indicates that the servo amplifier module is in an alarm state. 
 [Input condition] The signal becomes 1 when: 
1. The servo amplifier module enters an alarm state. 
 The following alarms can occur in the servo amplifier module. 
 1) P/S alarm 
 2) Pulse coder alarm


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2) Pulse coder alarm 
 3) Servo alarm 
 4) Overtravel alarm 
The signal becomes 0 when: 
1. The servo amplifier module is released from an alarm state by a 
reset. 
 Some alarms occur again after they are reset, unless their cause is 
removed. 
 So, the AL signal is issued again immediately. In this case, the AL 
signal may become 0 for a moment. 
(2) Absolute pulse coder battery alarm signal APBAL 
 [Classification] Input signal <Xx+7#1> (peripheral equipment control interface)


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<Xx+3#1> (direct command interface) 
 [Function] This signal indicates that the batteries of the absolute pulse coder 
require replacement. 
 [Input condition] The signal becomes 1 when: 
1. The absolute pulse coder battery voltage is low. 
The signal becomes 0 when: 
1. The batteries are replaced, and the battery voltage becomes higher 
than or equal to the rating. 
 This alarm will occur again after it is reset, unless the batteries are 
replaced.


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replaced. 
 So, the APBAL signal is immediately issued again. In this case, 
the APBAL signal may become 0 for a moment. 
 CAUTION 
 Use this signal to display this battery alarm on the 
machine operator's panel. On the host controller, 
this battery alarm is not displayed if the power mate 
CNC manager screen is not displayed.


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
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2.3.4 Mode Selection 
(1) Mode selection signal MD1, MD2, MD4 
 [Classification] Output signal <Yy+0#0 to #2> (common to both the peripheral 
equipment control and direct command interfaces) 
 [Function] This signal selects an operation mode. 
 [Operation] The signal is a code signal consisting of three bits: MD1, MD2, and 
MD4. The code signal selects one of three modes: automatic operation


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(AUTO), handle feed (HANDLE), or jog (JOG), according to the 
combination of these bits. 
MD4 MD2 MD1 Description 
0 0 1 Automatic operation (AUTO) 
1 0 0 Handle feed (HANDLE) 
1 0 1 Jog feed by +X and -X (JOG) 
 CAUTION 
 Do not switch the operation mode during automatic 
operation. Stop automatic operation before switching 
the operation mode. 
NOTE 
 See Section 3.10 or Chapter 5 for details of handle feed.
2.3.5 Jog Feed 
(1) Feed axis and direction selection signals +X, -X


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[Classification] Output signal <Yy+0#4,#5>(common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] These signals select the direction in which jog feed movement 
(rotation) is to be performed, and cause it to be performed in the 
selected direction. 
 [Operation] The signals are valid when jog feed (JOG) mode is selected. They 
indicate the direction of feed. After JOG mode is selected, changing +X


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or -X, whichever is desired, from 0 to 1 causes and keeps movement in 
the corresponding direction at a feedrate specified by the override 
signals *OV1 to *OV8 ((1) of Subsection 2.3.7) or the manual rapid 
traverse selection signal RT ((2) of Subsection 2.3.7), provided the 
signal is 1. 
NOTE 
1 Simultaneously setting +X and -X to 1 results in 
neither direction being selected (equivalent to when 
both are 0). 
2 If a feed axis selection signal becomes 1 before the


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jog feed signal (JOG) is selected, these signals are 
ignored. If the JOG signal is selected, it must be 
reset to 0 before the feed axis selection signal is set. 
The servo amplifier unit begins feeding when the 
JOG signal rises.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
- 48 - 
2.3.6 Status Signals 
(1) Remaining travel in-range signal DEN2 
 [Classification] Input signal <Xx+0#0> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] This signal indicates that, in the servo amplifier module, the number of 
axis move command distribution pulses that have not been used for axis 
movement (residual movement amount) is smaller than a 
parameter-specified value.


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parameter-specified value. 
 [Input condition] The signal becomes 1 when: 
1. The number of axis move command distribution pulses that have 
not been used for axis movement (residual movement amount) is 
smaller than a parameter-specified value. 
The signal becomes 0 when: 
1. The number of axis move command distribution pulses that have 
not been used for axis movement (residual movement amount) is 
larger than a parameter-specified value.


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2. When the value of a parameter for the remaining travel in-range 
signal is 0. 
NOTE 
1 The DEN2 signal remains 0 during jog feed (JOG). 
2 The DEN2 signal maintains its current state until 
another move command is issued. 
(2) Distribution pulse signal IPLX 
 [Classification] Input signal <Xx+0#1> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] This signal indicates that the servo amplifier module has axis move


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command distribution pulses that have not been used for axis 
movement (residual movement amount). 
 [Input condition] The signal becomes 1 when: 
1. There are axis move command distribution pulses that have not 
been used for axis movement (residual movement amount). 
The signal becomes 0 when: 
1. There is no axis move command distribution pulse that has not 
been used for axis movement (residual movement amount). 
NOTE 
 The IPLX signal is valid while jog feed (JOG) mode 
is set.


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
- 49 - 
(3) Acceleration/deceleration pulse signal SUPX 
 [Classification] Input signal <Xx+0#2> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] This signal indicates that the servo amplifier module has accumulated 
pulses in the acceleration/deceleration control section. 
 [Input condition] The signal becomes 1 when: 
1. Axis movement distribution pulses are accumulated in the


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acceleration/deceleration control section. 
The signal becomes 0 when: 
1. No axis movement distribution pulses are accumulated in the 
acceleration/deceleration control section. 
(4) In-position signal INPX 
 [Classification] Input signal <Xx+0#3> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] This signal indicates that the controlled axis is in position (has reached 
the specified value). 
 [Input condition] The signal becomes 1 when:


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1. There is no acceleration/deceleration delay (accumulated pulses) 
for the controlled axis, and the servo positional deviation is within 
a parameter-specified range. 
The signal becomes 0 when: 
1. There is an acceleration/deceleration delay (accumulated pulses) 
for the controlled axis, or 
2. The servo positional deviation falls outside a parameter-specified 
range. 
(5) Servo positional deviation monitor signal SVERX


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[Classification] Input signal <Xx+7#6> (peripheral equipment control interface) 
 <Xx+3#6> (direct command interface) 
 [Function] This signal indicates that, in the servo amplifier module, the amount of 
servo positional deviation has exceeded a parameter-specified value. 
 [Input condition] The signal becomes 1 when: 
1. The servo positional deviation amount is larger than a 
parameter-specified value. 
The signal becomes 0 when:


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The signal becomes 0 when: 
1. A parameter-specified value for the servo positional deviation 
amount is 0, or 
2. The servo positional deviation amount is within a 
parameter-specified range. 
(6) Axis movement in-progress signal MVX 
 [Classification] Input signal <Xx+7#2> (peripheral equipment control interface) 
 <Xx+3#2> (direct command interface) 
 [Function] The signal indicates that movement along the controlled axis is being 
performed. 
 [Input condition] The signal becomes 1 when:


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1. Controlled axis movement begins. 
2. Bit 7 (SVFP) of parameter No. 010 is set to 1 to perform follow-up 
in clamp processing or servo-off state, and the servo position 
deviation amount (DGN No. 032) is not zero.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
- 50 - 
The signal becomes 0 when: 
1. Controlled axis movement ends, and the controlled axis enters the 
in-position state. 
2. Bit 7 (SVFP) of parameter No. 010 is set to 1 to perform follow-up 
in clamp processing or servo-off state, and the servo position 
deviation amount (DGN No. 032) is zero. 
NOTE 
 The MVX signal is valid while jog feed (JOG) mode 
is set. 
(7) Movement direction signal MVDX


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[Classification] Input signal <Xx+7#0> (peripheral equipment control interface) 
 <Xx+3#0> (direct command interface) 
 [Function] The servo amplifier module indicates the movement direction of its 
controlled axis. 
 [Input condition] The signal becomes 1 when: 
1. Controlled axis movement in the negative direction begins. 
The signal becomes 0 when: 
1. Controlled axis movement in the positive direction begins. 
NOTE 
1 The MVDX signal is valid while jog feed (JOG) 
mode is set.


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mode is set. 
2 The MVDX signal maintains its current state during 
a stop. It does not become 0 even upon a stop after 
movement in the negative direction. 
3 The servo amplifier module outputs the MVDX 
signal even during follow-up, provided the 
necessary condition is satisfied. 
(8) Area signals PSG1 and PSG2 
 [Classification] Input signal PSG1<Xx+7#3>, PSG2<Xx+7#4> 
 (peripheral equipment control interface) 
 PSG1<Xx+3#3>, PSG2<Xx+3#4> 
 (direct command interface)


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(direct command interface) 
 [Function] The servo amplifier module indicates that the current machine 
coordinates are within a parameter-specified range, using two code 
signal outputs. 
 [Input condition] If a parameter is set up as shown below, PSG1 and PSG2 are output in 
the respective sections, as shown below. 
(1) to (3) are parameter-set values.


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
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NOTE 
1 The servo amplifier module outputs the PSG1 and 
PSG2 signals even during follow-up, provided the 
necessary condition is satisfied. 
2 When bit 1 (PSSV) of parameter No. 007 is "1", 
input is accomplished with the position (actual motor 
position) with consideration given to the 
acceleration/deceleration, servo positional 
deviation, etc. 
(9) Speed control mode signal TRQM 
 [Classification] Input signal <Xx+2#2>


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[Function] The servo amplifier module notifies that the speed control mode is set. 
 [Input condition] The signal becomes 1 when: 
1. When speed control is activated, and the speed control mode is set 
The signal becomes 0 when: 
1. When the speed control stop command is executed 
2. Servo alarm, overtravel alarm, reset, emergency stop, servo-off 
(10) Function enable signal OPTENB 
 [Classification] Input signal <Xx+1#3> (common to both the peripheral equipment


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control and direct command interfaces) 
 [Function] The servo amplifier module notifies that the function is enabled 
(usable). 
The function is as follows: 
• Unexpected disturbance torque detection function (software 
option function) 
 [Input condition] The signal becomes 1 when: 
1. The function becomes usable. 
The signal becomes 0 when: 
1. The function is under preparation, immediately after power on. 
2. The function is not ordered. 
 CAUTION


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CAUTION 
 The Unexpected disturbance torque detection 
function is disabled until this signal becomes "1". Be 
sure to confirm that this signal is "1" before starting 
axis movement.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
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2.3.7 Feedrate 
(1) Override signals *OV1 to *OV8 
 [Classification] Output signal<Yy+7#0 to #3> (peripheral equipment control interface) 
 <Yy+2#0 to #3> (direct command interface) 
 [Function] The host applies override to jog feed and cutting feedrates. 
 [Operation] Four binary code signals are provided. They correspond to the override 
values listed below. 
*OV8 *OV4 *OV2 *OV1 Override value (%) 
1 1 1 1 0 
1 1 1 0 10 
1 1 0 1 20


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1 1 1 0 10 
1 1 0 1 20 
1 1 0 0 30 
1 0 1 1 40 
1 0 1 0 50 
1 0 0 1 60 
1 0 0 0 70 
0 1 1 1 80 
0 1 1 0 90 
0 1 0 1 100 
0 1 0 0 110 
0 0 1 1 120 
0 0 1 0 130 
0 0 0 1 140 
0 0 0 0 150 
Actual jog feed and automatic cutting feedrates are obtained by 
multiplying the respective specified values by the override values. 
(2) Manual rapid traverse selection signal RT 
 [Classification] Output signal <Yy+7#7> (peripheral equipment control interface) 
 <Yy+2#7> (direct command interface)


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[Function] The host selects rapid traverse for jog feed. 
 [Operation] The RT signal is valid when jog feed mode (JOG) is selected. When the 
signal is 1, jog feed is performed at a rapid traverse rate. Under this 
condition, setting a feed axis and direction selection signal (+X or -X) 
to 1 starts rapid traverse in the specified direction. If jog feed is selected, 
a feed axis and direction selection signal (+X or -X) is 1, and an


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override signal is valid, setting the RT signal to 1 starts rapid traverse. 
Resetting the RT signal to 0 resumes normal feed.


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
- 53 - 
(3) Rapid traverse override signals ROV1 and ROV2 
 [Classification] Output signal <Yy+7#4 to #5> (peripheral equipment control interface) 
 <Yy+2#4 to #5> (direct command interface) 
 [Function] The host specifies override for rapid traverse. 
 [Operation] The following table lists the override amounts. 
ROV2 ROV1 Override value 
0 0 100% 
0 1 50% 
1 0 25% 
1 1 F0 
NOTE 
 F0 is a value specified in parameter No. 061.


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(4) Incremental feed signal MP1, MP2 
 [Classification] Output signal <Yy+7#4 to #5> (peripheral equipment control interface) 
 [Function] Used to select the manual handle feed magnification of the servo 
amplifier module. 
 [Operation] In manual handle mode, the servo amplifier module drives the motor for 
the pulses of the input manual pulse generator times the magnification 
selected with this signal. 
MP1 MP2 Amount of travel per graduation of the 
manual pulse generator 
0 0 1 user unit


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0 0 1 user unit 
0 1 10 user units 
1 0 100 user units 
1 1 (M/N) user unit 
(M = Parameter No. 62, N = Parameter No. 63)
NOTE 
1 This signal is effective if bit 5 (MP) of parameter No. 
5 of the servo amplifier module is 1. 
2 This signal is effective in manual handle mode only. 
3 This signal shares the same bits with the rapid 
traverse override signal. In manual handle mode, 
these bits are for the incremental feed signal; in 
modes other than manual handle mode, they are for


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the rapid traverse override signal. Before switching 
from manual handle mode to another mode, this 
signal must be returned to such a setting that the 
bits are for the rapid traverse override signal.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
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2.3.8 Interlock 
(1) Interlock signal *ILK 
 [Classification] Output signal <Yy+1#3> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] The host stops sending all movement commands. 
 [Input condition] When the *ILK signal is 0, the host resets all movement command 
signals to 0 to decelerate and stop controlled axis feed. Movement 
commands remain valid when the *ILK signal is 0. When it becomes 1,


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movement is resumed immediately. 
No command other than a move command is affected. 
NOTE 
 The interlock signal is valid in jog feed mode (JOG). 
2.3.9 Reference Position Return 
(1) Reference position return completion signal ZPX 
 [Classification] Input signal <Xx+2#0> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] The servo amplifier module indicates that it is at the reference position. 
 [Input condition] The signal becomes 1 when:


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1. Manual reference position return is completed, and the servo 
amplifier module enters the in-position state. 
2. Function code command-based reference position return is 
completed, and the servo amplifier module enters the in-position 
state. 
The signal becomes 0 when: 
1. The servo amplifier module moves out of the reference position. 
(2) Reference position establishment signal ZRFX 
 [Classification] Input signal <Xx+1#2> (common to both the peripheral equipment


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control and direct command interfaces) 
 [Function] The servo amplifier module notifies the host of the reference position 
establishment state. 
 [Input condition] The signal becomes 1 when: 
1. Reference position establishment is completed. 
The signal becomes 0 when: 
1. Reference position establishment is not completed. 
NOTE 
 This signal is effective if bit 2 (ZRNO) of parameter 
No. 004 is "1".


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
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2.3.10 Automatic Operation 
(1) Automatic operation start signal ST 
 [Classification] Output signal <Yy+0#7> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] The host starts function code commands, such as part of peripheral 
equipment control ATC operations and point positioning. Specifically, 
the host issues a direct command to start 32-block buffering.


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[Operation] When the ST signal is set to 1 then reset to 0 again, the servo amplifier 
module begins operating. Section 3.3.1 explains the function codes for 
which the ST signal is valid in peripheral equipment control. 
NOTE 
 It is also possible to start operation at the rising 
edge (from off to on) of the ST signal as specified by 
the STON parameter (bit 7 of parameter No. 003). 
(2) Automatic operation start in-progress signal STL


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[Classification] Input signal <Xx+1#5> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] This signal indicates that automatic operation has been started. 
 [Input condition] The signal becomes 1 when a command to start automatic operation is 
issued. 
It becomes 0 when automatic operation stops. 
(3) Automatic operation signal OP 
 [Classification] Input signal <Xx+1#7>(common to both the peripheral equipment 
control and direct command interfaces)


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[Function] This signal indicates that a series of automatic operations is in progress. 
 [Input condition] The signal becomes 1 when a command to start automatic operation is 
issued. The signal remains set to 1 even after automatic operation stops. 
It becomes 0 upon the occurrence of a reset. 
(4) Dry run signal DRN 
 [Classification] Output signal <Yy+7#6>(peripheral equipment control interface) 
 <Yy+2#6>(direct command interface)


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[Function] Dry run is valid during automatic operation (AUTO mode). During dry 
run, a feedrate command issued during automatic operation is ignored, 
and a manual-feed feedrate determined by override signals *OV1 to 
*OV8 ((1) of Section 2.3.7) is used. Dry run is also valid for rapid 
traverse. When the RT signal ((2) of Section 2.3.7) is set to 1 during dry 
run, the "rapid traverse rate" and the "maximum manual-feed feedrate"


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are used for the rapid traverse and cutting feed blocks, respectively. 
When the RT signal is reset to 0, the "same rate as the manual-feed 
feedrate" is resumed. 
 [Operation] Setting the DRN signal to 1 causes the system to enter the dry run state. 
Resetting it to 0 resumes the feed rate specified during automatic 
operation.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
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2.3.11 Clamp and Unclamp (for the Peripheral Equipment Control 
Interface Only) 
NOTE 
 When the signal described below is used, the 
external pulse input function cannot be used. 
(1) Unclamp command signal UCPC2 
 [Classification] Input signal <Xx+1#4> 
 [Function] An actual machine clamp/unclamp operation is performed by the host. 
The servo amplifier module outputs this signal when a function code


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command for peripheral equipment control is executed, thereby 
requesting a clamp/unclamp operation to the host. 
 [Input condition] The signal becomes 1 when: 
The module requests an unclmap operation to the host. 
The signal becomes 0 when: 
The module requests a clamp operation to the host. 
The servo amplifier module sets UCPC2 to "1" when a move command 
with a function code starts. The module sets it to "0" at the end of the


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move command. For details, see the timing chart of each function code 
for peripheral equipment control. 
NOTE 
 The UCPC2 signal is valid when the NCLP 
parameter (bit 1 of parameter No. 003) is 0. 
(2) Clamp/unclamp state output signal UCPS2 
 [Classification] Output signal <Yy+0#6> 
 [Function] When the servo amplifier module requests clamping/unclamping of the 
machine, using the UCPC2 signal, the host actually clamps/unclamps


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the machine. Upon the completion of clamping/unclamping, it reports it 
to the servo amplifier unit, which then proceeds to the next processing. 
 [Operation] The signal is set to 1 when the machine is unclamped. When it is 
clamped, the signal is reset to 0. See the timing chart for the function 
codes for peripheral equipment control. 
NOTE 
 The UCPS2 signal is valid when the NCLP 
parameter (bit 1 of parameter No. 003) is 0.


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
- 57 - 
2.3.12 Servo-off 
(1) Servo-off command signal SVFX 
 [Classification] Output signal <Yy+1#2> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] The host turns off the servo circuit for a controlled axis, that is, shuts off 
the current to the servo motor of the controlled axis. This disables 
positioning control. Position detection continues, however. So, the 
current position will not be lost.


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[Operation] The servo motor remains off while the signal is 1. If the machine is 
moved by the application of external force, its coordinates are shifted, 
because positioning control does not work during the servo-off state. 
How the shifted machine coordinates are handled can be selected by a 
parameter, as follows: 
1. The machine coordinate shift is recorded in an error counter. 
 When the servo-off signal becomes 0, the machine moves to 
cancel out the error recorded in the error counter.


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2. Follow-up is performed. 
 The machine coordinate shift is regarded as being the result of a 
command, and the control unit adjusts its current position data so 
that the error counter becomes 0. With this method, the machine 
remains in a shifted position even after the servo-off signal 
becomes 0. However, the machine moves to the correct position 
the next time an absolute command is issued, because the control 
unit has information about the correct position.


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[Use] Generally, method 1 above is used to prevent excessive current flowing 
through the servo motor when it is clamped mechanically with a force 
stronger than the servo motor can generate. Usually, the host keeps the 
interlock signal at 0 while the servo-off signal is 1. Generally, method 2 
is used to operate the machine by rotating the motor with a handle feed 
mechanism.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
- 58 - 
2.3.13 Peripheral Equipment Control Function Code and Related 
Information 
(1) Operation completion signals OPC1, OPC2, OPC3, and OPC4 
 [Classification] Input signal <Xx+0#4 to #7> 
 [Function] The servo amplifier module indicates information about the completion 
of each function code. The host executes its sequence according to this 
signal. 
 [Input condition] See the timing chart of each function code for the corresponding input 
timing.


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timing. 
OPC1 indicates, to the host, that the servo amplifier module has 
received a command. 
The servo amplifier module issues an unclamp command signal 
(UCPC2 = 1) to request the host to unclamp the machine. 
OPC2 indicates, to the host, that the servo amplifier module has 
received an unclamp completed command signal (UCPS2 = 1). The 
servo amplifier module starts axis operation. 
OPC3 indicates, to the host, that an axis operation is completed and the


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in-position state is assumed, simultaneously as the clamp command 
(UCPC2 = 0). 
OPC4 indicates, to the host, that the servo amplifier module has 
received the clamp completion signal (UCPS2 = 0) and finished 
executing all commands. 
The timing at which the signal is input is set in parameter No. 166. 
 CAUTION 
 If the unclamp command signal (UCPC2) and the 
clamp/unclamp state output signal (UCPS2) are not 
used (bit 1 (NCLP) of parameter No. 003 = 1), OPC4


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is output to the host even if the instruction command 
is interrupted due to an external reset, emergency 
stop, alarm, etc. 
NOTE 
 When the unclamp command signal (UCPC2) and 
clamp/unclamp state output signal (UCPS2) are not 
used (when bit 1 (NCLP) of parameter No. 003 = 1), 
OPC2 and OPC3 are not output to the host. In this 
case, OPC4 is output to the host when an axis 
operation is completed and the in-position state is 
assumed. 
(2) Function code


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assumed. 
(2) Function code 
 [Classification] Output signal <Yy+2#4 to #7> 
 [Function] The host sets the peripheral equipment control function code. 
 [Output condition] See the timing chart of each function code for the corresponding output 
timing. See Sections 3.3 and 3.4 for details.


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
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(3) Command data 1 
 [Classification] Output signal <Yy+2#0 to #3> 
 [Function] The host sets command data 1 to specify the feed rate for peripheral 
equipment control. 
 [Output condition] See the timing chart of each function code for the corresponding output 
timing. See Sections 3.3 and 3.4 for details. 
(4) Command data 2 
 [Classification] Output signal <Yy+3 to Yy+6>


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[Function] The host sets command data 2 to specify the amount of movement for 
peripheral equipment control. 
 [Output condition] See the timing chart of each function code for the corresponding output 
timing. See Sections 3.3 and 3.4 for details. 
(5) Response data 
 [Classification] Input signal <Xx+3 to Xx+6> 
 [Function] (A) The servo amplifier module outputs the current position number 
(point, turret, or magazine number) for point or ATC control. This


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response data is set up upon the completion of positioning. The 
servo amplifier module continues to output the previous number 
until the new response data is set up. 
(B) By setting parameter No. 020 appropriately, it is possible to output 
the following data items real-time: 
• Machine coordinates 
• Workpiece coordinates 
• Motor current value 
• Skip measurement data 
• Actual feedrate 
• Actual rotation speed 
• Torque command 
NOTE 
 Skip measurement data is output when the skip


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signal is input or when the end point is reached. 
(C) When the DSAL signal [Subsection 2.3.13.(9)] is 1, the servo 
amplifier module outputs the number of alarms and the first alarm 
number. 
 [Input condition] See the function code command list for details.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
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 CAUTION 
1 The purpose of this data, when used by the host, is 
limited to display on the host. This data consists of 
32 bits of DI signals; the bits are not updated at a 
time, but are updated on a bit-by-bit basis. So, if this 
data is being updated when coordinates are read 
during movement on axes, the correct position may 
not be read normally. This data is prepared for 
position display on the host, so that this data cannot


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be used to make a machine area check. However, 
correct coordinates can be read even during 
movement on axes by establishing synchronization 
between the host and servo amplifier module. For 
details, see Section 3.8. This is true of all data items 
output real-time. 
2 The current position number (point, turret, and 
magazine number) is not output until the reference 
position is established. If bit 2 (NZRPO) of 
parameter No. 007 is "1", it is output even if the


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reference position is not established. 
3 The current position number (point, turret, and 
magazine number) is 0 when the power is turned 
on, and is output upon the completion of positioning 
due to peripheral equipment control ATC 
operations, point positioning, or reference position 
return. If, then, a move command such as JOG 
operation is executed, the current position number 
no longer matches the current position on the axes. 
If, after the completion of ATC operations, point


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positioning, or reference position return, a move 
command such as jog operation is started, it is no 
longer possible to control the current position on the 
axes by looking at the current position number 
output on the host. Besides, if, after an index 
command of ATC operations is started, it is 
interrupted due to the occurrence of a reset, alarm, 
etc., the current position number no longer matches 
the current position on the axes. 
 As for the turret/magazine number, however, the


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constraint described above is eliminated and the 
correct number can be constantly output because of 
improved specifications. For details, see Section 
3.9, "Turret/Magazine Number Output 
Improvement".


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
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(6) Response data check signals DSP1 and DSP2 
 [Classification] Input signal <Xx+2#4 to #5> 
 [Function] The servo amplifier module indicates the contents of the response data. 
 [Input condition] The servo amplifier module specifies the response data using a 
combination of signals, as listed below. 
DSP2 DSP1 Response data 
0 0 Not output 
1 1 Coordinates, motor current value, skip 
measurement data, or torque command


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1 0 Current position number (ATC, point number) 
0 1 Actual feedrate or actual speed 
NOTE 
1 The setting of parameter No. 20 determines which 
of coordinates, motor current value, skip 
measurement data, and torque command the 
response data is. 
2 The setting of parameter No. 20 determines which 
of actual feedrate and actual speed the response 
data is. 
(7) Response data write completion signal ABSWT 
 [Classification] Input signal <Xx+1#0>


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[Function] After writing response data (Xx+3 to Xx+6), the servo amplifier 
module inverts this signal for notification to the host. 
 [Operation] The servo amplifier module exclusive-ORs ABSWT with ABSRD. 
When the result of exclusive-OR is 0, response data (Xx+3 to Xx+6) is 
written, and this signal is inverted. 
(8) Response data read completion signal ABSRD 
 [Classification] Output signal <Yy+1#4> 
 [Function] After reading response data (Xx+3 to Xx+6), the host inverts this signal


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for notification to the servo amplifier module. 
 [Operation] The host exclusive-ORs ABSWT with ABSRD. When the result of 
exclusive-OR is 1, response data (Xx+3 to Xx+6) is read, and this 
signal is inverted. 
(9) Alarm output command signal DSAL 
 [Classification] Output signal <Yy+0#3> 
 [Function] The host specifies that alarm information be output as response data. 
When DSAL is 1, the following information is output as response data. 
Xx+3 Number of alarms (byte type)


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Xx+4,Xx+5 Alarm number (word type) 
 [Operation] When the signal is 0, a turret, magazine, point number, coordinates, or 
motor current value are output as response data. When the signal is 1, 
the number of alarms and the first alarm number are output as response 
data.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
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(10) Alarm output state check signal DSALO 
 [Classification] Input signal <Xx+2#3> 
 [Function] The servo amplifier module indicates the contents of the response data. 
 [Input condition] When the signal is 0, a turret, magazine, point number, coordinates, or 
motor current value are being output as response data. When the signal 
is 1, the number of alarms and the first alarm number are being output as 
response data.


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response data. 
2.3.14 Direct Command Function Code and Related Information 
(1) Function code command strobe signal EBUF 
 [Classification] Output signal <Yy+4#7> 
 [Function] After setting the function code (Yy+5) and command data (Yy+6 to 
Yy+15), the host inverts the logical state of this signal to indicate to the 
servo amplifier module that the function code is ready for transfer. 
 [Operation] The servo amplifier module exclusive-ORs EBUF with EBSY. If the


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result of exclusive ORing is 1, the servo amplifier module behaves as 
follows: 
(A) When the function code command is of a type to be buffered 
before execution. 
1. If the function code command buffer of the servo amplifier 
module is available, the servo amplifier module receives the 
function code command at the function code command 
buffer. 
2. If the function code command buffer of the servo amplifier 
module is unavailable, the servo amplifier module waits until


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it becomes available, that is, rejects reception of the current 
function code command. 
(B) If the function code command is of a type to be executed 
immediately without being buffered 
1. The servo amplifier module receives the function code 
command at its execution buffer immediately and starts 
processing according to the function code command. 
(2) Function code command read completion signal EBSY 
 [Classification] Input signal <Xx+4#7>


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[Function] The servo amplifier module indicates that it has accepted a function 
code command. Because the result of exclusive-ORing EBUF and 
EBSY becomes 0, it becomes possible to issue another function code. 
 [Input condition] The state of the signal is inverted when a function code command is 
received by the servo amplifier module. 
(3) Function code 
 [Classification] Output signal <Yy+5> 
 [Function] The host specifies the function code command to be executed.


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[Operation] The servo amplifier module behaves as directed by the function code 
command when receiving it. 
See "Direct command function details" for details.


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
- 63 - 
(4) Command data 
 [Classification] Output signal <Yy+6 to Yy+15> 
 [Function] The host provides data for a function code command. 
 [Operation] The servo amplifier module behaves as directed by the function code 
command when receiving it. 
See "Direct command function details" for details. 
(5) Response data 
 [Classification] Input signal <Xx+7 to Xx+15> 
 [Function] (A) The servo amplifier module returns the result of function code


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command execution. 
(B) The servo amplifier module returns the data requested by the 
function code. 
(C) The servo amplifier module outputs continuous-output data, such 
as the current position, requested by the continuous read 
command. 
[Input condition] (A) The servo amplifier module returns the result of function code 
command execution. 
 It is possible to defer the return of the result of each function code 
command and return their results at the same time, if they are of a


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type that can be buffered. 
(B) The servo amplifier module outputs data, such as alarm 
information, requested by the function code. 
(C) If the host is to receive data, such as the current position, that is 
being monitored continuously, the servo amplifier module 
continues to output the requested data in response to a single 
request. 
 After setting the above data or result, the servo amplifier module 
inverts the state of EOSTB. They can be read when the result of


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exclusive-ORing EOREND with EOSTB is 1. EOPC indicates 
that the current data is of continuous output type. When EOPC is 0, 
it indicates data covered in (A) or (B). When it is 1, it indicates 
data covered in (C). 
(6) Continuously output data signal EOPC 
 [Classification] Input signal <Xx+4#2> 
 [Function] The servo amplifier module indicates that continuously output data 
requested using a function code command is being output as response 
data. 
 [Input condition] The signal becomes 1 when:


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1. Continuously output data requested by a function code command 
is being output as response data. 
The signal becomes 0 when: 
1. Data other than continuously output data requested by a function 
code command is being output as response data.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
- 64 - 
(7) Response data readable signal EOSTB 
 [Classification] Input signal <Xx+4#6> 
 [Function] The servo amplifier module indicates that data requested using a 
function code command has been output as response data and is now 
readable. 
 [Input condition] The state of the signal is inverted when: 
1. The response data becomes readable. 
(8) Response data read completion signal EOREND 
 [Classification] Output signal <Yy+4#6>


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[Function] The host notifies the servo amplifier module that it has read response 
data. 
 [Operation] When the state of the signal is inverted, the servo amplifier module 
behaves as follows: 
1. The result of function code command execution is output as 
response data. 
2. If a function code command is a data output command, the 
command is executed, and the result is output as response data. 
NOTE 
 If the result of exclusive-ORing EOSTB with 
EOREND is 1, it becomes impossible to output


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further command data. Before inverting the state of 
EOREND, apply appropriate countermeasures. 
(9) Command continuation notification signal ECNT 
 [Classification] Output signal <Yy+4#0> 
 [Function] When the host has too much command data to be sent at one time, it sets 
the ECNT signal to 1 to inform the slave that remaining data exists. 
 [Operation] When the ECNT signal becomes 1, the servo amplifier module behaves 
as follows:


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as follows: 
1. After receiving command data from the buffer, the servo amplifier 
module inverts the state of the EBSY signal so that it matches the 
state of the EBUF, thereby prompting the transfer of the next data. 
 The signal is reset to 0 at the last data of a series of commands. 
(10) PMM data signal USR1 
 [Classification] Input signal <Xx+4#3> 
 [Function] Direct commands transfer data using the same area as the power mate


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CNC manager function. If USR1 is 0, it is necessary to perform special 
processing to read the data, because it is a response from the ladder 
program of the host. If USR1 is 1, the response command (Xx+4 and 
after) is for the power mate CNC manager and, therefore, the ladder 
program on the host ignores it. 
 [Input condition] The signal becomes 1 when: 
1. The response data is power mate CNC data. 
The signal becomes 0 when: 
1. The response data is data from a ladder program.


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
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(11) Response data continuation notification signal ECONT 
 [Classification] Input signal <Xx+4#0> 
 [Function] If there is too much response data to be sent at one time, the ECONT 
signal is set to 1. In this case, after reading the current data, the host 
waits for the next data. The host must continue to read data for as long 
as the ECONT signal is 1. The "next data" is input from Xx+5. 
 [Input condition] The signal becomes 1 when:


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1. Remaining response data exists. 
The signal becomes 0 when: 
1. All response data has been read. 
(12) Function code command completion notification signal ECF 
 [Classification] Input signal <Xx+4#5> 
 [Function] If function code command execution completion notification mode is 
entered with NMOD set to 1, the servo amplifier module sets ECF to 1 
to indicate that positioning directed by this command has been 
completed, and waits for the next command to be executed until the


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host responds. The host issues the SET FIN command to cause 
processing to move to the next command. 
 [Input condition] The signal becomes 1 when: 
1. The system enters function code command execution completion 
notification mode with NMOD set to 1, and positioning directed 
by the function code is completed. 
The signal becomes 0 when: 
1. The SET FIN command is executed. 
(13) Alarm signal DAL 
 [Classification] Input signal <Xx+4#1>


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[Function] If an alarm condition occurs in the servo amplifier module, the servo 
amplifier module sets the DAL signal to 1. The host issues a READ 
ALARM STATUS command to read details of the alarm condition, as 
required. 
 [Input condition] The signal becomes 1 when: 
1. When an alarm condition occurs in the slave. 
The signal becomes 0 when: 
1. When there is no alarm condition in the slave. 
(14) Wait signal WAT 
 [Classification] Input signal <Xx+1#0>


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[Function] The servo amplifier module indicates, to the host, that it is in the wait 
state. After performing the necessary processing, the host returns a wait 
completion signal (WFN) to cause the servo amplifier module to 
continue operating. This method is used by the servo amplifier module 
to request the host to perform processing, when the servo amplifier 
module is running continuously in memory operation mode. 
 [Input condition] The signal becomes 1 when:


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1. The servo amplifier module executes a wait command during 
memory operation. 
The signal becomes 0 when: 
1. The host sets the wait completion signal WFN to 1.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
- 66 - 
(15) Wait completion signal WFN 
 [Classification] Output signal <Yy+1#4> 
 [Function] If the servo amplifier module issues wait signal WAT to cause it to enter 
the wait state, the host releases the servo amplifier module from the wait 
state. Upon receiving the wait completion signal, the servo amplifier 
module executes the next command. 
 [Operation] When the servo amplifier module is in the wait state, it sets the wait


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signal WAT to 1. If the WFN signal is set to 1 under this condition, the 
servo amplifier unit and host behave as follows: 
1. The servo amplifier module resets the wait signal WAT to 0. Upon 
detecting that the WAT becomes 0, the host resets the WFN to 0. 
The servo amplifier module exits from the wait state and executes 
the next command. 
(16) Memory registration signal INPF 
 [Classification] Output signal <Yy+3#7> 
 [Function] The host can store function code commands into the memory of the


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servo amplifier unit and control memory operation according to the data 
in the memory. If buffering type function code, such as a position 
command, is issued with INPF set to 1, it is registered into memory 
instead of being executed. Up to 32 blocks can be registered. Once a 
series of registration operations has been completed, the INPF is reset to 
0. This command is erased when the power is switched off. It is 
necessary to register it in memory before memory operation is used. If


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the INPF is set to 1 when function code is already registered in memory, 
the function code is cleared from memory, allowing new function code 
to be registered. 
 [Operation] If buffering type function code is issued with INPF set to 1, it is stored 
into memory instead of being executed. 
(17) Memory registration in-progress signal INPFO 
 [Classification] Input signal <Xx+3#7> 
 [Function] The servo amplifier module indicates, to the host, that it is in memory


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registration mode. When the INPFO signal is 1, a buffering type 
function code command, such as a positioning command, is stored into 
memory instead of being executed. 
 [Input condition] The signal becomes 1 when: 
1. The host sets the INPF signal to 1 to specify memory registration 
mode, and the servo amplifier module enters memory registration 
mode. 
The signal becomes 0 when: 
1. The host resets the INPF signal to 0 to release memory registration


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
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(18) Interface switch signal DRC 
 [Classification] Output signal <Yy+1#5> 
 [Function] The host informs the servo amplifier module of the interface type 
(peripheral equipment control interface or direct command interface) to 
be used. 
 [Operation] When the DRC signal is 0, the slave runs using the peripheral 
equipment control interface. When it is 1, the slave runs using the direct


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command interface. The servo amplifier module also sends the interface 
status notification signal DRCO ((19) of Section 2.3.14) to the host. 
After detecting the DRCO signal, the host issues commands. 
After changing the DRC signal, the host should not issue a command 
within one scan after the DRCO signal changes. Once the state of the 
DRC signal is inverted, do not invert it again before the state of the 
DRCO signal changes accordingly, as data communication with the


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servo amplifier module is hindered. Before inverting the state of the 
DRC signal again, wait for at least one scan after the state of the DRCO 
signal changes. 
NOTE 
 Usually, the DRC signal should not be switched 
while the power is switched on. If necessary, it 
should be switched during a reset state, that is, 
while neither automatic nor JOG operation is in 
progress. Moreover, it should not be switched when 
the motor is not in the in-position state.


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(19) Interface status notification signal DRCO 
 [Classification] Input signal <Xx+1#1> 
 [Function] The servo amplifier module informs the host of the current interface 
mode (peripheral equipment control or direct command interface). 
After detecting the DRCO signal, the host issues commands. 
 [Input condition] The signal becomes 1 when: 
1. The slave is in direct command interface mode. 
The signal becomes 0 when: 
1. The slave is in peripheral equipment control interface mode.


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
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2.3.15 Direct Input Signals 
NOTE 
 The following signals are not host-to-servo amplifier 
module FANUC I/O Link interface signals. 
(1) Emergency stop signal *ESP 
 [Classification] Servo amplifier module direct input signal 
 [Function] The host stops the servo amplifier module immediately. 
 [Operation] When the signal becomes 0, the servo amplifier module behaves as 
follows: 
1. Hosts stops servo amplifier module immediately.


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2. A reset is performed after a stop. 
3. The servo system cannot operate for as long as the emergency stop 
signal is 0. So, the servo preparation completion signal SA is held 
at 0. If the machine is shifted while the SA is 0, the shift is 
reflected in the current coordinates in the servo amplifier module; 
the current position will not be lost (follow-up). 
4. Neither jog feed nor a function code command can be issued while 
the emergency stop signal is 0.


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(2) Overtravel signals *-OT and *+OT 
 [Classification] Servo amplifier module direct input signal 
 [Function] The host indicates that the controlled axis has reached the stroke limit 
described below. 
*-OT: The stroke limit in the negative direction has been reached. 
*+OT: The stroke limit in the positive direction has been reached. 
 [Operation] When the signal becomes 0, the servo amplifier module behaves as 
follows: 
1. The controlled axis is stopped immediately by zero-speed-based


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deceleration, and an OT alarm for the input direction is output. A 
movement in the opposite direction can be made by jog feed or 
handle feed. The execution of function code commands and the 
reading of commands are stopped. 
2. The direction in which the signal becomes 0 is memorized. Even 
after the signal is returned to 1, the controlled axis is prevented 
from operating in that direction until the OT alarm is reset. 
(3) High-speed interlock signal *RILK


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[Classification] Servo amplifier module direct input signal 
 [Function] The host stops all movement command-specified feed. 
 [Operation] While the signal is 0, the servo amplifier module resets the all 
movement command-specified feed to 0 to stop controlled axis feed. 
Axis movement is decelerated to a stop. 
A move command remains valid even when the signal is 0. Movement 
can be resumed immediately when the signal is set to 1 again. This does 
not affect non-move commands.


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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS
- 69 - 
(4) Deceleration signal for reference position return *DEC 
 [Classification] Servo amplifier module direct input signal 
 [Function] The host decelerates feed operation based on a reference position return 
command. 
 [Operation] The servo amplifier module decelerates feed for reference position 
return when this signal switches from 1 to 0. After deceleration, the FL 
feedrate (set in parameter No. 054) is used for movement. If this signal


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switches from 0 to 1 during movement at the FL feedrate, the movement 
being made along an axis stops at the first encountered grid, and that 
position becomes a reference position. At this time, the reference 
position return completion signal (ZPX) is set to 1. For details, see 
Section 3.5. 
NOTE 
 When the signal described above is used, the 
high-speed interlock signal (*RILK) cannot be used. 
(5) Skip signal HDI 
 [Classification] Servo amplifier module direct input signal


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[Function] The workpiece coordinates at the point when this signal is input are 
recorded. 
 [Operation] If, during the execution of the peripheral equipment control command 
(function code 8) for positioning for the skip function, a rise ("0" to "1") 
or "1" to "0") of this signal is captured, axis movement is stopped 
immediately and command execution is terminated. Also, the 
workpiece coordinates (skip measurement data) at the point when this


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signal is input are recorded. The recorded data can be read as response 
data by setting parameter No. 020 to "5". 
Also, while the direct command for positioning for the skip function is 
being executed independently (the SKIP bit of the absolute positioning 
command and the incremental positioning command is set), axis 
movement is stopped immediately and command execution is 
terminated. If thirty-two-block buffering operation is in progress, the


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system skips the currently executed block, moving to the next block. 
Skip measurement data is also recorded during the execution of the 
direct command. The recorded data can be read on the host by 
executing the direct command for "reading skip measurement data".


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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01
- 70 - 
NOTE 
1 To perform positioning for the skip function, bit 0 
(HENB) of parameter No. 017 must be set to "1" 
(use the skip function). 
2 It is possible to specify, using an appropriate 
parameter, whether to retain the previous skip 
measurement data or record the specified end point 
coordinates if, during the execution of positioning for 
the skip function (peripheral equipment 
control/direct command), the skip signal (HDI) is not


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input and the end point is reached. If bit 2 (SPCO) 
of parameter No. 17 is "0", the previous skip 
measurement data is recorded; if "1", the specified 
end point coordinates. 
3 If reading skip measurement data with peripheral 
equipment control, confirm the completion of 
positioning for the skip function (OPC4 = 1) 
beforehand. 
4 If, during the execution of positioning for the skip 
function (peripheral equipment control/direct 
command), the execution is interrupted due to an


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
- 72 - 
3.1 COMMAND FORMAT FOR PERIPHERAL EQUIPMENT 
CONTROL 
The servo amplifier module receives a command, issued in the specified 
format, from the host, then executes a sequence of operations for 
performing peripheral equipment control. When a command for reading 
the current position is specified, the servo amplifier module returns the 
result of command execution to the host. The command and result are


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exchanged, in an interface area, in the formats shown below. 
● General format of instruction commands (host → servo amplifier 
module) 
 7 6 5 4 3 2 1 0 
Yy+2 Function code Command data 1 
Yy+3 
Yy+4 Command data 2 
Yy+5 
Yy+6 
● General format of response commands (servo amplifier module →
host) 
 7 6 5 4 3 2 1 0 
Xx+3 
Xx+4 Response data 
Xx+5 
Xx+6 
● Data types 
 7 6 5 4 3 2 1 0 BIT
Byte type: 
(BYTE) 
 7 6 5 4 3 2 1 0 BIT
Word type: Lower byte 
(WORD) Higher byte


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(WORD) Higher byte 
Data = (higher byte)*256 + (lower byte) 
 7 6 5 4 3 2 1 0 BIT
Lowest byte 
Second lowest byte 
Second highest byte 
Double 
precision 
type 
(DWORD): Highest byte 
Data = (highest byte)*16777216 
 + (second highest byte)* 65536 
 + (second lowest byte)*256 
 + (lowest byte)


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
- 73 - 
3.2 PERIPHERAL EQUIPMENT CONTROL PROCEDURE 
3.2.1 Specifying Operation Using a Function Code 
In peripheral equipment control, the host sets a function code, 
command data 1, and command data 2, then turns the automatic 
operation start signal (ST) in the interface area on then off to start the 
instruction command. Some instruction commands use a feed axis and 
direction select signal (+X or -X).


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The servo amplifier module returns a operation completion signal 
(OPC1, OPC2, OPC3, OPC4) according to the status of command 
execution; the host performs the corresponding processing. 
OPC1 : This signal notifies the host that a function code has been 
received. At the same time, the unclamp command is output. 
OPC2 : This signal notifies the host that the unclamp state output signal 
has been received. 
OPC3 :This signal notifies the host that a movement has been


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completed. At the same time, the clamp command is output. 
OPC4 : This signal notifies the host that the clamp state output signal 
has been received, and that a function code has been executed. 
Response data, if any, is set at the same time. 
Until OPC4 is received, the next instruction command must not be set. 
NOTE 
 When the clamp/unclamp function is not used, 
OPC2 and OPC3 are not output from the servo 
amplifier module. 
3.2.2 Receiving Response Data


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3.2.2 Receiving Response Data 
From the response data, the host can read the current position of the axis 
controlled by a servo amplifier module as well as any alarm 
information. 
To read alarm information, the host sets the alarm output command 
signal (DSAL) to 1. When the alarm output state check signal (DSALO) 
is 1, the number of alarms and alarm numbers are returned as response 
data. 
When the alarm output command signal (DSAL) is set to 0, position


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information is set as response data. Position data can be selected using 
parameter No. 20 (PHOUT). The type of data can be checked using a 
response data check signal (DSP1, DSP2).


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
- 74 - 
3.3 FUNCTION CODES 
3.3.1 Function Codes 
Function code Command data 1 
4 bits 
Command data 2
4 bytes Mode Start 
signal Remarks 
0 : Jog operation JOG +X/-X (Note 1) 
1: Automatic operation (shortcut 
rotation) 
2: Automatic operation (positive 
direction) 
3: Automatic operation (negative 
direction) 
Turret/magazine 
number 2 : ATC AUTO ST 
operation/turr
et control 
4 : 1-pitch rotation


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4 : 1-pitch rotation 
5 : Continuous indexing (Note 2) JOG +X/-X
Set an amount of travel per 
ATC rotation and the 
number of 
turrets/magazines in the 
parameters. 
(Note 3, Note 4, Note 8) 
3 : Point 
positioning 
Feedrate code 1 to 7 
15: Rapid traverse 
Point number 
1 to 12 AUTO ST (Note 5, Note 6, Note 7, 
Note 8) 
Reference position number 
1: First reference position 
2: Second reference position 
3: Third reference position 
ST 
15: Reference position setting (Note


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9, Note 10) +X/-X 
4 : Reference 
position 
return 
15: Reference position external 
setting (Note 11) 
 JOG
ST 
5 : Positioning 
(absolute 
specification) 
Feedrate code 1 to 7 
15: Rapid traverse 
Workpiece 
coordinates AUTO ST (Note 6) 
6 : Positioning 
(incremental 
specification) 
Feedrate code 1 to 7 
15: Rapid traverse Travel distance AUTO ST (Note 6) 
7 : Speed control 0: Start-up or change-gear command
1: Stop command 
Speed command 
value AUTO ST (Note 12)


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value AUTO ST (Note 12) 
BIT3: 0(absolute specification) 
BIT0-2: Feedrate code 1 to 7 
Workpiece 
coordinates 8 : Positioning 
(for skip 
function) BIT3: 0(incremental specification) 
BIT0-2: Feedrate code 1 to 7 Travel distance 
AUTO ST (Note 6, Note 13, Note 14)
10: Coordinate 
system 
setting 
1: Coordinate system setting 
2: Magazine number setting 
3: Point number setting 
Coordinates 
Magazine number
Point number 
AUTO ST 
The coordinates 
corresponding to a number


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corresponding to a number 
represent the current 
position. 
12 : Parameter 
rewriting 
Parameter type 
1: Byte 
2: Word 
3: Two-word (1st) 
4: Two-word (2nd) 
Parameter number 
and parameter 
value 
 ST 
14 : Point data 
external 
setting 
Point number 1 to 12 Point data JOG ST 
Data is entered into the 
parameter corresponding to 
a point number. 
15 : Data setting 
by teaching 
Point number 
1 to 12 JOG ST 
A coordinate is entered into 
the parameter


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
- 75 - 
NOTE 
1 Besides function code 0, jog operation can also be performed with 1, 10, and 15. 
2 If the remaining distance to the next point is shorter than the required deceleration 
distance for stopping at that point when the feed axis and direction selection switch 
(+X, -X) is released, movement is made to the point immediately after the next point. 
3 Set bit 1 (ROTX) of parameter No. 000 (for rotation axis setting) to 1, and set bit 7


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(ROAX) of parameter No. 000 to 1 (for rollover). 
4 In ATC automatic operation mode, rapid traverse (parameter No. 040) is assumed 
unconditionally. In jog operation mode, rapid traverse is assumed if the RT signal is 
ON (parameter No. 040) and jog speed is assumed if the RT signal is OFF 
(parameter No. 041). 
5 As the position corresponding to each point number, workpiece coordinates are set 
in parameter Nos. 154 to 165.


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in parameter Nos. 154 to 165. 
6 The feedrates of feedrate codes 1 to 7 are set in parameter Nos. 044 to 050, and a 
rapid traverse rate is set in parameter No. 040. 
7 In rollover setting, shortcut control is possible. In rollover setting, set a value within ±1 
rotation for the absolute positioning command. 
8 When a half rotation command is issued with ATC or point positioning, operation is in 
the + direction if end point > start point and in the - direction if end point < start point.


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9 After the power is turned on, performing reference position setting causes 1 to be 
output as the turret/magazine number. If performing the reference position return 
function without dogs, be sure to use jog operation to move the tool at a certain 
speed or greater and for a certain distance or greater (speed and distance enough to 
accumulate 128 pulses or more of servo positional deviation) in the reference 
position return direction set in the parameter. After reference position return, by


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setting bit 1 (SZRN) of parameter No. 011 appropriately, the reference position can 
be shifted by one grid each time +X/-X is turned ON. 
10 When bit 2 (DZRN) of parameter No. 011 is set to 1, the reference position return 
function with dogs is enabled. For details, see Section 3.5, "Reference Position 
Return Function with Dogs". 
11 When the absolute pulse coder is used, the current position can be set as the


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reference position. After positioning to the reference position, perform the reference 
position external setting function. 
12 Speed control cannot use clamping/unclamping. 
13 To perform positioning for the skip function, bit 0 (HENB) of parameter No. 017 must 
be set to "1" (use the skip function). 
14 With positioning for the skip function, the command can be interrupted (skipped) 
during positioning at the time when the skip signal (HDI) is input. Rapid traverse


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cannot be specified as the positioning speed. 
15 Never change the current mode during operation. The mode can be changed only 
after operation has been stopped. 
16 Axis movement commands other than JOG operation are not executed if the alarm 
signal (AL) is "1".


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
- 76 - 
3.4 DETAILS OF FUNCTION CODES 
3.4.1 ATC/Turret Control 
Command data 1 (feed type code) 
Move command execution, automatic 
operation start state 
(2) Operation completion signal OPC 1: Unclamp command signal (UCPC2) 
Servo amplifier module 
operation state 
Jog or Auto mode 
Start enabled state 
Host NC 
CNC PMC 
(1) O 0001 
 : 
T ××
Function code = 2
Unclamp completion
(UCPS2=1) Operation completion signal OPC2


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(3) Operation completion signal OPC 3: Clamp command signal (UCPC2) 
ST signal, or +X/-X signal 
(4) Clamp completion
Command data 2 (turret/magazine number) 
(5) (UCPS2=0) Response data (turret/magazine number or coordinates) 
Operation completion signal OPC4
Processi
ng by 
PMC 
Processing 
by PMC 
Processing 
by PMC 
FIN 
When execution 
has terminated 
abnormally 
Start enabled state 
Alarm state occurrence 
AL signal and the number of 
alarms/alarm numbers 
(6) Alarm indication


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(6) Alarm indication 
(1) When the host NC program executes a T code command, the PMC 
on the host NC sets the function code, command data 1, and 
command data 2, then sends the ST signal or +X/-X signal to the 
servo amplifier module. Upon receipt of the data, the servo 
amplifier module returns the operation completion signal OPC 1 
to the host NC, and also outputs the unclamp command signal. 
(2) When unclamp completion notification is sent from the host NC,


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the servo amplifier unit returns the operation completion signal 
OPC 2 to the host NC, then starts movement to the position 
corresponding to a specified turret/magazine number.


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(3) Upon completion of the movement, the servo amplifier module 
returns the operation completion signal OPC 3 to the host NC, and 
also outputs the clamp command signal. 
(4) When clamp completion notification is sent from the host NC, the 
servo amplifier unit returns response data (turret/magazine 
number or coordinates) and the operation completion signal OPC 
4, and is placed in the start enabled state.


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(5) Upon receipt of the operation completion signal OPC 4, the PMC 
on the host NC returns the FIN signal. 
(6) If an alarm is issued while the servo amplifier module is executing 
an instruction, the AL signal is output. So, the PMC on the host 
NC is to perform processing such as alarm indication. In this case, 
the number of alarms and alarm numbers can be included in the 
response data by setting the DSAL signal [Subsection 2.3.13.(9)] 
to 1. 
Supplementary information


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Supplementary information 
1) The unclamp/clamp command signal and state signal are used for 
communication with the host. 
2) Whether the unclamp/clamp state signal is to be checked is 
specified by setting bit 2 (IGCP) of parameter No. 003. When 
IGCP is set such that no check is to be made, the operation 
completion signal OPC 2 and operation completion signal OPC 3 
are not output. 
3) Use parameter No. 167 to set the period between the servo


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amplifier module being turned on and the output of the unclamp 
command signal. Use parameter No. 168 to set the period between 
the clamp command signal being output and the servo amplifier 
unit being turned off. 
4) The ST signal can be accepted in the start enabled state only. 
5) The start enabled state is that state in which the STL signal is off.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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3.4.2 Point Positioning Control 
Servo amplifier module 
operation state 
CNC PMC 
Host NC 
Auto mode 
Start enabled 
state 
(1) 
Processing 
by PMC 
Processing 
by PMC 
Operation completion signal OPC4
(2) Operation completion signal OPC 1: Unclamp command signal (UCPC2) 
Move command execution, automatic 
operation start state 
(4) Clamp completion 
(UCPS2=0) Response data (point number or coordinates) 
Start enabled


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Start enabled 
Alarm state occurrence state 
(5) Alarm indication 
(3) Operation completion signal OPC 3: Clamp command signal (UCPC2) 
When execution has 
terminated 
abnormally 
(UCPS2=1) Operation completion signal OPC2 
Unclamp completion
ST signal
Function code = 3
Command data 2 (point number)
Command data 1 (feed type code) 
AL signal and the number of 
alarms/alarm numbers 
(1) The PMC on the host NC sets the function code, command data 1,


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and command data 2, then sends the ST signal to the servo 
amplifier module. Upon receipt of the data, the servo amplifier 
module returns the operation completion signal OPC 1 to the host 
NC, and also outputs the unclamp command signal to the host NC. 
(2) When unclamp completion notification is sent from the host NC, 
the servo amplifier module returns the operation completion signal 
OPC 2 to the host NC, and starts movement to the position 
corresponding to a specified point number.


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(3) Upon completion of the movement, the servo amplifier module 
returns the operation completion signal OPC 3 to the host NC, and 
also outputs the clamp command signal to the host NC.


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(4) When clamp completion notification is sent from the host NC, the 
servo amplifier module returns response data (point number or 
coordinates) and the operation completion signal OPC 4, and is 
placed in the start enabled state. 
(5) If an alarm is issued while the servo amplifier module is executing 
an instruction, the AL signal is output. So, the PMC on the host 
NC is to perform processing such as alarm indication. In this case,


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the number of alarms and alarm numbers can be included in the 
response data by setting the DSAL signal [Subsection 2.3.13.(9)] 
to 1. 
Supplementary information 
1) The unclamp/clamp command signal and state signal are used for 
communication with the host NC. 
2) Whether the unclamp/clamp state signal is to be checked is 
specified by setting bit 2 (IGCP) of parameter No. 003. When 
IGCP is set such that no check is performed, the operation


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completion signal OPC 2 and operation completion signal OPC 3 
are not output. 
3) Use parameter No. 167 to set the period between the servo 
amplifier module being turned on and the unclamp command 
signal being output. Use parameter No. 168 to set the period 
between the clamp command signal being output and the servo 
amplifier unit being turned off. 
4) The ST signal can be accepted in the start enabled state only. 
5) The start enabled state is that state in which the STL signal is off.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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3.4.3 Reference Position Return 
Command data 1 (reference position number/reference position setting)
Start enabled state 
Processing 
by PMC 
AL signal and the number of alarms/ 
alarm numbers 
(5) Alarm indication 
When execution has 
terminated 
abnormally 
Alarm state occurrence
(UCPS2=0) Operation completion signal OPC4
Clamp completion
(4) Operation completion signal OPC 3: Clamp command signal (UCPC2)


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(3) Reference position return completion signal 
Movement to each reference 
position
(2) (UCPS2=1) Operation completion signal OPC2
Operation completion signal OPC 1: Unclamp command signal 
(UCPC2) 
Unclamp completion 
ST signal, +X/-X signal 
Processing 
by PMC 
Function code = 4 
Jog mode 
Start enabled state 
Servo amplifier module 
operation state 
(1) 
CNC PMC 
Host NC 
(1) The PMC on the host NC sets the function code and command data


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1, then sends the ST signal or +X/-X signal to the servo amplifier 
module. Upon receipt of the data, the servo amplifier module 
returns the operation completion signal OPC 1 to the host NC, and 
also outputs the unclamp command signal. 
(2) When unclamp completion notification is sent from the host NC, 
the servo amplifier unit returns the operation completion signal 
OPC 2 to the host NC, and starts movement to a specified 
reference position.


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reference position. 
(3) Upon completion of the movement, the servo amplifier module 
returns the reference position return completion signal and 
operation completion signal OPC 3 to the host NC, and also 
outputs the clamp command signal. 
(4) When clamp completion notification is sent from the host NC, the 
servo amplifier unit returns the operation completion signal OPC 4 
to the host NC, enters the start enabled state, then ends the cycle.


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(5) If an alarm is issued while the servo amplifier module is executing 
a reference position return operation, the AL signal is output. So, 
the PMC on the host NC is to perform processing such as alarm 
indication. In this case, the number of alarms and alarm numbers 
can be included in the response data by setting the DSAL signal 
[Subsection 2.3.13.(9)] to 1. 
Supplementary information


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Supplementary information 
1) The unclamp/clamp command signal and state signal are used for 
communication with the host NC. 
2) Whether the unclamp/clamp state signal is to be checked specified 
by setting bit 2 (IGCP) of parameter No. 003. When IGCP is set 
such that no check is performed, the operation completion signal 
OPC 2 and operation completion signal OPC 3 are not output. 
3) Use parameter No. 167 to set the period between the servo


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amplifier module being turned on and the unclamp command 
signal being output. Use parameter No. 168 to set the period 
between the clamp command signal being output and the servo 
amplifier unit being turned off. 
4) The ST signal can be accepted only in the start enabled state. 
5) The start enabled state is that state in which the STL signal is off.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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3.4.4 Reference Position Setting (when the Reference Position 
External Setting Function is Used) 
Alarm state occurrence 
AL signal and number of alarms/ 
alarm numbers 
Processing 
by PMC 
ST signal 
Command data 1 (reference position setting) 
(1) Function code = 4 (reference position return) 
The current position is used as the reference position.
The reference position establishment flag is set to on.


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Alarm 000 (power-off request) 
(2) Operation completion signal OPC 1 End of ST signal acceptance 
(3) Operation completion signal OPC 4
End of data setting 
(4) Alarm indication 
Processing 
by PMC 
When execution has 
terminated 
abnormally 
Jog mode 
Emergency stop 
release state 
Servo amplifier module 
operation state 
Host NC 
Start of the reference position external 
setting function
Positioning to a reference position
CNC PMC


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CNC PMC
(1) When the reference position external setting function is used, the 
PMC on the host NC sets the function code and command data 1, 
then sends the ST signal to the servo amplifier module after 
positioning to the reference position. 
(2) Upon receipt of the data, the servo amplifier module returns the 
operation completion signal OPC 1 to the host NC. 
(3) The servo amplifier module uses the current position as the 
reference position, sets the reference position establishment flag


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(bit 0 (ABSX) of parameter No. 011), outputs alarm 000 
(power-off request), returns the operation completion signal OPC 
4, then terminates.


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(4) If an alarm is issued while the servo amplifier module is executing 
reference position setting, the AL signal is output. So, the PMC on 
the host NC is to perform processing such as alarm indication. In 
this case, the number of alarms and alarm numbers can be included 
in the response data by setting the DSAL signal [Subsection 
2.3.13.(9)] to 1. 
Supplementary information


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Supplementary information 
1) This function is enabled only when an absolute pulse coder is 
used. 
2) The start enabled state is that state where the STL signal is off.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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3.4.5 Positioning Control (Absolute/Incremental Specification, for 
Skip Function) 
Processing 
by PMC 
ST signal 
Command data 2 (amount of travel or specified coordinates) 
Command data 1 (feedrate code) 
(2) Operation completion signal OPC 1: Unclamp command signal (UCPC2) 
Auto mode 
Start enabled state 
Servo amplifier module 
operation state 
(1) O0001 
 : 
 T xx 
Host NC 
CNC PMC
Function code = 5, 6, 8


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Function code = 5, 6, 8 
(5) Alarm indication 
AL signal and the number of alarms/
alarm numbers 
(4) Move command execution, automatic operation start state
Operation completion signal OPC 3: Clamp 
command signal (UCPC2) 
(UCPS2=1) Operation completion signal OPC2 
(UCPS2=0) Response data (coordinates)
FIN Processing 
by PMC 
Processing 
by PMC 
(3) Unclamp completion 
Clamp completion
Operation completion signal OPC 4 
Start enabled 
state 
Alarm state occurrence
When execution has


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When execution has 
terminated 
abnormally 
(1) The PMC on the host NC sets a function code, command data 1, 
and command data 2, then sends the ST signal to the servo 
amplifier module. Upon receipt of the data, the servo amplifier 
module returns the operation completion signal OPC 1 to the host 
NC, and also outputs the unclamp command signal to the host NC. 
(2) When unclamp completion notification is sent from the host NC, 
the servo amplifier unit returns the operation completion signal


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OPC 2 to the host NC, then starts movement. 
 If positioning for the skip function (function code 8) is issued, the 
skip function with the skip signal (HDI) is enabled. When HDI is 
input, axis movement is stopped immediately.


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(3) After the end of movement (for the skip function, after the input of 
HDI), the servo amplifier module returns the operation completion 
signal OPC3 to the host NC, and at the same time, outputs a clamp 
command signal to the host NC. 
(4) When clamp completion notification is sent from the host NC, the 
servo amplifier unit returns response data (coordinates) and the 
operation completion signal OPC 4, and is placed in the start


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enabled state. 
(5) If an alarm is issued while the servo amplifier module is executing 
an instruction, the AL signal is output. So, the PMC on the host 
NC is to perform processing such as alarm indication. In this case, 
the number of alarms and alarm numbers can be included in the 
response data by setting the DSAL signal [Subsection 2.3.13.(9)] 
to 1. 
Supplementary information 
1) The unclamp/clamp command signal and state signal are used for 
communication with the host.


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communication with the host. 
2) Whether the unclamp/clamp state signal is to be checked is 
specified by setting bit 2 (IGCP) of parameter No. 003. When 
IGCP is set such that no check is performed, the operation 
completion signal OPC 2 and operation completion signal OPC 3 
are not output. 
3) Use parameter No. 167 to set the period between the servo 
amplifier module being turned on and the unclamp command 
signal being output. Use parameter No. 168 to set the period


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between the clamp command signal being output and the servo 
amplifier unit being turned off. 
4) The ST signal can be accepted in the start enabled state only. 
5) The start enabled state is that state in which the STL signal is off. 
6) With the skip function, the workpiece coordinates at the point the 
skip signal (HDI) is input are internally recorded. The recorded 
skip measurement data (workpiece coordinates) can be read as 
response data by setting parameter No. 20 to "5". 
NOTE


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NOTE 
1 To perform the skip function, bit 0 (HENB) of parameter No. 
017 must be set to "1" (use the skip function). 
2 It is possible to specify, using an appropriate parameter, 
whether to retain the previous skip measurement data or 
record the specified end point coordinates if, during the 
execution of positioning for the skip function, the skip signal 
(HDI) is not input and the end point is reached. If bit 2 (SPCO) 
of parameter No. 17 is "0", the previous skip measurement


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data is recorded; if "1", the specified end point coordinates. 
3 If reading skip measurement data, confirm the completion of 
positioning for the skip function (OPC4 = 1) beforehand. 
4 If, during the execution of positioning for the skip function, the 
execution is interrupted due to an external reset, emergency 
stop, alarm, etc., no skip measurement data is updated.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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3.4.6 Speed Control
3.4.6.1 Overview 
The speed control function executes speed control by specifying a 
speed value as command data. Moreover, acceleration/deceleration is 
applied using a time constant (parameter No. 135) dedicated to speed 
control. Note, however, that acceleration/deceleration based on a time 
constant is not applied in an emergency stop operation. During speed


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control, follow-up is performed, thus updating the position. In addition, 
a change in speed can be specified during speed control. If control is 
switchable between speed control and position control, an override can 
be applied to a velocity loop gain for position control when speed 
control is selected (parameter No. 116). 
Speed control is executed in the AUTO mode. 
A speed command value can be specified in steps of 1 min-1 of the


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motor, so that the speed control function is useful in controlling the 
continuous feed of a tool such as a rotation tool. 
If a speed deviation check finds that a parameter-set value (parameter 
No. 136) is exceeded in the speed control mode, an alarm can be issued. 
Speed control is available in types A and B. The difference is that type 
B allows specification of the torque limit. During speed control, the 
torque limit specified in parameter No. 108 has no effect. To make the


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torque limit take effect, use type B. 
3.4.6.2 System configuration 
The system configuration is shown below. 
Host (NC) 
FANUC I/O Link 
Servo amplifier module 
Peripheral equipment control Ladder
In the configuration above, the host issues a ladder-based command to 
peripheral equipment control via the FANUC I/O Link to control the 
servo amplifier module. 
With the speed control function, the servo amplifier module first


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receives the speed command value (and for type B, the torque limit, too) 
and then starts operation with the ST signal (automatic operation start 
signal).


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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3.4.6.3 Peripheral equipment control command format 
A speed command value is specified using the following command: 
Command (host → servo amplifier module) 
 7 6 5 4 3 2 1 0 BIT
Yy+2 Function code Command data 1 
Yy+3 
Yy+4 Command data 2 
Yy+5 
Yy+6 
Mode : AUTO 
Function code : 7 
Command data 1 : Specifies speed control activation, a speed change, 
or stop. 
0 : Specifies activation or a speed change. 
1 : Specifies a stop.


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1 : Specifies a stop. 
Command data 2 : <1> Type A 
 Specifies a speed command value of word type in 
Yy+3 and Yy+4. 
 Unit : [min-1] 
 Valid data range : ±0 to the maximum speed of the 
motor 
 Always set 0 in Yy+5 and Yy+6. 
 Example) For a speed command of 4000 min-1. 
 Speed command value = 4000 (= 0FA0h)min-1
Yy+3 A0 
Yy+4 0F 
Yy+5 00 
Yy+6 00 
 <2> Type B 
 Specifies a speed command value of word type in 
Yy+3 and Yy+4. 
 Unit : [min-1]


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Unit : [min-1] 
 Valid data range : ±0 to the maximum speed of the 
motor 
 Specifies the torque limit of the motor of word type 
in Yy+5 and Yy+6. 
 Valid data range : 0 to 7282 
 Determine the setting with the following 
calculation: 
 Setting = Torque limit [%] x 7282/100 
 A setting of 0 is assumed to be 100% (7282). 
 Example) Speed command of 1500 min-1 with a 
torque limit of 50% 
 Speed command value = 1500 (= 05DCh)min-1
 Setting of the torque limit = 50% x (7282/100) =


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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Yy+3 DC 
Yy+4 05 
Yy+5 39 
Yy+6 0E 
NOTE 
1 The maximum speed of the motor depends on the 
motor used. 
2 For type B, even if torque limit is not performed 
(torque limit of 100%), specify 0 or 7282 for the 
torque limit. 
3 For type B, to change only the torque limit with the 
speed unchanged, use the variable speed 
command. At this time, specify the same speed as 
that specified the last time.


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that specified the last time. 
4 For type B, the torque limit cannot be specified with 
the stop command. After the stop command, the 
system will return to the torque limit assumed before 
the start of speed control (determined with 
parameter No. 108 and bit 2 of parameter No. 10). 
5 For type B, the specified torque limit is clamped with 
the setting of parameter No. 080 (current limit). 
6 Clamping/unclamping cannot be used.


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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3.4.6.4 Command timing chart 
(1) Start of speed control 
<1> Type A 
 Speed control is activated according to the timing chart shown 
below after the setting of function code = 7, command data 1 = 0, 
command data 2 = speed command value. 
TRQM 
OPC4 
Driving of the 
motor (Start) 
ST 
OPC1 
<2> Type B 
 Speed control is activated according to the timing chart shown


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below after the setting of function code = 7, command data 1 = 0, 
command data 2 = speed command value. 
TRQM 
OPC4 
Driving of the 
motor (Start) 
ST 
OPC1 
Torque Before After


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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(2) Speed change with speed control 
<1> Type A 
 A speed change based on speed control is activated according to 
the timing chart shown below after the setting of function code = 7, 
command data 1 = 0, command data 2 = new speed command 
value. 
OPC4 
Driving of the 
motor (Speed 
change) 
ST 
OPC1 
<2> Type B 
 A speed change based on speed control is activated according to


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the timing chart shown below after the setting of function code = 7, 
command data 1 = 0, command data 2 = new speed command 
value. Use this command also to change the torque limit only. 
OPC4 
Driving of the 
motor (Speed 
change)
ST 
OPC1 
Torque 
limit 
After 
change 
Before 
change


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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(3) Termination of speed control 
<1> Type A 
 Speed control is terminated according to the timing chart shown 
below after the setting of function code = 7 and command data 1 = 
1. 
TRQM 
OPC4 
Driving of the 
motor 
(Termination) 
ST 
OPC1 
<2> Type B 
 Speed control is terminated according to the timing chart shown 
below after the setting of function code = 7 and command data 1 = 
1. 
TRQM 
OPC4 
Driving of the 
motor


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OPC4 
Driving of the 
motor 
(Termination) 
ST 
OPC1 
Torque 
limit 
Value before activation of speed control


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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3.4.6.5 Parameter 
No #7 #6 #5 #4 #3 #2 #1 #0 
000 ROAX ROTX
 [Size] 1 byte (bit type) 
 [Standard setting value] 0 
 ROTX Specifies whether the controlled axis is a linear or rotation axis, as 
follows: 
0 : Linear axis 
1 : Rotation axis 
* To perform speed control, set this bit to "1". 
 ROAX Specifies whether the roll-over function of the rotation axis is valid, as 
follows: 
0 : Invalid 
1 : Valid


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0 : Invalid 
1 : Valid 
* To perform speed control, set this bit to "1". 
No #7 #6 #5 #4 #3 #2 #1 #0 
003 NCLP
 [Size] 1 byte (bit type) 
 [Standard setting value] 1 only for NCLP 
 NCLP Specifies whether to use clamping/unclamping, as follows: 
0 : Clamping/unclamping is used. 
1 : Clamping/unclamping is not used. 
* To perform speed control, set this bit to "1". 
No #7 #6 #5 #4 #3 #2 #1 #0 
007 VCTLB 
 [Size] 1 byte (bit type) 
 [Standard setting value] 0


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[Standard setting value] 0 
 VCTLB The speed control type of peripheral equipment control is: 
0 : Type A (torque limit not specifiable) 
1 : Type B (torque limit specifiable)


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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No 
100 Load inertia ratio (LDINT) 
 [Size] 2-byte 
 [Valid data range] 0 to 1024 
Set the ratio of the machine load inertia to the motor inertia, using a 
value obtained from the formula below as a guideline. 
Load inertia ratio = (machine load inertia/motor inertia) × 256 
If a value obtained by calculation exceeds 500, however, set 500. When 
a value is set in this parameter, the velocity loop gain is set to PK1V,


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and PK2V is increased by a factor of (1 + LDINT)/256. 
As a larger value is set in this parameter, the response to a velocity 
command improves, and servo rigidity increases. If an excessively 
large value is set, however, the servo system vibrates, and an unusual 
sound is generated during machine movement. Usually, set a value not 
exceeding 500. If the machine vibrates at a high frequency, the use of 
the torque command filter of parameter No. 102 is effective. 
No


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No 
116 Velocity loop gain override during speed control (%) 
 [Size] 2-byte 
 [Standard value] 0 (Override processing is not performed.) 
Set this parameter when switching between position control and speed 
control. When the speed control mode is set, an override specified here 
is applied to the velocity loop gain and integration gain used for 
position control. 
The relationships among a velocity loop proportional gain, integration


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gain, load inertia ratio, and velocity loop gain override in speed control 
are explained below using an example. Assume the following: 
Integration gain = 100 
Proportional gain = -500 
Load inertia ratio = 128 
Velocity loop gain override in speed control = 200% 
[Gain in position control] 
 Integration gain = 100 × (1 + 128/256) = 150 
 Proportional gain = -500 × (1 + 128/256) = -750 
[Gain in speed control] 
 Integration gain = 100 × (1 + 128/256) × 200/100 = 300


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Proportional gain = -500 × (1 + 128/256) × 200/100 = -1500 
Thus, when speed control is exercised, a gain override is applied to a 
gain that takes a load inertia ratio into consideration.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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No 
135 Linear acceleration/deceleration time constant for speed control 
 [Size] 2-byte 
 [Unit of data] ms 
 [Valid data range] 8 to 4000 
Specify a time required until 4000 min-1 is reached. 
Example) 
 When a speed command value of 2000 min-1 is specified, and the 
time required until 2000 min-1 is reached needs to be 1000 ms, the 
value to be set in this parameter is calculated as follows: 
 Setting = (4000/2000) × 1000 = 2000


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No 
136 Speed deviation check limit value in speed control 
 [Size] 2-byte 
 [Unit of data] min-1
 [Valid data range] 0 to 4000 
 [Standard setting value] 0 (No speed deviation check is made.) 
Set a speed deviation check limit value in the speed control mode. If the 
difference between a command speed and actual speed exceeds the 
value set in this parameter in the speed control mode, alarm No. 447 is 
issued. 
3.4.6.6 Signal 
 7 6 5 4 3 2 1 0 BIT
Xx+2 TRQM 
Speed control mode signal TRQM


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[Classification] Input signal <Xx+2#2> 
 [Function] The servo amplifier module notifies that the speed control mode is set. 
 [Input condition] The signal becomes 1 when: 
1. When speed control is activated, and the speed control mode is set 
The signal becomes 0 when: 
1. When the speed control stop command is executed 
2. Servo alarm, overtravel alarm, reset, emergency stop, servo-off 
3.4.6.7 Alarm 
No. LED 
indication Description Action 
254 Function code or mode is invalid.


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Check the value specified as the 
function code of a function code 
command. Check the mode. 
255
 Activation is impossible because the 
activation mode is different or a block 
is being executed. 
Check the mode. Check if a block is 
being executed. 
447 Excessive speed deviation (speed 
control) 
Check the actual speed. Check the 
setting of parameter No. 136.


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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3.4.6.8 Others 
(1) To exercise speed control, the parameters below usually need to be 
modified. 
 Do not modify parameters other than the parameters below. 
 No.000 (bit 1) : Set this bit to 1 (rotation axis specification). 
 No.000 (bit 7) : Set this bit to 1 (to enable rotation axis roll-over). 
 No.003 (bit 1) : Set this bit to 1 (not use clamping/unclamping). 
 No.007 (bit 4) : 0 if type A and 1 if type B.


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No.100 : Load inertia ration. Set an adjusted value. 
 The parameters below are dedicated to speed control. So, once 
these parameters are set, they need not be modified each time 
control is switched to speed control. 
No.116 : Velocity loop gain override in speed control. (Set this 
parameter when switching between position control 
and speed control.) 
No.135 : Linear acceleration/deceleration time constant for 
speed control 
No.136 : Speed deviation check limit value in speed control


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(2) In the speed control mode, the processing described below is 
performed based on output signals. 
 When the overtravel alarm is issued, a gradual stop occurs, and the 
speed control mode is terminated. When the external reset signal 
ERS (Yy+1#0) is set to 1, a gradual stop occurs, and the speed 
control mode is terminated. When the interlock signal *ILK 
(Yy+1#3) is set to 0, a gradual stop occurs. When the interlock 
signal is set to 1 again, acceleration is performed to restart a


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movement. 
 When the servo-off command signal SVFX (Yy+1#2) is set to 1, a 
gradual stop occurs, and the speed control mode is terminated. 
(3) The states of input signals in the speed control mode are described 
below. 
 Follow-up is performed for position updating, so that the axis 
movement in-progress signal MVX (Xx+7#2) and the distribution 
pulse signal IPLX (Xx+0#1) are set to 1. 
 During movement in one direction, the movement direction signal 
MVDX (Xx+7#0) is set to 1.


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MVDX (Xx+7#0) is set to 1. 
 The automatic operation signal OP (Xx+1#7) and the automatic 
operation start in-progress signal STL (Xx+1#5) are set to 1. 
Clamp/unclamp control is disabled in the speed control mode, so 
that the unclamp command signal UCPC2 (Xx+1#4) is not set to 1.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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3.4.7 Coordinate System Setting 
(2) 
Servo amplifier module 
operation state 
Host NC 
Auto mode 
Start enabled state
CNC PMC 
(1) 
Start of coordinate 
system setting
Processing 
by PMC 
Function code = 10
Command data 1 
(coordinate system setting, magazine number setting, point 
number setting) 
Command data 2 (absolute coordinates, magazine number, point number) 
ST signal


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ST signal
Operation completion signal OPC 1 End of ST signal acceptance 
A workpiece coordinate system 
is established which uses the 
current position as specified 
absolute coordinates. 
 Start enabled state
Operation completion 
signal OPC 4
End of coordinate 
system setting 
(1) In coordinate system setting, the PMC on the host NC sets the 
function code, command data 1, and command data 2, then sends 
the ST signal to the servo amplifier module. Upon receipt of the


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data, the servo amplifier module returns the operation completion 
signal OPC 1 to the host NC. 
(2) Upon completion of coordinate system setting, the servo amplifier 
module returns the operation completion signal OPC 4, and is 
placed in the start enabled state. 
Supplementary information 
1) The start enabled state is that state in which the STL signal is off.


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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3.4.8 Rewriting of Parameters 
3.4.8.1 Overview 
When using the peripheral equipment control parameter rewrite 
function, specify 12 as function code, a data size as command data 1, a 
parameter number and parameter value as command data 2, and start 
operation with the ST signal. For a double-word parameter, specify a 
parameter value twice. Parameter rewrite operation is performed in the


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emergency stop state. However, if operation is not being performed, 
the following parameter can be rewritten in a state other than the 
emergency stop state: 
• Parameter No. 20 
 CAUTION 
 The number of times the memory (EEPROM) for 
holding parameters can be rewritten to is limited (to 
several ten thousands times), so the memory does 
not allow frequent rewriting. For an application that 
rewrites parameters frequently, bit 3 (NEPRM) of 
parameter No. 0004 needs to be set to 1 to modify


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RAM data only without writing to the EEPROM. 
3.4.8.2 System configuration 
The system configuration is shown below. 
Host (NC) 
FANUC I/O Link 
Servo amplifier module 
Peripheral equipment control Ladder
In the configuration above, the host issues a ladder-based command to 
peripheral equipment control via the FANUC I/O Link to control the 
servo amplifier module. With the parameter rewrite function, the servo 
amplifier module receives command data for parameter rewrite


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operation, then executes parameter rewrite operation with the ST signal 
(automatic operation start signal).


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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3.4.8.3 Peripheral equipment control command format 
A parameter to be rewritten is specified using the following command: 
Command (host → servo amplifier module) 
 7 6 5 4 3 2 1 0 
Yy+2 Function code Command data 1 
Yy+3 
Yy+4 Command data 2 
Yy+5 
Yy+6 
Function code : 12 
Command data 1 : 
1 : Rewrites a byte parameter. 
2 : Rewrites a word parameter. 
3 : Rewrites a double-word parameter (first time).


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B : Rewrites a double-word parameter (second time). 
Command data 2 : 
 Sets the number of a parameter to be rewritten in Yy+3 and Yy+4. 
 Sets the value of a parameter to be rewritten in Yy+5 and Yy+6. 
Data type 
1) Byte type 
Yy+5 
Example: Number 22, data 5 
 Yy+3=16 [hexadecimal], Yy+4=00 
 Yy+5=05 [hexadecimal], Yy+6=00 
2) Word type 
Yy+5 Lower byte 
Yy+6 Higher byte 
Data = higher byte × 256 + lower byte 
• When rewriting a double-word parameter, divide the value of


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the parameter into two for two specifications. 
Example: Number 140, data 500000 
 500000=0007A120 [hexadecimal] 
 First time: 
Yy+3=8C [hexadecimal], Yy+4=00 
Yy+5=20 [hexadecimal], Yy+6=A1 [hexadecimal] 
 Second time: 
Yy+3=8C [hexadecimal], Yy+4=00 
Yy+5=07 [hexadecimal], Yy+6=00


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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3.4.8.4 Command timing chart 
OPC1
OPC4 
Rewriting being 
performed 
ST 
3.4.8.5 Alarm 
No. LED indication Description Action 
250 Command data 1 or the instruction 
command is invalid.
Check the specified value of command 
data 1 of a function code command.
251 Command data 2 is invalid. Check the specified value of command 
data 2 of a function code command.
254 Function code or mode is invalid.


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Check the specified value of function 
code of a function code command. 
Check the mode.
3.4.8.6 Parameter 
No #7 #6 #5 #4 #3 #2 #1 #0 
004 NEPRM
 [Size] 1 byte (bit type) 
 [Standard value] 0 
 NEPRM When the peripheral equipment control parameter rewrite function is 
executed, writing to the EEPROM (memory for holding parameters) is: 
0 : Performed. 
1 : Not performed. 
 CAUTION 
1 For an application that rewrites parameters 
frequently with the peripheral equipment control


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parameter rewrite function, set this parameter to 1. 
2 The setting of this parameter is applicable to the 
rewriting of parameters using a direct command.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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3.4.9 Control of the Point Data External Setting Function 
Host NC 
CNC PMC 
Servo amplifier module 
operation state 
Jog mode 
Start enabled state 
Function code = 14 (point data setting) 
(1) 
Start of data setting
Processing 
by PMC 
Command data 2 (position data)
Command data 1 (point number) 
The position data (absolute 
coordinate) specified in command 
data 2 is set in the parameter for the


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point number specified in command 
data 1. 
 Start enabled state 
ST signal
(2) 
Operation completion 
signal OPC 4
Operation completion signal OPC 1 End of ST signal acceptance
End of data setting 
(3) 
(1) In data setting, the PMC on the host NC sets the function code, 
command data 1, and command data 2, then sends the ST signal to 
the servo amplifier module. 
(2) When the function code, command data 1, and command data 2 
are received, the servo amplifier module returns the operation


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completion signal OPC 1 to the host NC. 
(3) Upon the completion of setting data in the parameter, the servo 
amplifier module returns the operation completion signal OPC 4. 
Supplementary information 
1) The start enabled state is that state in which the STL signal is off.


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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3.4.10 Teaching-based Data Setting Control 
Host NC 
CNC PMC 
Servo amplifier module 
operation state 
+X 
-X 
A position to be set is 
indexed. 
Jog mode 
Start enabled state 
Function code = 15 (1) 
Start of data setting 
Processing 
by PMC 
Command data 2 (point number) 
The current value (absolute 
coordinate) is set in the 
parameter for the point number 
specified in command data 2. 
 Start enabled state 
ST signal


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ST signal
(2) 
Operation completion 
signal OPC 4
Operation completion signal OPC 1 End of ST signal acceptance 
End of data setting 
(3) 
(1) After function code setting, the host NC indexes a position 
according to the +X/-X signal. 
(2) In data setting, the PMC on the host NC sets the function code and 
command data 2, then sends the ST signal to the servo amplifier 
module. Upon receipt of command data 2, the servo amplifier


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module returns the operation completion signal OPC 1 to the host 
NC. 
(3) Upon the completion of setting the current value in a parameter, 
the servo amplifier module returns the operation completion signal 
OPC 4, and is placed in the start enabled state. 
Supplementary information 
1) The coordinate for a point number is set in the parameter area. 
2) Perform teaching-based data setting while no movement is being 
performed along the axes.


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performed along the axes. 
3) The start enabled state is that state in which the STL signal is off.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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3.5 REFERENCE POSITION RETURN FUNCTION WITH DOGS 
3.5.1 Explanation of Function 
This function moves the machine movable part automatically or 
manually in a specified direction to return to a reference position. This 
method of reference position return is referred to as the grid method. 
With this method, a reference position is determined by an electronic 
grid position determined by the one-rotation signal of a position 
detector.


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detector. 
The deceleration signal for reference position return (*DEC) is placed 
in the same position as the high-speed interlock signal (*RILK) on the 
built-in DI. So, when the reference position return function with dogs is 
used, the high-speed interlock signal (*RILK) cannot be used. 
3.5.1.1 Reference position return operation (grid method) 
The machine movable part moves by rapid traverse when the jog feed 
mode is set, 4 is set as function code, 15 is set as command data 1, and


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feed toward a reference position is specified using the feed axis and 
direction select signal (+X or -X). 
If the deceleration signal for reference position return (*DEC) is set to 0 
because a deceleration limit switch is pressed, the feedrate is reduced, 
then movement continues at a low constant feedrate. 
When an electronic grid position is reached after the deceleration limit 
switch is released and the deceleration signal for reference position


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return is set to 1 again, feed operation stops. At this time, the reference 
position return completion signal (ZPX) is set to 1. 
A reference position return direction can be set in a parameter. 
The operation described above is shown in the timing chart below. 
+X/-X 
Function code = 4 
Command data 1 = 15
Jog feed mode 
V Rapid traverse 
rate 
Each rotation of the detector 
ZPX 
*DEC 
Grid (one-rotation signal)


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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A gradual stop occurs if a mode other than the jog feed mode is selected 
or the feed axis direction command signal (+X or -X) is turned off 
during reference position return. Reference position return must start at 
a point sufficiently away from a deceleration area and must be 
performed in the direction toward the reference position. The 
deceleration area is as shown below. 
Point where 
*DEC is released
Reference position


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Reference position 
Deceleration area
A low constant feedrate after deceleration is set using parameter No. 
054. 
NOTE 
1 If the direct command interface is used, select the 
AUTO mode and input 60H as function code, then 
invert the EBUF signal. Then, the machine movable 
part moves by rapid traverse for reference position 
return operation. 
2 If a reference position is already established, the 
machine is always positioned by rapid traverse at 
the reference position.


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the reference position. 
3.5.1.2 Deceleration limit switch installation condition 
When a deceleration limit switch for reference position return is 
installed, the condition shown below must be satisfied. 
Deceleration limit 
release point 
Deceleration limit
operation point 
LDW LDA
Reference position 
VR
Return direction 
Feedrate
VL


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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(i) LDW: Deceleration dog width (user unit) 
 LDW > (VR((TR/2)+11+TS)+4VL×TS)/60000 
 VR:Rapid traverse rate (user unit/min) 
 TR:Rapid traverse time constant (msec) 
 TS:Servo time constant (msec) 
 VL:Feedrate after deceleration (user unit/min) 
(ii) LDA:Distance between the deceleration limit switch release point 
and reference position 
 LDA:Travel distance equivalent to a half rotation of the motor


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The condition above does not include limit switch operation 
variation. Consider such variation into consideration when 
installing a limit switch. 
3.5.1.3 Tip 
To perform reference position return according to the sequence 
mentioned here, the machine must be fed once in the reference position 
return direction at such a feedrate that the servo positional deviation 
exceeds 128, before the first reference position return operation. A


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servo positional deviation (E) is determined from a feedrate (F) and 
servo loop gain (G). 
 E=(F/G)×(1/U) 
 E:Servo positional deviation (user unit) 
 F:Feedrate (user unit/sec) 
 U:Detection unit (user unit) 
 G:Servo loop gain 
In general, the detector unit is one user unit. 
When the machine is fed at a rapid traverse rate of 6000000 user 
units/min, the servo positional deviation in the steady state is as follows 
if the position loop gain is 30: 
 E=((6000000/60)/30)×(1/1) =3333


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On the contrary, such a feedrate that the servo positional deviation is 
128 is as follows if the detection unit is one user unit, and the servo loop 
gain is 30: 
 F=128×30×60=230,400 (user unit/min) 
This means that when the servo loop gain is 30, and the detection unit is 
one user unit, the machine needs to be fed in the reference position 
return direction at a feedrate of 230400 user units/min or more before 
reference position return. A servo positional deviation present when


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the machine is actually fed can be checked using DGN No. 032. 
 CAUTION 
 When this function is used, the high-speed interlock 
signal is disabled.


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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3.5.2 Parameter 
No #7 #6 #5 #4 #3 #2 #1 #0 
011 DZRN
 [Size] 1 byte (bit type) 
 [Standard value] 0 
 DZRN The reference position return function with dogs is: 
0 : Disabled. (The reference position return function without dogs is 
selected.) 
1 : Enabled. 
 CAUTION 
 When DZRN = 1, the high-speed interlock signal 
(*RILK) is disabled.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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3.6 UPGRADING OF THE ROTATION AXIS CONTROL 
FUNCTION 
3.6.1 Function for Specifying the Direction of Rotation Axis 
High-speed Reference Position Return 
3.6.1.1 Explanation of function 
The direction of high-speed reference position return of a rotation axis 
after reference position establishment is set using bit 5 (ZMIX) of 
parameter No. 0010. 
3.6.1.2 Parameter 
No #7 #6 #5 #4 #3 #2 #1 #0 
005 REFDRC
 [Size] 1 byte (bit type)


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[Size] 1 byte (bit type) 
 [Standard value] 0 
 REFDRC The direction of high-speed reference position return of a rotation axis 
is determined by: 
0 : Sign of the result of subtracting the current position from the 
reference position 
1 : Setting of bit 5 (ZMIX) of parameter No. 0010 
No #7 #6 #5 #4 #3 #2 #1 #0 
010 ZMIX 
 [Size] 1 byte (bit type) 
 [Standard value] 0 
 ZMIX When bit 2 (REFDRC) of parameter No. 0005 is set to 1, the direction


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of high-speed reference position return of a rotation axis is: 
0 : Plus direction 
1 : Minus direction 
NOTE 
1 This function is enabled only when a rotation axis is 
set (when bit 1 (ROTX) of parameter No. 0000 = 1). 
2 When shortcut rotation is enabled (when both bit 6 
(RABX) and bit 7 (ROAX) of parameter No. 0000 
are set to 1), this function is disabled.


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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3.6.2 Rotation Axis Rotation Direction Sign Specification Function 
3.6.2.1 Explanation of function 
With an absolute command for a rotation axis, a rotation direction can 
be specified using a sign. 
3.6.2.2 Example of program 
When parameter No. 0141 for specifying the travel distance of one 
rotation of a rotation axis is set to 360000, and the current position is 
100000, specify 300000 with an absolute command to move by rotation


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in the plus direction to the position of 300000. At this time, the travel 
distance is as follows: 
Travel distance: 300000 - 100000 = +200000 
To move by rotation in the minus direction to the position of 300000, 
specify -300000 with an absolute command. At this time, the travel 
distance is as follows: 
Travel distance = (300000 - 100000) - 360000 = -160000 
3.6.2.3 Parameter 
No #7 #6 #5 #4 #3 #2 #1 #0 
000 RAB2X
 [Size] 1 byte (bit type) 
 [Standard value] 0


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[Standard value] 0 
 RAB2X The specification of the rotation direction sign of a rotation axis with an 
absolute command is: 
0 : Disabled. 
1 : Enabled. 
NOTE 
1 This function is enabled only when roll-over is set 
(when both bit 1 (ROTX) and bit 7 (ROAX) of 
parameter No. 0000 are set to 1). 
2 When shortcut rotation is enabled (when both bit 6 
(RABX) and bit 7 (ROAX) of parameter No. 0000 
are set to 1), this function is disabled. 
3 When this function is used to specify an absolute


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value of 0 based on rotation in the minus direction, 
specify a travel distance of one rotation. For 
example, when the travel distance of one rotation is 
360000, and an absolute value of 0 is to be 
specified based on rotation in the minus direction, 
specify -360000.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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3.7 UPGRADING OF THE CLAMP/UNCLAMP CONTROL 
FUNCTION 
3.7.1 Start of the Timer Counting Until Servo-off in Clamp 
Processing 
3.7.1.1 Explanation of function 
In clamp processing, the timer (parameter No. 0168) counting until 
servo-off can be started when the clamp/unclamp state output signal is 
turned off. 
3.7.1.2 Parameter 
No #7 #6 #5 #4 #3 #2 #1 #0 
005 CLPSVF
 [Size] 1 byte (bit type) 
 [Standard value] 0


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[Standard value] 0 
 CLPSVF As a period of time from the start of clamp processing to servo-off 
(parameter No. 0168): 
0 : Time after the unclamp command signal (UCPC2) is turned off is 
set. 
1 : Time after the clamp/unclamp state output signal (UCPS2) is set. 
3.7.2 Disabling of Clamp Processing When Jog Operation is 
Stopped 
3.7.2.1 Explanation of function 
When jog operation is stopped, clamp processing is not performed, but 
the unclamp state can be held. 
3.7.2.2 Parameter


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3.7.2.2 Parameter 
No #7 #6 #5 #4 #3 #2 #1 #0 
005 JNCL
 [Size] 1 byte (bit type) 
 [Standard value] 0 
 JNCL When jog operation is stopped, clamp processing is: 
0 : Performed. 
1 : Not performed. (The unclamp state is held.)


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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3.8 UPGRADING OF THE RESPONSE DATA READ FUNCTION 
3.8.1 Overview 
At present, response data cannot be read for a purpose other than 
display during operation such as movement on axes. 
This function allows the host to read correct response data from a servo 
amplifier unit even during movement on axes by establishing 
synchronization between the host and servo amplifier module with the


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response data read function of the host. Note, however, that the ATC 
and point numbers are not updated until the end of a command. The 
ATC number can be updated at all times as described in Section 3.9, 
"Improvement of Turret/Magazine Number Output". 
3.8.2 Details of Function 
For synchronization establishment, the following two bits are added 
onto the I/O Link: 
ABSWT (Xx+1#0): Response data write completion signal 
ABSRD (Yy+1#4): Response data read completion signal


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[Details of processing] When the logic levels of ABSWT and ABSRD are equal (ABSWT = 
ABSRD = 0 or ABSWT = ABSRD = 1), the servo amplifier module 
writes response data to Xx+3 to Xx+6, and inverts the logic level of 
ABSWT. 
When the logic levels of ABSWT and ABSRD are not equal (ABSWT 
= 0 and ABSRD = 1, or ABSWT = 1 and ABSRD = 0), the host takes in 
response data from Xx+3 to Xx+6, and inverts the logic level of 
ABSRD. 
 [Timing chart] H : Processing by the host


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β : Processing by the servo amplifier module 
H: Response data read (Xx+3 to Xx+6)
β: Response data write 
(Xx+3 to Xx+6) 
β: Response data check 
signal (Xx+2#4 to #5) 
ABSRD 1 
(Yy+1#4) 0 
ABSWT 1 
(Xx+1#0) 0


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
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3.8.3 DI/DO Signals 
The DI/DO signals are signals on the FANUC I/O Link. 
 7 6 5 4 3 2 1 0 
Yy+1 ABSRD 
 7 6 5 4 3 2 1 0 
Xx+1 ABSWT
 7 6 5 4 3 2 1 0 
Xx+2 DSP2 DSP1 
Response data write completion signal ABSWT 
 [Classification] Input signal <Xx+1#0> (peripheral equipment control only) 
 [Function] After writing response data (Xx+3 to Xx+6), the servo amplifier module 
inverts this signal for notification to the host.


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[Operation] The servo amplifier module exclusive-ORs ABSWT with ABSRD. If 
the result of exclusive-OR is 0, the servo amplifier module writes 
response data (Xx+3 to Xx+6), and inverts this signal. 
Response data read completion signal ABSRD 
 [Classification] Output signal <Xx+1#4> (peripheral equipment control only) 
 [Function] After reading response data (Xx+3 to Xx+6), the host inverts this signal 
for notification to the servo amplifier module.


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[Operation] The host exclusive-ORs ABSWT with ABSRD. If the result of 
exclusive-OR is 1, the host reads response data (Xx+3 to Xx+6), and 
inverts this signal. 
Response data check signals DSP1, DSP2 
 [Classification] Input signal <Xx+2#4 to #5> (peripheral equipment control only) 
 [Function] The servo amplifier module indicates the contents of response data. 
 [Input condition] The servo amplifier module sets the contents of data being output in the


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response data by using a combination of signals as indicated in the table 
below. 
DSP2 DSP1 Response data 
0 0 Not output 
1 1 Coordinates, motor current value, skip measurement 
data, or torque command 
1 0 Current position number (ATC, point number) 
0 1 Actual feedrate or actual rotation speed 
NOTE 
1 The setting of parameter No. 20 determines which 
of coordinates, motor current value, skip 
measurement data, and torque command the 
response data is.


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response data is. 
2 The setting of parameter No. 20 determines which 
of actual feedrate and actual speed the response 
data is.


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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3.8.4 Parameter 
No #7 #6 #5 #4 #3 #2 #1 #0 
005 ABSPS LDM 
 [Size] 1 byte (bit type) 
 [Standard value] 0 
 ABSPS With the response data read function, the host and servo amplifier 
module are: 
0 : Not synchronized. 
1 : Synchronized. (Even during movement on axes, the host can read 
correct position data.) 
 LDM Motor current value output in response data (Xx+3 to Xx+6) is: 
0 : Disabled. 
1 : Enabled. 
No


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1 : Enabled. 
No 
020 Specification of the contents of response data (PHOUT)
 [Size] 1 byte 
 [Standard value] 3 
 PHOUT As response data (Xx+3 to Xx+6): 
0 : No data is output. 
1 : ATC or point number data is output. 
 In the case of ATC cycle or point positioning: 
2 : Machine coordinates are output in real time. 
3 : Workpiece coordinates are output in real time. 
4 : A motor current value is output. The motor current value 6554 
represents the maximum current value of the servo amplifier


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module. 
5 : Measurement data (workpiece coordinates) obtained when a skip 
signal is input is output. 
6 : An actual feedrate is output in real time. 
 [Unit of data] 10NUser-specified unit/MIN (N:Parameter No. 021) 
7 : An actual speed is output in real time. 
 [Unit of data] min-1
8 : A torque command is output in real time. The maximum value of 
a torque command is 6554. 
 The least significant bit is a signal indicating whether the torque 
limit is reached. 
 Least significant bit =


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
- 112 - 
NOTE 
1 For output of a motor current value as response 
data, set bit 6 (LDM) of parameter No. 0005 to 1, 
and set parameter No. 0020 to 4. 
2 When bit 5 of parameter No. 007 is 1 (a 
turret/magazine number is always output to 
response data), set this parameter to 1. 
3 The value of an actual speed is output with a sign. 
While the motor is being stopped, the motor current 
may drift, causing the sign to be unstable. 
3.8.5 Notes


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3.8.5 Notes 
1 This function is enabled only when bit 7 (ABSPS) of parameter 
No. 0005 is set to 1. 
2 This function can be used only with the peripheral equipment 
control interface. When this function is used, the direct command 
interface cannot be used. 
3 When synchronous processing is being performed with this 
function, the setting of bit 7 (ABSPS) of parameter No. 0005 
cannot be modified. 
4 The ATC and point numbers are not updated until the end of a


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command. As for the ATC number, however, it is possible to read 
constantly updated response data as described in Section 3.9, 
"Improvement of Turret/Magazine Number Output". 
5 Information is not updated real-time and, therefore, the function 
cannot be used for such purposes as the position switch, which 
must monitor the position constantly. (Response data based on the 
position at the time when the logic of ABSWT (Xx+1#0) is 
inverted is retained, and is not updated the next time the logic of


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ABSWT is inverted.) 
6 When reading response data using ABSWT (Xx+1#0) and 
ABSRD (Yy+1#4), note that there are variations of up to about 40 
ms in the transfer between the host and the servo amplifier module. 
The variation maximum may be greater depending on how the 
ladder program is created. 
7 If turning on the alarm output command signal DSAL (Yy+0#3) 
when using this function, turn it on at least 2 msec. before the 
response data read completion signal ABSRD is inverted.


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
- 113 - 
(Timing chart) 
POS2 ALM POS3 
Read by 
the host 
DSALO 1 
(Xx+2#3) 0 
Data POS1 POS2 ALM POS3 
DSAL 1 
(Yy+0#3) 0 
ABSRD 1 
(Yy+1#4) 0 
ABSWT 1 
(Xx+1#0) 0 
2msec
8 Refrain from conducting parameter rewriting frequently because 
there is a limit on the number of times data can be written to 
EEPROM (memory for retaining parameters) (several tens of 
thousands of times).


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thousands of times). 
If it is necessary to conduct parameter rewriting frequently, set bit 
3 (NEPRM) of parameter No. 004 to "1". In this case, rewritten 
parameters will not be retained after the power is turned off.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
- 114 - 
3.9 IMPROVEMENT OF TURRET/MAGAZINE NUMBER 
OUTPUT 
3.9.1 Overview 
ATC/turret control of peripheral equipment control allows output of the 
turret/magazine number in response data. In the past, however, the 
turret/magazine number based on the current position was not output 
until ATC/turret control was issued after the power was turned on or if 
the control was interrupted.


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the control was interrupted. 
Because of this improvement, the turret/magazine number based on the 
current position is constantly output including the above cases. 
3.9.2 Details of Function 
The turret/magazine number to be output in response data is improved 
as described below. 
(1) The turret/magazine number based on the current position is 
constantly output. 
• It is constantly output, even until ATC/turret control is issued 
after the power is turned on and if ATC/turret control is


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interrupted. 
• The nearest turret/magazine number is output even if the 
current position is not a magazine position. For example, if 
one rotation about the rotation axis is by "360°" and the 
number of magazine/turret numbers (parameter No. 068) is 
"4", the turret/magazine number is output as shown in Fig. 
3.9.2 (a). 
●
●
● ●
● ●
● ●
135°
225°
45°
315°
 180°
(Position of magazine 
number 3) 
0°
(Position of 
magazine number 1)
90°
(Position of magazine number 2)


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Turret/magazine 
number 2 output
Turret/magazine 
number 4 output
Turret/magazine 
number 1 output
Turret/magazine 
number 3 output
270°
(Position of magazine number 4) 
Interval 4
Interval 2
Interval 3 Interval 1
Fig. 3.9.2 (a) Turret/Magazine Number Output Example


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
- 115 - 
Interval 1 (315° ≤ Current position < 45°) → Turret/magazine number 1 
Interval 2 (45° ≤ Current position < 135°) → Turret/magazine number 2 
Interval 3 (135° ≤ Current position < 225°) → Turret/magazine number 3 
Interval 4 (225° ≤ Current position < 315°) → Turret/magazine number 4 
• A magazine number boundary is regarded as the midpoint 
between two adjacent magazines. If the current position is on


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a boundary, the magazine number on the + side is output. 
• That the number is constantly output does not mean that 
response data is automatically updated; response data needs 
to be read in synchronization with the host. Before reading 
response data, use ABSWT (XX+1#0) and ABSRD (Yy+1#4) 
to update the response data. For details of how to do this, see 
Section 3.8, "Upgrading of the Response Data Read 
Function". 
(2) A signal reports on whether the current position is in the


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permissible magazine position range. 
<1> If the current position is in the permissible magazine position range 
→ MINP signal (XX+6#7) output 
<2> If the current position is not in the permissible magazine position range
→ If it out of the permissible range in the + direction → +MOR signal 
(XX+6#6) output 
→ If it is out of the permissible range in the direction → -MOR signal 
(XX+6#5) output 
• For example, if one rotation about the rotation axis is by


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"360°" and the number of magazine/turret numbers 
(parameter No. 068) is "4", each signal is output as shown in 
Fig. 2.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
- 116 - 
Fig. 3.9.2 (b) MINP, +MOR, and -MOR Signal Output Example 
• The following explanation assumes that the current position 
is in interval 1. 
- When the current position is in the permissible range 
(the gray portion in Fig. 2) set in the permissible index 
point value (parameter No. 170) from the magazine 
position, the MINP signal (XX+6#7) becomes "1" as well 
as the turret/magazine number.


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- When it is out of the permissible magazine range in the 
+ direction, the +MOR signal (XX+6#6) becomes "1" as 
well as the turret/magazine number. When it is out of 
the range in the - direction, the -MOR signal (XX+6#5) 
becomes "1". 
- Even if the current position is in another interval, the 
MINP, +MOR, and -MOR signal output conditions are 
the same; only the turret/magazine number differs. 
• For the MINP, +MOR, -MOR signals, response data must be


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updated using ABSWT (XX+1#0) and ABSRD (Yy+1#4) 
before reading the response data, as with the turret/magazine 
number. 
Magazine number 2
Magazine number 1 
Magazine number 4
Magazine number 3 
Interval 1
Turret/magazine number 1
Interval 2
Turret/magazine 
number = 2 
Permissible ATC operation 
range 
(- side) MINP = 1 
Out of range (+ 
side) 
+MOR = 1 
Out of range (- side)
+MOR = 1 
Permissible ATC operation 
range 
(+ side) MINP = 1
Interval 3
Turret/magazine 
number = 3


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
- 117 - 
 CAUTION 
 This improvement is intended for ATC/turret control, 
and is not applied to point positioning with function 
code 3. Response data is also output if point 
positioning is performed, but it does not contain the 
point number but the turret/magazine number based 
on the current position. Also, the MINP, +MOR, and 
-MOR signals are not those corresponding to the 
point number but corresponding to the


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turret/magazine number. Also note that the response 
data output if another function code is issued contains 
the turret/magazine number and the MINP, +MOR, 
and -MOR signals based on the current position. 
NOTE 
1 Information is not updated real-time and, therefore, 
the function cannot be used for such purposes as the 
position switch, which must monitor the position 
constantly. (Response data based on the position at 
the time when the logic of ABSWT (Xx+1#0) is inverted


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is retained, and is not updated the next time the logic 
of ABSWT is inverted.) 
2 When reading response data using ABSWT (XX+1#0) 
and ABSRD (Yy+1#4), note that there are variations of 
up to 40 ms in the transfer between the host and the 
servo amplifier module. If, therefore, response data 
is read during axis movement, the response data may 
not match the current turret/magazine number and 
the MINP, +MOR, and -MOR signals because of the 
variations. The variation maximum may be greater


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depending on how the ladder program is created. 
3 Even if, after the power is turned on, response data is 
read using ABSWT (XX+1#0) an ABSRD (Yy+1#4) 
before performing ATC/turret control, the 
turret/magazine number and the MINP, +MOR, -MOR 
signals based on the current position are output. 
4 If the current position is near a magazine number 
boundary, the turret/magazine number may fluctuate 
if the motor fluctuates. 
5 For compatibility with conventional types, bit 5


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(ATCR2) of parameter No. 007 must be set to "1" to 
use this improved type. 
6 No response data is output until the reference 
position is established. If bit 2 (NZRPO) of parameter 
No. 007 is set to "1", however, response data is 
output even if the reference position is not 
established.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
- 118 - 
3.9.3 Signal 
When the setting is such that the ATC and point numbers are output in 
response data (parameter No. 020 = 1), the following response data is 
output in this improved type: 
 7 6 5 4 3 2 1 0 
Xx+3
Xx+4
Turret/magazine number
Xx+5 Reserved
Xx+6 MINP +MOR -MOR 
Response data (turret/magazine number) 
 [Classification] Input signal <Xx+3, Xx+4> 
 [Function] The nearest turret/magazine number is constantly output. 
NOTE


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NOTE 
1 Because response data must be read by 
accomplishing synchronization, response data 
based on the position at the time when the logic of 
ABSWT (XX+1#0) is inverted is retained, and is not 
updated the next time the logic of ABSWT is 
inverted. 
2 No response data is output until the reference 
position is established. If bit 2 (NZRPO) of 
parameter No. 007 is set to "1", however, response 
data is output even if the reference position is not 
established. 
MINP


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established. 
MINP 
 [Classification] Input signal <Xx+6#7> 
 [Function] This signal notifies that the current position is in the permissible 
magazine range. 
 [Input condition] The signal becomes 1 when: 
1. The current position is in the permissible magazine range. The 
next ATC operation is possible. 
The signal becomes 0 when: 
1. The current position is out of the permissible magazine range. The 
next ATC operation is not possible. 
+MOR 
 [Classification] Input signal <Xx+6#6>


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[Function] This signal notifies that the current position is out of the permissible 
magazine range in the + direction. 
 [Input condition] The signal becomes 1 when: 
1. The current position is out of the permissible magazine range in 
the + direction.


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
- 119 - 
The signal becomes 0 when: 
1. The current position is in the permissible magazine range. Or, it is 
out of the permissible range in the - direction. 
-MOR 
 [Classification] Input signal <Xx+6#5> 
 [Function] This signal notifies that the current position is out of the permissible 
magazine range in the - direction. 
 [Input condition] The signal becomes 1 when: 
1. The current position is out of the permissible magazine range in


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the - direction. 
The signal becomes 0 when: 
1. The current position is in the permissible magazine range. Or, it is 
out of the permissible range in the + direction.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
- 120 - 
3.9.4 Parameter 
No #7 #6 #5 #4 #3 #2 #1 #0 
007 ATCR2 
 [Size] 1 byte (bit type) 
[Standard setting value] 0 
 ATCR2 Specifies when to output a turret/magazine number, as follows: 
0 : A turret/magazine number is output when ATC/turret control is 
performed. (Conventional method) 
1 : A turret/magazine number is always output. (New method) 
 CAUTION 
 In the new method, even if a function code for other than


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ATC/turret control (function code 2) is specified, the 
turret/magazine number and MINP, +MOR, and -MOR 
signals corresponding to the current position are always 
output to response data. Note that, for example, if point 
positioning is performed, a point number and the MINP, 
+MOR, and -MOR signals corresponding to the point 
number are not output to response data. 
NOTE 
1 To enable the new method, the following conditions 
must also be satisfied.


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must also be satisfied. 
 - Set parameters as described below to enable 
ATC/turret control (function code 2). 
Select a rotation axis (bit 1 of parameter No.000 is 
1). 
Enable the roll-over function (bit 7 of parameter 
No.000 is 1). 
Set the number of magazines/turrets (parameter 
No. 068). 
Set an index point tolerance (parameter No. 170). 
 - Set parameter No.020 to 1 (an ATC and point number 
are output to response data). 
 - Set bit 7 of parameter No.005 to 1 (the host and a


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servo amplifier module are synchronized with each 
other in the response data read function). 
2 In the new method, response data must be read in a 
synchronous manner. The response data retained is 
thus based on a position when the logic of ABSWT 
(XX+1#0) is reversed, and the data is not updated until 
the next time the ABSWT logic is reversed. 
3 No response data is output until the reference position is 
established. If bit 2 (NZRPO) of parameter No. 007 is


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
- 121 - 
3.9.4.1 Related parameters 
No #7 #6 #5 #4 #3 #2 #1 #0 
005 ABSPS 
 [Size] 1 byte (bit type) 
[Standard setting value] 0 
 ABSPS Specifies whether the host and a servo amplifier module are to be 
synchronized with each other in the response data read function, as 
follows: 
0 : Not synchronized. 
1 : Synchronized. (This makes it possible for the host to read the 
correct position even during axis movement.) 
NOTE


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NOTE 
1 For details, see Part II, Section 3.8, "Upgrading the 
Response Data Read Function." 
2 This parameter is also valid when bit 5 of parameter 
No. 007 is 1 (a turret/magazine number is always 
output to response data).
No #7 #6 #5 #4 #3 #2 #1 #0 
007 NZRPO 
 [Size] 1 byte (bit type) 
[Standard setting value] 0 
 NZRPO Specifies whether to output a turret/magazine number or point number 
when ATC/turret control or point positioning control is performed, if a


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reference position is not established, as follows: 
0 : Not output. 
1 : Output. 
 CAUTION 
 When an incremental pulse coder is used with bit 2 
(NZRPO) of parameter No. 007 set to 1, be sure to 
set a coordinate system to establish a relationship 
between the machine and absolute coordinates, 
before performing ATC operation or point 
positioning. If ATC operation or point positioning is 
performed before a coordinate system is set, 
positioning to correct machine positions may not


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occur. A turret/magazine number or point number 
that is then output may not be correct. 
 This affects all types of positioning, not only ATC 
operation and point positioning.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
- 122 - 
NOTE 
1 This parameter is valid when parameter No. 020 is 
set to 1. 
2 This parameter is also valid when bit 5 of parameter 
No. 007 is 1 (a turret/magazine number is always 
output to response data). 
No 
020 Response data specification (PHOUT) 
 [Size] 1 byte 
 [Standard setting value] 3 
 PHOUT Specifies whether or what to output as response data (Xx+3 to Xx+6), 
as follows: 
0 : Nothing is output.


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0 : Nothing is output. 
1 : An ATC and point No. are output if an ATC cycle and point 
positioning are involved. 
2 : Machine coordinates are output in real time. 
3 : Workpiece coordinates are output in real time. 
4 : The motor current value is output. The motor current value is 
6554, which is the maximum current value for the amplifier. 
5 : Measurement data (workpiece coordinates) obtained when a skip 
signal is input is output. 
6 : An actual feedrate is output in real time.


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[Unit of data] 10NUser-specified unit/MIN (N:Parameter No. 021) 
7 : An actual speed is output in real time. 
 [Unit of data] min-1
8 : A torque command is output in real time. The maximum value of 
a torque command is 6554. 
 The least significant bit is a signal indicating whether the torque 
limit is reached. 
 Least significant bit = 
0: The torque limit is not reached. 
1: The torque limit is reached. 
NOTE 
1 If the motor current value is output as response


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data, set LDM (bit 6 of parameter No. 005) to "1" 
and set "4" for parameter No. 020. 
2 This parameter is also valid when bit 5 of parameter 
No. 007 is 1 (a turret/magazine number is always 
output to response data). 
3 The value of an actual speed is output with a sign. 
While the motor is being stopped, the motor current 
may drift, causing the sign to be unstable.


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
- 123 - 
No 
170 Index point tolerance 
 [Size] 4-byte 
 [Unit of data] User-specified unit 
 [Valid data range] 0 to 99999999 
 [Standard value] 0 
 [Description] When the 1-pitch rotation of ATC/turret control is specified, the index 
point is preserved if the machine deviates from the index point during 
clamping/ unclamping, as long as the absolute value for the movement 
amount is equal to or less than this value. For example, when the


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machine is to move from index point 1 to 2, it can move to the position 
of point 2 even if it has deviated from the position of point 1 in the 
direction opposite from the direction of movement, as long as the 
movement amount is within the value specified in this parameter. 
In ATC/turret control, this parameter is also used to specify a tolerable 
magazine range when a turret/magazine number is always output to 
response data. 
NOTE 
 When bit 5 of parameter No.007 is 1 (a


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turret/magazine number is always output to 
response data), set a tolerable magazine range in 
this parameter.


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
- 124 - 
3.10 MANUAL HANDLE INTERFACE 
3.10.1 Overview 
This function enables the manual handle feed of a servo amplifier 
module using the manual pulse generator on the host. The pulses of the 
manual pulse generator are reported from the host to the servo amplifier 
module via the I/O Link. Through appropriate parameter switching, it 
is possible to multiply the pulse output signal of the manual pulse


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generator. This function can be used in the peripheral equipment 
control interface only. 
This function is an option function on the host. 
3.10.2 Details of Function 
The host, after selecting the manual handle mode of the servo amplifier 
module (MD1(Yy+0#0)=0, MD2(Yy+0#1)=0, MD4(Yy+0#2)=1), 
reports the magnification for the manual pulse generator 
(MP1(Yy+7#4), MP2(Yy+7#5)) to the servo amplifier module, to 
change the manual handle counter.


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The servo amplifier module drives the motor by reading only changes 
in the manual handle counter. 
 [Timing chart] 
 (H: Processing on the host βi: Processing on the servo amplifier module) 
H: Manual handle mode 
MD1/2 = 0 
MD4 = 1 
H: Manual handle magnification 
(MP1/2) 
Manual handle counter 
βi: Motor drive


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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3.10.3 Signal 
3.10.3.1 Signal on the servo amplifier module 
 7 6 5 4 3 2 1 0 
Yy+0 MD4 MD2 MD1
 Yy+7 MP2 MP1 
Mode select signals MD1, MD2, and MD4 
 [Classification] Output signal <Yy+0#0 to #2> 
 [Function] These signals are used to select an operation mode. 
 [Operation] These signals are used to select the manual handle feed of the servo 
amplifier module. 
MD1 MD2 MD4 Remarks 
0 0 1 Manual handle feed (HANDLE) 
NOTE


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NOTE 
1 Enter manual handle mode before rotating the 
manual pulse generator. 
2 Do not switch modes during the manual handle 
operation of the servo amplifier module. 
Incremental feed signal MP1 and MP2 
 [Classification] Output signal <Yy+7#4,#5> 
 [Function] These signals are used to select a magnification for the manual handle 
feed of the servo amplifier module. 
 [Operation] In manual handle mode, the servo amplifier module drives the motor for


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the input pulses of the manual pulse generator times the magnification 
selected with these signals. 
MP1 MP2 Amount of travel per graduation of the 
manual pulse generator 
0 0 1 user unit 
0 1 10 user units 
1 0 100 user units 
1 1 (M/N) user units 
(M = Parameter No. 62, N = Parameter No. 63)


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3.PERIPHERAL EQUIPMENT CONTROL HANDLING B-65395EN/01
- 126 - 
NOTE 
1 This signal is effective if bit 5 (MP) of parameter No. 5 
of the servo amplifier module is 1. 
2 This signal is effective in manual handle mode only. 
3 This signal shares the same bits with the rapid traverse 
override signal. In manual handle mode, these bits are 
for the incremental feed signal; in modes other than 
manual handle mode, they are for the rapid traverse 
override signal. Before switching from manual handle


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mode to another mode, this signal must be returned to 
such a setting that the bits are for the rapid traverse 
override signal. 
3.10.3.2 Signal on the CNC (host) 
 7 6 5 4 3 2 1 0 
G199 IOLBH3 IOLBH2
Manual handle feed generator select signals IOLBH2 and IOLBH3 
 [Classification] Input signal <G199#0,#1> 
 [Function] These signals are used to select the manual pulse generator used to feed 
the servo amplifier module.


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the servo amplifier module. 
 [Operation] These signals are used to select the manual pulse generator used to feed 
the servo amplifier module. 
IOLBH3 IOLBH2 Manual pulse generator used to feed the servo 
amplifier module 
0 0 1st 
0 1 2nd 
1 0 3rd 
1 1 Not for use 
NOTE 
1 Do not switch manual pulse generators in manual 
handle mode. 
2 Up to two generators can be selected if the manual 
pulse generator interface is the connector (JA47) on 
the base PCB on Power Mate i-D/H.


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B-65395EN/01 HANDLING 3.PERIPHERAL EQUIPMENT CONTROL
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3.10.4 Parameter 
3.10.4.1 Parameter on the servo amplifier module 
No #7 #6 #5 #4 #3 #2 #1 #0 
005 MP IOH 
 [Size] 1 byte (bit type) 
 [Standard setting value] 0 
 IOH Specifies whether to enable manual handle feed over the I/O Link, as 
follows: 
0 : Disabled. 
1 : Enabled. 
NOTE 
 When this parameter is set to 1, bit 6 (EXPLS) of 
parameter No. 003 must be set to 0.


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MP Specifies whether to enable setting of a magnification in 4 steps with 
the MP1/MP2 signal for input manual handle pulses for manual handle 
feed, as follows: 
0 : Disabled. 
1 : Enabled. 
3.10.4.2 Parameter on the CNC (host) 
No #7 #6 #5 #4 #3 #2 #1 #0 
7103 IOLBH 
 [Size] 1 byte (bit type) 
 IOLBH The manual handle feed to the servo amplifier module, using the I/O 
Link manual pulse generator is: 
0 : Disabled. 
1 : Enabled. 
NOTE 
 On Power Mate i-D/H, the following two types of


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manual pulse generator interface can be selected 
with the setting of bit 0 (IOL) of parameter No. 7101: 
 IOL = 0: Connector (JA47) on the base PCB 
 IOL = 1: I/O link


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
- 129 - 
4.1 DIRECT COMMAND FORMAT 
The servo amplifier module receives a command issued in the specified 
format from the host, then executes the command. After command 
execution, the servo amplifier module returns the result of command 
execution to the host. Such commands are called direct commands. 
These commands are set in an interface area in the formats shown 
below. 
• General format of instruction commands (host → servo amplifier 
module)


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module) 
 7 6 5 4 3 2 1 0 
Yy+4 Control flag 1 
Yy+5 Function code 
Yy+6 Command data 1 
Yy+7 Command data 2 
Yy+8 Command data 3 
: : 
: : 
Yy+15 Command data 10 
• General format of response commands (servo amplifier module →
host) 
 7 6 5 4 3 2 1 0 
Xx+4 Control flag 2 
Xx+5 Function code (same as that in the insurrection command) 
Xx+6 Reserved Execution result 
Xx+7 Response data 1 
Xx+8 Response data 2 
Xx+9 Response data 3 
: : 
: : 
Xx+15 Response data 9 
Xx+6 
• Data types


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Xx+6 
• Data types 
 7 6 5 4 3 2 1 0 BIT
Byte type: 
(BYTE) 
 7 6 5 4 3 2 1 0 BIT
Word type: Lower byte 
(WORD) Higher byte 
Data = (higher byte)*256 + (lower byte)


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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 7 6 5 4 3 2 1 0 BIT
Lowest byte 
Second lowest byte 
Second highest byte 
Double 
precision 
type 
(DWORD): Highest byte 
Data = (highest byte)*16777216 
 + (second highest byte)* 65536 
 + (second lowest byte)*256 
 + (lowest byte)


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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4.2 DIRECT COMMAND CONTROL PROCEDURE 
4.2.1 Direct Command Control Procedure 
Direct commands are classified into two types: instruction commands 
which are sent from the host to a servo amplifier module, and response 
commands which are returned from a servo amplifier module to the host. 
Such command transfer is controlled using two flags, control flag 1 and 
control flag 2. Control flag 1 is sent from the host to a servo amplifier


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module. Control flag 2 is returned from a servo amplifier module to the 
host. 
 7 6 5 4 3 2 1 0 
Control flag 1 EBUF EOREND ECNT
 7 6 5 4 3 2 1 0 
Control flag 2 EBSY EOSTB ECF USR1 EOPC DAL ECONT
 CAUTION 
 When the power mate CNC manager function is 
used, control flag 2 transfers data using the same 
area as that used by the power mate CNC manager 
function, simultaneously as the function. If the 
USR1 signal is 0, control flag 2 is for the ladder. If


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the USR1 signal is 1, control flag 2 is for the power 
mate CNC manager and, therefore, must be 
ignored. 
NOTE 
1 Clamping/unclamping of peripheral equipment 
control cannot be used. Be sure to set bit 1 (NCLP) 
of parameter No. 003 to "1". 
2 To perform jog operation, select jog (JOG) mode 
and start it with a feed axis direction select signal 
(+X or -X). The override signals (*OV1 to *OV8) and 
the manual rapid traverse select signal (RT) can 
also be used.


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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4.2.2 Instruction Command Control (EBUF, EBSY, and ECNT) 
Instruction commands sent from the host to a servo amplifier module 
are controlled with EBUF and EBSY. 
When the EBUF and EBSY states (values) match, the host can write a 
command into the interface area. After writing the command, the host 
inverts EBUF. 
If the EBUF and EBSY states differ, the servo amplifier module 
assumes that a new command has been specified.


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Therefore, control flag 1 must be written last after a function number 
and command data are written. After the servo amplifier module reads 
the command, it inverts the EBSY state. 
EBUF is initially set to 0. 
Since the instruction command data area is limited, instruction 
command data sometimes cannot be sent if the amount of data is 
excessive. In such a case, more than one instruction command must be 
issued to send all the data. If there is an additional instruction command


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to be sent, ECNT is set to 1 to indicate that another command follows. 
NOTE 
 When the power mate CNC manager function is 
used, the inverted EBSY state is posted to the host 
for 40 ms. This duration can be changed by 
parameter setting (parameter No. 0022).


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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4.2.3 Response Command Control (EOREND, EOSTB, EOPC, USR1, 
and ECONT) 
Response commands returned from the servo amplifier module are 
controlled with EOREND, EOSTB, and EOPC. EOPC indicates that 
the response command is in continuous read mode. 
The host reads response data according to the following control 
procedure: 
When the EOREND state and EOSTB state do not match, the host can


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read response data. After reading the data, the host inverts EOREND 
such that the EOREND state matches the EOSTB state. As EOREND is 
inverted, the servo amplifier module regards the data read operation as 
having been completed. 
When the amount of data in a response command is too great to enable 
the sending of all the data at one time, ECONT indicates 1. In this case, 
after reading the current data, the host inverts EOREND such that it


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matches the EOSTB state, then waits for the next data. The host must 
read the data repeatedly until ECONT becomes 0. Note that the next 
data (continuous data) is output from Xx+5 (function code address). 
 CAUTION 
 When the power mate CNC manager function is 
used, the area used by the power mate CNC 
manager function is also used simultaneously by 
the direct commands of the PMC ladder program to 
exchange the data. USR1 being set to 0 indicates


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that the data in the area is a response to the ladder 
program, so read processing must be performed. 
USR1 being set to 1 indicates that data in the area is 
a response to the power mate CNC manager and is 
to be ignored. 
4.2.4 Command Completion Notification (ECF)
When NMOD is set to 1 for an instruction command, the command is 
executed in completion notification mode. This means that the servo 
amplifier module notifies the host that execution of the instruction


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command has been completed, and the servo amplifier module does not 
execute the next command until the servo amplifier unit receives a 
response from the host. 
(1) Upon the completion of command execution, the servo amplifier 
module sets ECF to 1. 
(2) The host issues the FIN instruction command to notify the servo 
amplifier module that the host has received completion 
notification.


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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NOTE 
 When the power mate CNC manager function is 
used, ECF being set to 1 is posted to the host for 40 
ms. This duration can be changed by parameter 
setting (parameter No. 0022). 
4.2.5 Alarm (DAL) 
If an alarm is issued in the servo amplifier module, DAL is set to 1. 
When detailed information about the alarm is required, the host 
specifies the READ ALARM STATUS command. 
4.2.6 Direct Command Execution Result


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The servo amplifier module returns the result of execution using the 
following code. Upon the reception of an execution result, the host 
performs appropriate processing such as error display and retry 
operation. 
Completion code Meaning Description (action) 
0 Normal termination 
1 Execution error 
Execution was attempted with 
no program. 
Start of execution was 
attempted during execution. 
2 Data length error Direct command has an illegal 
command format. 
3 Incorrect number of data


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3 Incorrect number of data 
items 
Direct command has an illegal 
command format. 
4 Data attribute error Direct command has an illegal 
command format. 
7 Write protect error 
8 Memory overflow 
9 Parameter error An illegal parameter is set. 
10 Buffer control error 
12 Mode select error 
14 Reset or halted 
15 Execution in progress


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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4.3 LIST OF DIRECT COMMANDS 
Function Function 
code 
Reference 
item 
1. Signal operation commands 
(1) Setting and releasing the torque limit enable 
signal 0x0C 4.4.1 (1)
(2) Specifying the torque limit value 0x91 4.4.1 (2)
2. Parameters 
(1) Reading parameters 0x20 4.4.2 (1)
(2) Writing parameters 0x21 4.4.2 (2)
3. Status read 
(1) Reading the absolute position 0x30 4.4.3 (1)
(2) Reading the machine position 0x31 4.4.3 (2)


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(3) Reading skip measurement data 0x32 4.4.3 (3)
(4) Reading the servo positional deviation 0x33 4.4.3 (4)
(5) Reading the acceleration/deceleration delay 0x34 4.4.3 (5)
(6) Reading the actual feedrate 0x36 4.4.3 (6)
(7) Reading the status 0x37 4.4.3 (7)
(8) Reading alarm information 0x38 4.4.3 (8)
(9) Reading the series and edition of system software 0x3F 4.4.3 (9)
(10) Reading data continuously 0x41 4.4.3 (10)
(11) Reading the motor current value 0x95 4.4.3 (11)


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(12) Reading the torque command 0x96 4.4.3 (12)
(13) Reading the actual speed 0x97 4.4.3 (13)
4. Axis movement commands 
(1) Reference position return 0x60 4.4.4 (1)
(2) Absolute positioning 0x61 4.4.4 (2)
(3) Incremental positioning 0x62 4.4.4 (3)
(4) Dwell 0x63 4.4.4 (4)
(5) Coordinate system setting 0x64 4.4.4 (5)
(6) Acquiring the FIN state 0x66 4.4.4 (6)
(7) FIN command 0x67 4.4.4 (7)
(8) Speed control 0x6F 4.4.4 (8)
(9) Wait command 0x90 4.4.4 (9)


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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4.4 DETAILS OF DIRECT COMMAND FUNCTIONS 
4.4.1 Signal Operation Commands 
(1) Setting and releasing the torque limit enable signal 
 The host specifies the setting and release of the torque limit enable 
signal. 
• Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 0 0 1 1 0 0 (0x0C)
Yy+6 0 0 0 1 0 0 0 SET 
SET = 0 : Releases the torque limit enable signal. 
SET = 1 : Sets the torque limit enable signal.


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• Response command format 
 This command has no response data. 
 It only inverts EBSY. 
(2) Specifying the torque limit value 
 The host specifies the torque limit value when the torque limit is 
enabled. 
• Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 1 0 0 1 0 0 0 1 (0x91)
Yy+6 0 0 0 1 0 0 0 0 
Yy+7 
Yy+8 
Torque limit value 
Torque limit value : 0 to 7282 
Setting value = Torque limit value [%] × (7282/100) 
• Response command format


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• Response command format 
 This command has no response data. 
 It only inverts EBSY. 
NOTE 
1 Set bit 2 (IEBL) of parameter No. 0010 to "1" to 
enable the torque limit function. 
2 After the release command, the system returns to 
the torque limit value set in parameter No. 108. 
3 A torque limit value of 0 means 100% (disabled).


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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4.4.2 Parameter 
(1) Reading parameters 
 The host can read parameters for the servo amplifier module. 
• Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 1 0 0 0 0 0 (0x20)
Yy+6 
Yy+7 
Parameter No. (Word type) 
• Response command format 
Byte type
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 0 1 0 0 0 0 0 (0x20)
Xx+6 Reserved Execution result 
Xx+7 Data length (Byte type) = 1


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Xx+8 Parameter (Byte type) 
Word type 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 0 1 0 0 0 0 0 (0x20)
Xx+6 Reserved Execution result 
Xx+7 Data length (Byte type) = 2 
Xx+8 
Xx+9 
Parameter (Word type) 
DWORD type 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 0 1 0 0 0 0 0 (0x20)
Xx+6 Reserved Execution result 
Xx+7 Data length (Byte type) = 4 
Xx+8 
Xx+9 
Xx+10 
Xx+11 
Parameter (DWORD type)


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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(2) Writing parameters 
 The host can write parameters for the servo amplifier module. 
 CAUTION 
1 Writing parameters from the host is prohibited while 
the servo amplifier unit is operating. 
2 There is a limit to the number of writes to the 
memory (EEPROM) in the β amplifier that is used to 
store parameter settings (tens of thousands of 
writes). 
 For this reason, the direct command, parameter


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rewrite instruction, cannot be used for applications 
that frequently change parameters. It is, however, 
possible to frequently change parameters if the 
parameter setting is such that only the data on the 
RAM is changed without writes to the EEPROM 
(NEPRM (bit 3 of parameter No. 004) = 1). 
 If the number of parameter rewrites exceed the limit, 
any subsequent writes to the memory are 
prohibited, possibly causing an alarm (LED display: 
"8"). 
• Instruction command format 
Byte type


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Byte type 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 1 0 0 0 0 1 (0x21)
Yy+6 
Yy+7 
Parameter No. (Word type) 
Yy+8 0 0 0 0 0 0 0 1 
Yy+9 Data length (Byte type) = 1 
Yy+10 Parameter (Byte type) 
Word type 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 1 0 0 0 0 1 (0x21)
Yy+6 
Yy+7 
Parameter No. (Word type) 
Yy+8 0 0 0 0 0 0 0 1 
Yy+9 Data length (Byte type) = 2 
Yy+10 
Yy+11 
Parameter (Word type)


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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DWORD type 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 1 0 0 0 0 1 (0x21)
Yy+6 
Yy+7 
Parameter No. (Word type) 
Yy+8 0 0 0 0 0 0 0 1 
Yy+9 Data length (Byte type) = 4 
Yy+10 
Yy+11 
Yy+12 
Yy+13 
Parameter (DWORD type) 
• Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 0 1 0 0 0 0 1 (0x21)
Xx+6 Reserved Execution result


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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4.4.3 Status Read 
(1) Reading the absolute position 
 The host can read the absolute position of the servo amplifier 
module. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 1 1 0 0 0 0 (0x30)
Yy+6 0 0 0 0 0 0 0 1 
● Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 0 1 1 0 0 0 0 (0x30)
Xx+6 Reserved Execution result 
Xx+7 
Xx+8 
Xx+9 
Xx+10


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Xx+7 
Xx+8 
Xx+9 
Xx+10 
Absolute position data (DWORD type) 
(2) Reading the machine position 
 The host can read the machine position of the servo amplifier 
module. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 1 1 0 0 0 1 (0x31)
Yy+6 0 0 0 0 0 0 0 1 
● Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 0 1 1 0 0 0 1 (0x31)
Xx+6 Reserved Execution result 
Xx+7 
Xx+8 
Xx+9 
Xx+10


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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(3) Reading skip measurement data 
 This function reads from the host the workpiece coordinates at the 
time of skip signal input. (This function can be used only when 
the skip function is enabled (bit 0 (HENB) of parameter No. 017 is 
1). 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 1 1 0 0 1 0 (0x32)
Yy+6 0 0 0 0 0 0 0 1 
● Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2


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Xx+4 Control flag 2 
Xx+5 0 0 1 1 0 0 1 0 (0x32)
Xx+6 Reserved Execution result 
Xx+7 
Xx+8 
Xx+9 
Xx+10 
Skip measurement data (DWORD type) 
 (4) Reading the servo positional deviation 
 This function reads the servo positional deviation of the servo 
amplifier module from the host. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 1 1 0 0 1 1 (0x33)
Yy+6 0 0 0 0 0 0 0 1 
● Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2


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Xx+4 Control flag 2 
Xx+5 0 0 1 1 0 0 1 1 (0x33)
Xx+6 Reserved Execution result 
Xx+7 
Xx+8 
Xx+9 
Xx+10 
Servo positional deviation data (DWORD type)


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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(5) Reading the acceleration/deceleration delay 
 The host can read the acceleration/deceleration delay in the servo 
amplifier module. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 1 1 0 1 0 0 (0x34)
Yy+6 0 0 0 0 0 0 0 1 
● Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 0 1 1 0 1 0 0 (0x34)
Xx+6 Reserved Execution result 
Xx+7 
Xx+8 
Xx+9 
Xx+10


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Xx+7 
Xx+8 
Xx+9 
Xx+10 
Acceleration/deceleration delay data (DWORD type) 
(6) Reading the actual feedrate 
 The host can read the actual feedrate of the servo amplifier 
module. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 1 1 0 1 1 0 (0x36)
● Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 0 1 1 0 1 1 0 (0x36)
Xx+6 Reserved Execution result 
Xx+7 
Xx+8 
Xx+9 
Xx+10 
Actual feedrate data (DWORD type)


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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(7) Reading the status 
 The host can read the execution status of the servo amplifier 
module (such as the mode being selected and the alarm state). 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 1 1 0 1 1 1 (0x37)
● Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 0 1 1 0 1 1 1 (0x37)
Xx+6 Reserved Execution result 
Xx+7 Operation state Mode state 
Xx+8 Action state


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Xx+8 Action state 
Xx+9 Alarm state Emergency stop state 
Mode state: 1:AUTO, 4:HANDLE, 5:JOG 
 
Operation state: 0:(reset), 1: STOP, 3:START 
 
Action state: 0:***, 2: Dwelling, 1: Operating 
 
Emergency stop state: 
0:***, 2: Reset state, 1: Emergency stop state 
 
Alarm satte: 0:***, 2: Battery alarm issued, 1: Alarm issued


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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(8) Reading alarm information 
 When an alarm is issued in the servo amplifier module, the host 
can read the alarm number of the alarm. 
 Among issued alarm numbers, up to three alarm numbers can be 
read in ascending order. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 1 1 1 0 0 0 (0x38)
Yy+6 Data size (*1) 
(*1) In "data size", specify the number of alarm numbers to be


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read x 3. Because up to three numbers can be read, the 
maximum for "data size" is 9. 
● Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 0 1 1 1 0 0 0 (0x38)
Xx+6 Reserved Execution result 
Xx+7 0 0 0 0 0 0 0 0 
Xx+8 
Xx+9 
Alarm number 1 (Word type) 
Xx+10 0 0 0 0 0 0 0 0 
Xx+11 
Xx+12 
Alarm number 2 (Word type) 
 ............. 
 1 1 1 1 1 1 1 1 (*2) 
(*2) As final data, 0xFF is output. 
NOTE 
1 The data length depends on the data size.


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2 If ECONT is "1", this indicates that there is 
remaining response command(s). After the current 
response command is read, inverting EOREND 
causes the remaining command to be output from 
Xx+5. Repeat this operation until ECONT becomes 
"0". 
Not larger
 than the 
data size


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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(9) Reading the series and edition of system software 
 The host can read the series and edition of system software. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 0 1 1 1 1 1 1 (0x3F)
● Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 0 1 1 1 1 1 1 (0x3F)
Xx+6 Reserved Execution result 
Xx+7 
Xx+8 
Xx+9 
Xx+10 
Xx+11 
Xx+12 
Xx+13 
Xx+14 
Series 
Xx+15 
Xx+16 
Xx+17


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Xx+15 
Xx+16 
Xx+17 
Xx+18 
Edition 
Xx+19 
Xx+20 
 The edition is output as ASCII codes. The high-order two bytes of 
the edition is always "0" (ASCII code 0x30). The low-order two 
bytes is the edition information. For example, if the edition is 08, 
the following is output: 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+15 0 0 1 1 0 0 0 0 (0x30)
Xx+16 0 0 1 1 0 0 0 0 (0x30)
Xx+17 0 0 1 1 0 0 0 0 (0x30)
Xx+18 0 0 1 1 1 0 0 0 (0x38)


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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 Two separate response commands are output. The output data of 
the first response command and that of the second are as follows: 
<First response command> 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 0 1 1 1 1 1 1 (0x3F)
Xx+6 Reserved Execution result 
Xx+7 
Xx+8 
Xx+9 
Xx+10 
Xx+11 
Xx+12 
Xx+13 
Xx+14 
Series 
Xx+15 Edition 
<Second response command> 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 
Xx+6 
Xx+7


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Xx+5 
Xx+6 
Xx+7 
Edition 
Xx+8 
Xx+9 
 Thus, the edition is output by a combination of Xx+15 of the first 
response command and Xx+5 to Xx+7 of the second response 
command.


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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(10) Reading data continuously 
 This function reads from the host the absolute position, machine 
position, servo positional deviation, etc. of the servo amplifier 
module continuously. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 1 0 0 0 0 0 1 (0x41)
Yy+6 Number of data items to be read (*1) 
Read data specification 1 
Read data specification ｎ


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Read data specification ｎ
(*1) Up to four data items can be specified for reading. When 
continuous read operation is canceled, the host sets 0 as the 
number of data items. 
● Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 1 0 0 0 0 0 1 (0x41)
Xx+6 Reserved Execution result 
Continuously read data 1 
Continuously read data n 
NOTE 
1 The data length varies according to the specified 
data. 
2 If a stop command (number of items: 0) is issued,


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"0x80" is output as a completion code to Xx+6. 
When this response command is read and 
EOREND is inverted, continuous data reading ends. 
3 If ECONT is "1", this indicates that there is 
remaining response command(s). After the current 
response command is read, inverting EOREND 
causes the remaining command to be output from 
Xx+5. Repeat this operation until ECONT becomes 
"0". 
// //
// //


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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 The types of data to be read continuously are specified using the 
following codes. The read data format for each code is also shown 
below. 
(a) Reading the absolute position 0x01 
(b) Reading the machine position 0x02 
(c) Reading the servo positional deviation 0x03 
(d) Reading the acceleration/deceleration delay 0x04 
(e) Reading the actual feedrate 0x05 
(f) Reading the status 0x06 
(g) Reading the motor current value 0x0D


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(h) Reading the torque command 0x0E 
(i) Reading the actual speed 0x0F 
(a) Reading the absolute position 0x01 
● Data specification code for continuous read 
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 0 0 0 1 (0x01)
1 0 0 0 0 0 0 0 1 
● Continuous read data format 
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 0 0 0 1 (0x01)
1 Reserved Execution result 
2 
3 
4 
5 
Absolute position data (DWORD type) 
(b) Reading the machine position 0x02 
● Data specification code for continuous read


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#7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 0 0 1 0 (0x02)
1 0 0 0 0 0 0 0 1 
● Continuous read data format 
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 0 0 1 0 (0x02)
1 Reserved Execution result 
2 
3 
4 
5 
Machine position data (DWORD type)


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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(c) Reading the servo positional deviation 0x03 
● Data specification code for continuous read 
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 0 0 1 1 (0x03)
1 0 0 0 0 0 0 0 1 
● Continuous read data format 
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 0 0 1 1 (0x03)
1 Reserved Execution result 
2 
3 
4 
5 
Servo positional deviation data (DWORD type) 
(d) Reading the acceleration/deceleration delay 0x04 
● Data specification code for continuous read


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#7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 0 1 0 0 (0x04)
1 0 0 0 0 0 0 0 1 
● Continuous read data format 
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 0 1 0 0 (0x04)
1 Reserved Execution result 
2 
3 
4 
5 
Acceleration/deceleration delay data (DWORD type)


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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(e) Reading the actual feedrate 0x05 
● Data specification code for continuous read 
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 0 1 0 1 (0x05)
1 0 0 0 0 0 0 0 1 
● Continuous read data format 
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 0 1 0 1 (0x05)
1 Reserved Execution result 
2 
3 
4 
5 
Actual feedrate data (DWORD type) 
Unit: 10N
 user units/MIN(N: Parameter No. 021) 
(f) Reading the status of a slave 0x06


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● Data specification code for continuous read 
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 0 1 1 0 (0x06)
1 0 0 0 0 0 0 0 1 
● Continuous read data format 
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 0 1 1 0 (0x06)
1 Reserved Execution result 
2 Operation state Mode state 
3 Action state 
4 Alarm state Emergency stop state 
 Mode state: 1 AUTO 4 HANDLE 
 5 JOG 
 Operation state: 0 (reset) 
 1 STOP 3 START 
 Action state: 0 *** 2 Dwelling 
 1 Operating 
 Emergency stop state: 0 *** 2 Reset state


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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(g) Reading the motor current value 0x0D 
● Data specification code for continuous read
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 1 1 0 1 (0x0D)
1 0 0 0 0 0 0 0 1 
● Continuous read data format
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 1 1 0 1 (0x0D)
1 Reserved Execution result 
2 
3 
4 
5 
Motor current value data (DWORD type) 
 The motor current value means the maximum current 
value of the amplifier when it is 6554.


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(h) Reading the torque command 0x0E 
● Data specification code for continuous read
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 1 1 1 0 (0x0E)
1 0 0 0 0 0 0 0 1 
● Continuous read data format
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 1 1 1 0 (0x0E)
1 Reserved Execution result 
2 
3 
4 
5 
Torque command data (DWORD type) 
 The maximum value of the torque command is 6554. 
The least significant bit of the torque command means 
the torque limit arrival signal.


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The least significant bit of the torque command = 
 0: The torque limit has not been reached. 
 1: The torque limit has been reached.


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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(i) Reading the actual speed 0x0F 
● Data specification code for continuous read
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 1 1 1 1 (0x0F)
1 0 0 0 0 0 0 0 1 
● Continuous read data format
 #7 #6 #5 #4 #3 #2 #1 #0 
0 0 0 0 0 1 1 1 1 (0x0F)
1 Reserved Execution result 
2 
3 
4 
5 
Actual speed data (DWORD type) 
Unit: min-1
(11) Reading the motor current value 
 This function reads the motor current value from the host.


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● Instruction command format
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 1 0 0 1 0 1 0 1 (0x95)
Yy+6 0 0 0 0 0 0 0 1 
● Response command format
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 1 0 0 1 0 1 0 1 (0x95)
Xx+6 Reserved Execution result 
Xx+7 
Xx+8 
Xx+9 
Xx+10 
Motor current value data (DWORD type) 
 The motor current value means the maximum current 
value of the amplifier when it is 6554.


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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(12) Reading the torque command 
 This function reads from the host the torque command of the servo 
amplifier module. 
● Instruction command format
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 1 0 0 1 0 1 1 0 (0x96)
Yy+6 0 0 0 0 0 0 0 1 
● Response command format
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 1 0 0 1 0 1 1 0 (0x96)
Xx+6 Reserved Execution result 
Xx+7 
Xx+8 
Xx+9 
Xx+10 
Torque command data (DWORD type)


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The maximum value of the torque command is 6554. 
The least significant bit of the torque command means 
the torque limit arrival signal. 
 The least significant bit of the torque command = 
 0: The torque limit has not been reached. 
 1: The torque limit has been reached. 
(13) Reading the actual speed 
 This function reads from the host the actual speed of the servo 
amplifier module. 
● Instruction command format
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 1 0 0 1 0 1 1 1 (0x97)


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Yy+5 1 0 0 1 0 1 1 1 (0x97)
Yy+6 0 0 0 0 0 0 0 1 
● Response command format
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 1 0 0 1 0 1 1 1 (0x97)
Xx+6 Reserved Execution result 
Xx+7 
Xx+8 
Xx+9 
Xx+10 
Actual speed data (DWORD type) 
Unit of data : min-1


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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4.4.4 Axis Movement Commands 
Axis movement commands are executed in AUTO mode. 
 CAUTION 
 Do not change the mode during operation. Change 
the mode only after operation stops. 
NOTE 
1 The command cannot be executed if the alarm 
signal (AL) is "1". 
2 Clamping/unclamping of peripheral equipment 
control cannot be used. Be sure to set bit 1 (NCLP) 
of parameter No. 003 to "1". 
(1) Reference position return


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(1) Reference position return 
 This command instructs the servo amplifier module to perform 
reference position return. 
 For reference position return without dogs, when the reference 
position has not been established, movement is performed at low 
speed (parameter No. 054) in the reference position return 
direction (bit 5 (ZMIX) of parameter No. 010) to stop at the first 
grid position, which is regarded as the reference position. When


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the reference position has already been established, return to the 
reference position is performed at high speed (rapid traverse rate). 
 Setting bit 2 (DZRN) of parameter No.011 to "1" causes reference 
position return with dogs to be enabled. For details, see Section 
3.5, "Reference Position Return Function with Dogs". 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 1 1 0 0 0 0 0 (0x60)
Yy+6 0 0 0 0 NMOD 0 0 0 
Yy+7 0 0 0 0 0 0 0 1


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Yy+7 0 0 0 0 0 0 0 1 
NMOD = 1 : Execution completion notification mode 
 (For details, see Section 4.2.) 
● Response command format 
 This command has no response data. 
 It only inverts EBSY. 
NOTE 
 This command can be executed even if alarm 224 
has been issued.


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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(2) Absolute positioning 
 This command instructs the servo amplifier module to perform 
absolute positioning. 
 The motor moves through an amount equal to the difference 
between a specified absolute position and the current position. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 1 1 0 0 0 0 1 (0x61)
Yy+6 0 0 0 0 NMOD 0 0 1 
Yy+7 SKIP RPD SMZX 0 0 0 0 1 
Yy+8 
Yy+9 
Feedrate 
Yy+10 
Yy+11 
Yy+12


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Yy+10 
Yy+11 
Yy+12 
Yy+13 
Absolute position 
Feedrate : 1 to 65535 [10N user-specified unit/MIN]] 
 (N is set with parameter No. 021.) 
Absolute position : -99999999 to 99999999 [user-specified unit] 
NMOD = 1 : Execution completion notification mode 
 (For details, see Section 4.2.) 
SMZX = 1 : Performs an in-position check during cutting 
feed. 
<1> If RPD is "0" and SMZX is "1", an in-position check is 
performed with the in-position width set in parameter


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No. 137 (when bit 3 (CIPC) of parameter No. 002 = 1) 
at the end of the command. After the end of the 
command, confirm whether the motor is in position by 
checking if the following are true: Distribution pulse 
signal IPLX (Xx+0#1) = 0, acceleration/deceleration 
pulse signal SUPX (Xx+0#2) = 0, in-position signal 
INPX (Xx+0#3) = 1, axis movement signal MVX 
(Xx+3#2) = 0, and automatic operation start signal STL 
(Xx+1#5) = 0. 
<2> If RPD is "1", an in-position check is performed with


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the in-position width set in parameter No. 111. After 
the end of the command, confirm whether the motor is 
in position by checking if the following are true: 
Distribution pulse signal IPLX (Xx+0#1) = 0, 
acceleration/deceleration pulse signal SUPX (Xx+0#2) 
= 0, in-position signal INPX (Xx+0#3) = 1, axis 
movement signal MVX (Xx+3#2) = 0, and automatic 
operation start signal STL (Xx+1#5) = 0.


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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RPD = 1 : Rapid traverse 
SKIP = 1 : Skip function used 
 If the command is being executed independently when the 
skip signal (HDI) is input, axis movement is stopped 
immediately and command execution is ended. If during 
thirty-two-buffering operation, the currently executed block 
is skipped to proceed to the next block. In this case, the 
workpiece coordinates at the time of skip signal input are


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recorded. The recorded data can be read with the direct 
command for reading skip measurement data (function code 
0x32). 
● Response command format 
 This command has no response data. 
 It only inverts EBSY. 
NOTE 
1 To use SMZX, bit 7 (CSMZ) of parameter No. 002 
must be set to "1". 
2 "Cutting feed" means feed which is neither rapid 
traverse nor jog (JOG) feed. 
3 When RPD = 0 and SMZX = 1, if bit 3 (CIPC) of 
parameter No. 002 is "0", an in-position check is


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performed at the end of the command with the 
in-position width set in parameter No. 111. 
4 The in-position check during reference position 
return (function code: 0x60) is the same as that if 
RPD is "1" (equivalent to that described in 
SMZX<2>). In addition to the signals mentioned in 
SMZX<2>, check if the reference position return 
completion signal ZPX(Xx+2#0) is 1. 
5 To use the skip function, bit 0 (HENB) of parameter 
No. 017 must be set to "1".


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No. 017 must be set to "1". 
6 It is possible to specify, using an appropriate 
parameter, whether to retain the previous skip 
measurement data or record the specified end point 
coordinates if, during the execution of the skip 
function, the skip signal (HDI) is not input and the 
end point is reached. If bit 2 (SPCO) of parameter 
No. 17 is "0", the previous skip measurement data is 
recorded; if "1", the specified end point coordinates. 
7 If, during the execution of the skip function, the


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execution is interrupted due to an external reset, 
emergency stop, alarm, etc., no skip measurement 
data is updated.


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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(3) Incremental positioning 
 This command instructs the servo amplifier module to perform 
incremental positioning. The motor moves through a specified 
amount of travel. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 1 1 0 0 0 1 0 (0x62)
Yy+6 0 0 0 0 NMOD 0 0 1 
Yy+7 SKIP RPD SMZX 0 0 0 0 1 
Yy+8 
Yy+9 
Feedrate 
Yy+10 
Yy+11 
Yy+12 
Yy+13 
Incremental travel amount


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Incremental travel amount 
Feedrate : 1 to 65535 [10N user-specified unit/MIN]] 
 (N is set with parameter No. 021.) 
Incremental travel amount: 
 -99999999 to 99999999 [user-specified unit] 
NMOD = 1 : Execution completion notification mode 
 (For details, see Section 4.2.) 
SMZX = 1 : Performs an in-position check during cutting 
feed. 
<1> If RPD is "0" and SMZX is "1", an in-position check is 
performed with the in-position width set in parameter


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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RPD = 1 : Rapid traverse 
SKIP = 1 : Skip function used 
 If the command is being executed independently when the 
skip signal (HDI) is input, axis movement is stopped 
immediately and command execution is ended. If during 
thirty-two-buffering operation, the currently executed block 
is skipped to proceed to the next block. In this case, the 
workpiece coordinates at the time of skip signal input are


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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(4) Dwell 
 This command instructs the servo amplifier module to perform 
dwell. The execution of the next block can be delayed by a 
specified amount of time. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 1 1 0 0 0 1 1 (0x63)
Yy+6 0 0 0 0 NMOD 0 0 1 
Yy+7 0 0 0 0 0 0 0 1 
Yy+8 
Yy+9 
Yy+10 
Yy+11 
Dwell time 
Dwell time: 1 to 99999999 [msec] 
NMOD = 1 : Execution completion notification mode


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(For details, see Section 4.2.) 
● Response command format 
 This command has no response data. 
 It only inverts EBSY.
(5) Setting a coordinate system 
 The absolute position of the servo amplifier module is preset at a 
specified coordinate value. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 1 1 0 0 1 0 0 (0x64)
Yy+6 0 0 0 0 NMOD 0 0 1 
Yy+7 0 0 0 0 0 0 0 1 
Yy+8 
Yy+9 
Yy+10 
Yy+11 
Coordinate system setting value


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Dwell time: -99999999 to 99999999 [user-specified unit] 
NMOD = 1 : Execution completion notification mode 
 (For details, see Section 4.2.) 
● Response command format 
 This command has no response data. 
 It only inverts EBSY.


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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(6) Acquiring the FIN state 
 The host issues this command to check whether the servo 
amplifier module is waiting for FIN in command completion 
notification mode. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 1 1 0 0 1 1 0 (0x66)
● Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 1 1 0 0 1 1 0 (0x66)
Xx+6 Reserved Execution result 
Xx+7 ECF0


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Xx+7 ECF0 
ECF0 = 1 : Command completed (waiting for the FIN command) 
NOTE 
 This command is valid when command completion 
notification mode is set (NMOD = 1). 
(7) FIN command 
 If the servo amplifier module is waiting for FIN in command 
completion notification mode, the host issues this command to 
release the FIN wait state. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 1 1 0 0 1 1 1 (0x67)
Yy+6 ECFIN0
ECFIN0 : FIN specification


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ECFIN0 : FIN specification 
 If the servo amplifier module is waiting for 
FIN (ECF0 = 1) in command completion 
notification mode, the host responds with this 
command. 
● Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 0 1 1 0 0 1 1 1 (0x67)
Xx+6 Reserved Execution result


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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(8) Velocity control 
 Speed control is issued to the servo amplifier module. The motor 
moves at the specified speed command value (speed). 
● Instruction command format
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 0 1 1 0 1 1 1 1 (0x6F)
Yy+6 0 0 0 0 0 0 0 1 
Yy+7 0 0 0 0 0 0 0 1 
Yy+8 Function selection 
Yy+9 
Yy+10 
Speed command value 
Yy+11 
Yy+12 
Torque limit value 
Function selection =


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Function selection = 
1 : Start or speed change command (torque limit disabled) 
2 : Start of spec change command (torque limit enabled)
3 : Stop command
Speed command value : ±0 to maximum speed of the motor 
[min-1] 
Torque limit value : 0 to 7282 
 Determine the setting with the following 
formula: 
 Setting = Torque limit value [%] x 
 A setting of 0 is regarded as 100% (7282). 
[Example] 
 To set the torque limit to 50% with a speed command of 
1500 min-1.


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1500 min-1. 
 Speed command value = 1500 (= 05DCh) min-1
 Setting of the torque limit value = 50% x (7282/100) = 
3641 (= 0E39h) 
Yy+8 2 
Yy+9 DC 
Yy+10 05 
Yy+11 39 
Yy+12 0E 
● Response command format
 This command has no response data. 
 It only inverts EBSY.


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4.DIRECT COMMANDS HANDLING B-65395EN/01
- 162 - 
NOTE 
1 The maximum speed of the motor depends on the 
motor used. 
2 If the function selection is "1", the torque limit value 
need not be specified. The torque limit is invalid and 
100% is assumed. 
3 If the function selection is "2", to change only the 
torque limit value with the speed unchanged, 
specify the same speed command value as the 
previous one. 
4 If the function selection is "2", the specified torque


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limit value is clamped with the setting of parameter 
No. 080 (current limit value). 
5 If the function selection is "3", the speed command 
value and the torque limit value need not be 
specified. After the stop command, the system 
returns to the torque limit value assumed before the 
start of speed control (determined with parameter 
No. 108 and bit 2 of parameter No. 10). 
● Parameter
No #7 #6 #5 #4 #3 #2 #31 #0 
000 ROAX ROTX
 [Size] 1 byte (bit type) 
 [Standard value] 0


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[Standard value] 0 
 ROTX Specifies whether the controlled axis is a linear or rotation axis, as 
follows: 
0 : Linear axis 
1 : Rotation axis 
* Set this bit to "1" to perform speed control. 
 ROAX Specifies whether the roll-over function of the rotation axis is valid, as 
follows: 
0 : Invalid 
1 : Valid 
* Set this bit to "1" to perform speed control. 
No 
100 Load inertia ratio (LDINT)
 [Size] 2-byte 
 [Valid data range] 0 to 1024


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[Valid data range] 0 to 1024 
Set the ratio of the load inertia of the machine to the inertia of the motor, 
using the value calculated with the formula below as a rough guide: 
Load insertia ratio = (load inertia of the machine/inertia of the motor) x 
256 
If the calculated value exceed 500, set 500. 
By setting a value here, the velocity loop gain will be PK1V, and PK2V 
will be (1 + LDINT/256).


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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The larger this value, the higher the responsiveness to the speed 
command and the higher the servo rigidity. Too large a value, however, 
will cause the servo system to vibrate and abnormal sound during 
machine movement. Normally, regard about 500 as the upper limit. 
If the machine vibrates at a high frequency, the torque command filter 
(parameter No. 102) is effective. 
No 
116 Velocity loop gain override during velocity control (%)


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[Size] 2-byte 
 [Standard value] 0 (overriding not performed) 
Set this parameter if the system is switched between position control 
and velocity control. 
When the system enters velocity control mode, the velocity loop 
proportional gain and the integral gain that are used in position control 
are multiplied by the above override. 
The relationships among the velocity loop proportional gain, integral 
gain, load inertia ratio, and the velocity loop gain override during


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velocity control are explained using the following example: 
Assume the following: 
Integral gain = 100 
Proportional gain = -500 
Load inertia ratio = 128 
Velocity loop gain override during velocity control = 200% 
[Gain during position control] 
 Integral gain = 100 × (1+128/256) = 150 
 Proportional gain = -500 × (1+128/256) = -750 
[Gain during velocity control] 
 Integral gain = 100 × (1+128/256) 200/100 = 300 
 Proportional gain = -500 × (1+128/256) 200/100 = -1500


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Thus, the gain with the load inertia ratio taken into consideration is 
multiplied by the gain override during velocity control. 
No 
135 Linear acceleration/deceleration time constant for velocity control
 [Size] 2-byte 
 [Unit of data] ms 
 [Valid data range] 8 to 4000 
Specify the time required to reach 4000 min-1. 
Example) 
 If the value specified for velocity is 2000 min-1, and the time 
required to reach 2000 min-1 is to be 1000 msec, the value to be set 
is calculated as follows:


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4.DIRECT COMMANDS HANDLING B-65395EN/01
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No 
136 Velocity deviation check limit during velocity control 
 [Size] 2-byte 
 [Unit of data] min-1
 [Valid data range] 0 to 4000 
 [Standard value] 0 (velocity deviation check not performed) 
Set the limit on the velocity deviation check to be performed in velocity 
control mode. 
In velocity control mode, alarm No. 447 is issued if the deviation of the 
actual velocity from the specified velocity exceeds the value set for this 
parameter.


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parameter. 
● Signal 
 7 6 5 4 3 2 1 0 BIT
Xx+2 TRQM 
Speed control mode signal TRQM 
 [Classification] Input signal <Xx+2#2> 
 [Function] The servo amplifier module notifies that the system is in speed control 
mode. 
 [Input condition] The signal becomes 1 when: 
1. Speed control is started and the system is in speed control mode. 
The signal becomes 0 when: 
1. A speed control stop command is executed. 
2. A servo alarm, overtravel alarm, reset, emergency stop, or servo 
off 
● Alarm


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off 
● Alarm 
No. LED 
indication Description Action 
250
Command data 1 (peripheral 
equipment control) or instruction 
command (direct command) is 
invalid. 
Check the specified value of 
command data 1 of peripheral 
equipment control/function code 
command. 
Check the specified value of the direct 
command (instruction command). 
254 The function code or mode is invalid.
Check the specified value of the 
function code of the function code 
command. Check the mode. 
255


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command. Check the mode. 
255
An attempt to start fails because the 
mode is wrong or a block is being 
executed. 
Check the mode. Check if a block is 
being executed. 
447 Too much speed deviation (speed 
control) 
Check the actual speed. Check the 
contents of parameter No. 136.


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
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● Others 
(i) The following parameters usually need to be changed to 
perform speed control. 
 Do not change any other parameters. 
 No.000 (bit 1): Set it to 1. (Rotation axis specification) 
 No.000 (bit 7): Set it to 1. (Rotation axis rollover 
enabled) 
 No.100: Load inertia ratio. Set an adjusted value. 
 The following parameters are for speed control only; 
once values are set, they usually need not be changed at 
each switching.


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each switching. 
 No. 116: Velocity loop gain override during speed 
control. (To be set to switch between position 
control and speed control) 
 No. 135: Linear acceleration/deceleration time constant 
for speed control. 
 No. 136: Speed deviation check limit value during 
speed control. 
(ii) The actions with output signals during speed control are 
as follows: 
 If an overtravel alarm is issued, speed control mode 
ends after a deceleration stop. If the external reset


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signal ERS (Yy+1#0) becomes "1", speed control mode 
ends after a deceleration stop. If the interlock signal 
*ILK (Yy+1#3) becomes "0", a deceleration stop occurs. 
If it becomes "1" again, movement restarts with 
acceleration. 
 If the servo off command signal SVFX (Yy+1#2) 
becomes "1", speed control mode ends after 
deceleration stop. 
(iii) The states of the input signals during speed control are 
as follows: 
 Because the position is updated by performing


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follow-up, the axis movement signal MVX (Xx+3#2) 
and the distribution pulse signal IPLX (Xx+0#1) 
become "1". 
 During movement in one direction, the movement 
direction signal MVDX (Xx+3#0) becomes "1". 
 The automatic operation signal OP (Xx+1#7) and the 
automatic operation start signal STL (Xx+1#5) become 
"1".


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4.DIRECT COMMANDS HANDLING B-65395EN/01
- 166 - 
(9) Wait command 
 This command instructs the servo amplifier module to wait. When 
this command is executed, the servo amplifier module outputs the 
wait signal WAT [2.3.14(14)] to the host and enters the wait state. 
To cancel the wait state, the host sets the wait completion signal 
WFN [2.3.14(15)] to "1". This causes the servo amplifier module 
to set the WAT signal to "0". Upon confirming that the WAT


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signal has become "1", the host sets the WFN signal to "0". With 
these actions, the wait state is canceled and the servo amplifier 
module moves to the next block. 
● Instruction command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Yy+4 Control flag 1 
Yy+5 1 0 0 1 0 0 0 0 (0x90)
Yy+6 0 0 0 0 0 0 0 0 
Yy+7 ID code (1 to 255)
● Response command format 
 #7 #6 #5 #4 #3 #2 #1 #0 
Xx+4 Control flag 2 
Xx+5 1 0 0 1 0 0 0 0 (0x90)
Xx+6 Reserved Execution results 
Xx+7 
Xx+8


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Xx+7 
Xx+8 
Xx+9 ID code (same ID code as that of the instruction command) 
NOTE 
1 The ID code of the instruction command is effective 
when bit 5 (WAT2) of parameter No. 003 is 1. 
2 The response command is output when bit 5 
(WAT2) of parameter No. 003 is 1. 
When the response command is output, the host 
returns an answer by reading the ID code and 
inverting the response data read completion signal 
EOREND [2.3.14(8)]. 
Then, the host checks the WAT signal and controls


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B-65395EN/01 HANDLING 4.DIRECT COMMANDS
- 167 - 
4.5 THIRTY-TWO-BLOCK BUFFERING OPERATION 
4.5.1 Overview 
The host can register and execute up to 32 blocks of direct commands in 
the internal memory of the servo amplifier module. 
NOTE 
 One block consists of one instruction command 
which is a direct command. 
4.5.2 Memory Registration Procedure 
The host registers up to 32 blocks of direct commands in the internal 
memory of the servo amplifier module by means of the procedure


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explained below. 
(1) The host sets memory registration signal INPF [2.3.14 (16)] to 1. 
(2) After confirming that memory registration in-progress signal 
INPFO [2.3.14 (17)] has been set to 1, the host registers direct 
commands in the servo amplifier module through EBUF/EBSY 
control. 
(3) Upon the completion of registration, the host sets memory 
registration signal INPF to 0. 
 CAUTION 
 The registered blocks are all erased when the INPF 
signal state is changed from 0 to 1. Also, the


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registered blocks are all erased when the power is 
disconnected. 
NOTE 
 An attempt to register more than 32 blocks results in 
the issue of alarm 70.


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4.DIRECT COMMANDS HANDLING B-65395EN/01
- 168 - 
4.5.3 Operation Procedure 
The host operates and executes registered direct commands by means of 
the procedure explained below. 
(1) Select AUTO mode. (MD1 = 1, MD2 = 0, MD4 = 0 [2.3.4 (1)]) 
(2) Change the status of automatic operation start signal ST [2.3.10 
(1)] from 1 to 0. When the level of the ST signal falls, buffering 
operation starts. (It is also possible to start operation when the ST


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signal level rises by parameter setting (bit 7 (STON) of parameter 
No. 3)). 
NOTE 
1 After the last block has been executed, operation is 
halted. To perform operation again from the first 
block, cause a reset to locate the first block, then 
start operation by using the ST signal. A reset 
causes the top of the registered blocks to be 
located. 
2 During buffering, switching the ST signal state from 
0 to 1 causes a single-block stop. To restart


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operation, change the ST signal state from 1 to 0. 
3 During the execution of buffering operation, 
switching the INPF signal from "0" to "1" causes a 
single-block stop, deleting all registered blocks. 
4 If, in the halt state, an attempt is made to start 
operation with the ST signal with the INPF signal 
changed from "0" to "1", alarm 254 is issued. 
5 If, during the execution of a skip command block, 
the skip signal (HDI) is input, the currently executed


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5.EXTERNAL PULSE INPUT FUNCTION HANDLING B-65395EN/01
- 170 - 
5.1 OVERIVIEW 
This function enables movement in sync with external pulses generated 
from the machine. 
Input external pulses to connector JA34.


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B-65395EN/01 HANDLING 5.EXTERNAL PULSE INPUT FUNCTION
- 171 - 
5.2 DETAILED DESCRIPTION 
Pulse 
input Servo 
amplifier 
module 
Machine × ratio × CMR 
(1) Input external pulses to connector JA34. The A-phase (PA, *PA) 
and B-phase (PB, *PB) signals are used for an input waveform as 
well as for a position coder output waveform. The C-phase signal 
is not required. 
(2) The ratio of the amount of travel along an axis to an external pulse


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can be set with parameters. The ratio is expressed as M/N (where, 
M = parameter magnification 1 (parameter No. 0062), N = 
parameter magnification 2 (parameter No. 0063)). 
(3) When the A-phase signal is 90° ahead of the B-phase signal, 
movement is performed in the positive direction. 
 When the A-phase signal lags 90° behind the B-phase signal, 
movement is performed in the negative direction. 
(4) Parameter setting (bit 6 (EXPLS) of parameter No. 0003)


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determines whether to enable axis movement by external pulses. 
(5) For axis movement by external pulses, interlock and overtravel 
detection are valid. 
(6) The acceleration/deceleration type used for axis movement by 
external pulses is the same as that for jog feed. (Set bit 1 (JOGE) of 
parameter No. 0002.) 
(7) Select manual handle mode. This mode is selected when signal 
output is performed from the host to a servo amplifier module 
(MD1 = 0, MD2 = 0, MD4 = 1 [2.3.4 (1)].


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(8) If the feedrate for axis movement by external pulses exceeds the 
upper limit for a specified feedrate, as set in parameter No. 43, a 
choice of the following responses can be made by parameter 
setting (bit 6 (EPEXA) and bit 7 (EPEXB) of parameter No. 
0001): 
(a) The feedrate is clamped to the upper limit, and the excess 
pulses are accumulated. 
 If the number of accumulated pulses exceeds 99999999, the 
excess pulses are discarded.


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excess pulses are discarded. 
(b) The feedrate is clamped to the upper limit, and the excess 
pulses are discarded. 
(c) Alarm 291 is issued, and movement is decelerated and 
stopped. 
NOTE 
 This function does not operate unless the motor has been 
activated. When this function is used, therefore, 
clamping/unclamping using the unclamp command signal 
(UCPC2) and the clamp/unclamp state output signal (UCPS2) 
(when bit 1 (NCLP of parameter No. 003 is "0") cannot be used.


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6.UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTIONHANDLING B-65395EN/01
- 172 - 
6 UNEXPECTED DISTURBANCE TORQUE 
DETECTION FUNCTION Optional function


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B-65395EN/01HANDLING 6.UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION
- 173 - 
6.1 OVERVIEW 
In the event of a machine collision, for example, the servo motor 
receives higher load torque than in normal feed. 
This function estimates the load torque to be received by this motor, and 
upon detecting an abnormal value, brings the servo motor to an 
emergency stop or retract the motor in the direction opposite to the 
advance direction, thereby reducing damage to the machine. 
Calculates


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Calculates 
disturbance 
load torque to 
the motor
Monitors 
disturbance 
load torque (at 
1 ms intervals)
Retracts the motor 
upon detecting 
abnormal load
Detects a machine collision 
Table
Amplifier unit
Actual acceleration
Acceleration 
command 
NC unit
Servo unit
Outputs servo alarm No. 
409 after the elapse of 
timer time
Reduces the damage to the 
machine by bringing the motor to an 
emergency stop or retracting it
βi SVM


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6.UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTIONHANDLING B-65395EN/01
- 174 - 
6.2 SERIES AND EDITIONS OF APPLICABLE SERVO 
SOFTWARE 
Software programs of the following series and editions are required: 
(βi SVM control software) 
 Series 88A6/01(A) and subsequent editions 
(Power Mate CNC manager) 
 Series 8A01/01(A) and subsequent editions 
(CNC software) 
 FS16i -MA Series B0F4/03 and subsequent editions 
 FS16i -TA Series B1F4/02 and subsequent editions


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FS18i -MA Series BDF4/03 and subsequent editions 
 FS18i -TA Series BEF4/02 and subsequent editions 
 FS21i -MA Series DDF4/03 and subsequent editions 
 FS21i -TA Series DEF4/02 and subsequent editions 
 FS16i-MB Series B0H1/08 and subsequent editions 
 FS16i -TB Series B1H1/09 and subsequent editions 
 FS18i -MB Series BDH1/08 and subsequent editions 
 FS18i -MB5 Series BDH5/01 and subsequent editions 
 FS18i -TB Series BEH1/09 and subsequent editions


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FS21i -MB Series DDH1/08 and subsequent editions 
 FS21i -TB Series DEH1/09 and subsequent editions 
 Power Mate i -D Series 88E0/15 and subsequent editions 
 Power Mate i -H Series 88F1/09 and subsequent editions 
 Power Mate i -H Series 88F2/01 and subsequent editions 
 FS30i -A Series G001/22 and subsequent editions 
 Series G011/22 and subsequent editions 
 Series G021/22 and subsequent editions 
 Series G002/01 and subsequent editions 
 Series G012/01 and subsequent editions


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Series G032/01 and subsequent editions 
 FS31i -A Series G101/01 and subsequent editions 
 Series G121/01 and subsequent editions 
 FS31i –A5 Series G111/01 and subsequent editions 
 Series G131/01 and subsequent editions 
 FS32i –A Series G201/01 and subsequent editions


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B-65395EN/01HANDLING 6.UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION
- 175 - 
6.3 SETUP METHOD 
6.3.1 Overview 
To use the unexpected disturbance torque detection function, set 
appropriate parameters beforehand, using the procedure below. 
Use the unexpected disturbance torque 
detection function? 
Yes 
Temporarily set No. 096 to 7282. 
Set bit 1 (TDOU) of No. 014 to 1 to observe estimated load torque.
<Adjustment> 
Set Nos. 093 to 096 and 115 to adjust estimated load torque.


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Return bit 1 (TDOU) of No. 014 to 0. 
No096=0 
No 
The unexpected disturbance torque 
detection function is enabled.


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6.UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTIONHANDLING B-65395EN/01
- 176 - 
6.3.2 Details of the Setup Method 
<1> Confirm that the unexpected disturbance torque detection function 
is usable. 
 Confirm that the unexpected disturbance torque detection function 
is usable, using diagnosis (DGN) No. 034#1 (ABTDTC) and the 
signal Xx+1#3 (OPTENB). 
<2> Temporarily set an alarm threshold 
 For adjustment, set parameter No. 096 to 7282 because no alarms


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will be detected and no estimated load torque will be calculated if 
the alarm threshold of abnormal load detection is 0. 
<3> Observe the estimated load torque. 
 Set bit 1 (TDOU) of parameter No. 014 to 1 to output the estimated 
load torque to DATA1 on the check board and the acceleration 
command to DATA0. 
Fig. 6.3.2 (a) Before Adjustment 
 Fig. 6.3.2 (a) shows the actual speed, specified acceleration, and 
estimated load torque at a rapid traverse rate of 1000min-1.


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Because the estimated load torque has not been adjusted, the 
estimated load torque is disturbed during acceleration and during a 
constant speed. The estimated load torque disturbance is corrected 
by adjusting the model constant and setting dynamic friction 
compensation, to be described later. 
<4> Adjust the model constant (parameter No. 115) 
 Parameter No. 115, model constant, represents the "torque 
constant/inertia". To perform estimation correctly, this parameter


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must be adjusted properly. Fig. 6.3.2 (b) shows results obtained 
after parameter No. 115 is set to a proper value in accordance with 
the machine inertia. 
Actual 
speed 
Specified 
acceleration
Estimated load 
torque 
5000 (TCMD units) 
1000min-1
Estimated load torque 
disturbance


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B-65395EN/01HANDLING 6.UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION
- 177 - 
<5> Adjust dynamic friction compensation (parameter No. 94) 
 Parameter No. 094, dynamic friction compensation, removes the 
effect of dynamic friction. Measure the estimated load torque at 
1000 min-1 and set the measurement in parameter No. 094 in 
torque command units (with the maximum current value of the 
amplifier being assumed 7282). 
 Because in Fig. 6.3.2 (b), the estimated load torque at 1000min-1 is


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about 1800 during a constant speed, set parameter No. 094 to 1800. 
The results obtained after this parameter is applied are shown in 
Fig. 6.3.2 (c); the estimated load torque at 1000min-1 is 0.
Estimated load 
torque 
The effect of dynamic 
friction is reduced 
Fig. 6.3.2 (c) Adjustment of Dynamic Friction Compensation 
Estimated load 
5000 (TCMD unit) torque 
1000min-1
1800 
Specified 
acceleration
Actual speed
Fig. 6.3.2 (b) After Adjusting the Model 
Constant
Actual 
speed


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Constant
Actual 
speed 
Specified 
acceleration 
Estimated load 
torque 
5000 (TCMD units) 
1000min-1
Disturbance during 
acceleration is reduced


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6.UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTIONHANDLING B-65395EN/01
- 178 - 
<6> Adjust the torque offset (parameter No. 93) 
For axes to which a constant force is applied constantly, such as 
the vertical axis, set parameter No. 093, torque offset, to remove 
the effect. In the case of Fig. 6.3.2 (d), it is seen that the offset of 
the estimated load torque is -3000; set 3000, with the opposite sign, 
in parameter No. 093. As a result, waveform similar to that in Fig. 
6.3.2 (c) is obtained.


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6.3.2 (c) is obtained. 
<7> Adjust the retraction amount (parameter No. 95)
 Set the retraction amount to be assumed if an abnormal load is 
detected. The tool moves in the direction opposite to the advance 
direction by the specified distance from the position at which the 
alarm is detected. If the setting of parameter No. 095, retraction 
amount, is 0, the tool stops at the position at which the alarm is 
detected. 
<8> Adjust the alarm threshold (parameter No. 96)


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Finally, set parameter No. 096, alarm threshold. As the threshold, 
set a value about 120 to 150% larger than that at which the 
estimated load torque is maximized. 
 In the example in Fig. 6.3.2 (e), a value of about 2000 is shown 
during rapid acceleration/deceleration and, therefore, set a value 
of about 2400 to 3000 in parameter No. 096. Fig. 6.3.2 (f) shows a 
collision example (when the unexpected disturbance torque 
detection function is disabled). Because the estimated load torque


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is 5000 at the collision, the unexpected disturbance torque 
detection function operates. 
Offset 
3000 
Fig. 6.3.2 (d) Torque Offset 
5000 (TCMD unit)


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B-65395EN/01HANDLING 6.UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION
- 179 - 
Fig 6.3.2 (e) Normal Time 
Fig. 6.3.2 (f) At a Collision 
Actual 
speed 
Specified 
acceleration 
Estimated load 
torque 
1000min-1
At a collision, the estimated load 
torque soars to 5000. 
5000 
Actual 
speed 
Specified 
acceleration 
Estimated load 
torque 
1000 min-1
During normal time, the estimated load torque is 
about 2000. 
5000


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6.UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTIONHANDLING B-65395EN/01
- 180 - 
6.4 Signal 
 7 6 5 4 3 2 1 0 BIT
Xx+1 OPTENB 
Function enable signal OPTENB 
 [Classification] Input signal <Xx+1#3> (common to both the peripheral equipment 
control and direct command interfaces) 
 [Function] The servo amplifier module notifies that the function is enabled 
(usable). 
The function is as follows: 
• Unexpected disturbance torque detection function (software 
option function)


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option function) 
 [Input condition] The signal becomes 1 when: 
1. The function is usable. 
The signal becomes 0 when: 
1. The function is under preparation, immediately after the power is 
turned on. 
2. The function is not ordered. 
 CAUTION 
 The unexpected disturbance torque detection 
function is disabled until this signal becomes "1". Be 
sure to start axis movement after confirming hat this 
signal has become "1".


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B-65395EN/01HANDLING 6.UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION
- 181 - 
6.5 Parameter 
No 
130 Unexpected disturbance torque detection alarm timer 
 [Size] 2-byte 
 [Unit of data] msec 
 [Valid data range] 0 to 32767 (200 msec if 0 is set) 
Set the time from when an unexpected disturbance torque is detected to 
when a servo alarm is issued. A fraction smaller than 8 msec is rounded 
up. 
Example) Setting of 30: assumed to be 32 msec 
No #7 #6 #5 #4 #3 #2 #1 #0 
014 TDOU


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014 TDOU 
 [Size] 1 byte/bit type 
 TDOU Output to the check board 
0 : The torque command is output to the check board. 
1 : The estimated load torque is output to the check board. 
The estimated load torque is output to DATA1, and the specified 
acceleration to DATA0. For both, the value weight is in TCMD unit 
(maximum current value being 4.4 V). 
NOTE 
 To output the estimated load torque to the check 
board, set bit 0 of parameter No. 014 to 0.
No 
115 Model constant 
 [Size] 2-byte


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[Size] 2-byte 
 [Valid data range] 0 to 32767 
The model constant is a motor-specific value. Usually, it is fixed as a 
standard parameter. However, it should be tuned so as to obtain the 
estimated load torque correctly. 
NOTE 
 Load torque estimation takes the load inertia ratio 
into consideration. Changing the load inertia ratio 
causes the optimum value for the model constant to 
change. Determine the load inertia ratio, as the first 
step of the servo adjustment procedure.


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If changing the setting of the load inertia ratio after 
determining the model constant, set a new model 
constant, using the following formula: 
 (New model constant) = Parameter No. 115 
 × Load inertia ratio after adjustment+256
Load inertia ratio before adjustment+256 
 Load inertia ratio: Parameter No. 100


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6.UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTIONHANDLING B-65395EN/01
- 182 - 
No 
093 Estimated load torque: torque offset compensation 
 [Size] 2-byte 
 [Unit of data] Torque command unit 
 [Valid data range] -7282 to 7282 (7282 is the maximum current value of the amplifier) 
The setting is added to an estimated load torque, thereby eliminating an 
effect of stationary torque including gravity.
No 
094 Estimated load torque: dynamic friction compensation coefficient
 [Size] 2-byte


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[Size] 2-byte 
 [Unit of data] Torque command unit 
 [Valid data range] 0 to 7282 (7282 is the maximum current value of the amplifier) 
 [Setting value] An estimated load torque at 1000 min-1 is measured and set. 
The compensation proportional to the speed is added to the estimated 
load torque, thereby eliminating an effect of dynamic friction.
No 
095 Unexpected disturbance torque detection: retract distance 
 [Size] 2-byte 
 [Unit of data] Detection unit 
 [Valid data range] 0 to 65535


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[Setting value] Set approximately 3 mm.
NOTE 
 Even if this parameter is set, if the movement is at a 
speed lower than the that described below, 
retraction is not performed but the tool stops at the 
position at which an abnormal load is detected. 
 Let the value of the retraction parameter to be A, 
 If the speed is equal to or less than A/8 x detection 
unit x 1000 [mm/min]: Stop at the detection point 
 If the speed is equal to or greater than A/8 x


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detection unit x 1000 [mm/min]: Stop after retraction 
1000min-1 Speed 
Dynamic friction compensation 
Set the compensation at 1000min-1
 in torque 
command units to compensate the value proportionate to 
the speed as dynamic friction. 
Dynamic friction 
compensation 
coefficient 
No.094


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B-65395EN/01HANDLING 6.UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION
- 183 - 
No 
096 Unexpected disturbance torque detection: alarm threshold value
 [Size] 2-byte 
 [Unit of data] Torque command unit 
 [Valid data range] 0 to 7282 (7282 is the maximum current value of the amplifier) 
Set a limit (threshold) value at which an unexpected disturbance torque 
detection alarm is issued. If the setting is 0, processing for unexpected


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disturbance torque detection is disabled, and alarm detection and 
calculation of an estimated load torque are not performed. 
First set bit 1 (TDOU) of parameter No. 014 to 1 (bit 0 of parameter 
No.014 must be 0), and observe load torque. Then, set parameter No. 
096 to a value greater than the maximum torque value. 
6.6 ALARM 
Number LED 
indication Description Action 
409 An abnormal load is detected. 
Look for the mechanical cause of the 
abnormal load. If there is no


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abnormal load. If there is no 
mechanical cause, increase the 
check amount of the parameter (No. 
096). 
6.7 DIAGNOSIS 
(DGN number) 7 6 5 4 3 2 1 0 
034 ABTDTC
ABTDTC Unexpected disturbance torque detection function is: 
0 : Disabled. 
1 : Enabled.


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B-65395EN/01 HANDLING 7.QUICK STOP FUNCTION
- 185 - 
7.1 OVERVIEW 
This function enables the motor to stop with a shorter distance than with 
a normal DB stop, by performing a stop operation in a controlled 
manner when a directly input emergency stop signal is input. To 
perform a stop operation in a controlled manner, it is necessary to set 
the delay time from the time the pressing of the emergency stop switch 
is recognized until the magnetic contactor of the amplifier is actually


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shut down. The βi SVM allows setting of 60 and 100 ms through 
appropriate parameter setting. 
7.2 SERIES AND EDITIONS OF APPLICABLE SERVO 
SOFTWARE 
Software of the following series and edition is necessary: 
(control software) 
 Series 88A6 /01(A) and subsequent editions 
7.3 SETTING METHOD 
To use the quick stop function, set appropriate parameters with the 
procedure given below. 
Use quick stop function?
Yes 
Set bit 2 (VCMD0) of parameter No. 018 to 1 to enable the function.


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Set bits 4 and 3 (TIM1 and TIM0) of parameter No. 018 to 1 and 0,
respectively, to set the timer to 60 ms. 
Perform an emergency stop from the maximum feedrate and 
check that the stop distance is shortened.
No018#2(VCMD0)=0
No


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7.QUICK STOP FUNCTION HANDLING B-65395EN/01
- 186 - 
7.4 PARAMETER 
No #7 #6 #5 #4 #3 #2 #1 #0 
018 TIM1 TIM0 VCMD0 
 [Size] 1 byte/bit type 
 VCMD0(#2) Quick stop function is: 
0 : Disabled. 
1 : Enabled. 
 TIM1,0(#4,#3) Setting of the MCC off timer 
The delay time from the time an emergency stop signal is input until 
MCC is turned off can be selected with a combination of TIM1 and 
TIM0. If VCMD0 is 0, the setting is invalid.


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Usually set it to 60 ms. If a sufficult effect cannot be obtained, set it to 
100 ms. 
Delay time TIM1 TIM0 
0ms 0 0 
60ms 1 0 
100ms 1 1 
NOTE 
1 It is not possible to set a delay time of 100 ms or 
greater by mounting an additional external timer. 
2 Do not turn an emergency stop OFF/ON 
instantaneously. 
3 The timer on the amplifier operates in conjunction 
with connector CX30 or with *ESP on CXA19B. It 
does not operate only with an emergency stop


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B-65395EN/01 TROUBLESHOOTING 1.OVERVIEW
- 189 - 
1 OVERVIEW 
This part describes the troubleshooting procedure. Read the section 
related to your current trouble to locate it and take an appropriate 
action. 
First, check the LEDs on the servo amplifier modules or the alarm 
number (displayed on the host controller), examine the cause, and take 
an appropriate action.


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2.ALARM NUMBERS AND BRIEF DESCRIPTIONS TROUBLESHOOTING B-65395EN/01
- 190 - 
2 ALARM NUMBERS AND BRIEF 
DESCRIPTIONS 
Number Alarm type LED type 
（Classification by Red LED）
000 to 299 Program or setting alarm or 
300 to 399 Pulse coder alarm
400 to 499 Servo alarm or 
500 to 599 Overtravel alarm Same as PS alarm 
- System alarm or I/O Link alarm or 
Program or setting alarms (PS alarms) 
No. LED display Description Countermeasure
000 A parameter that requires 
power-down has been specified.


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power-down has been specified.
Turn the power off, then back on. 
011 The specified feedrate is zero. Check the feedrate parameter 
specified with a function code. 
013 
The specified feedrate (maximum 
feedrate) is zero. 
Check the value of parameter No.043, 
which indicates the maximum 
feedrate that can be specified. 
070 More than 32 blocks have been 
registered for a buffering operation.
Reduce the number of registered 
blocks to 32. 
090 
 Reference position setting cannot be


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executed normally. 
Move the tool in the direction of 
reference position return in jog mode 
at a speed that causes the servo 
position error to exceed 128. Then, 
specify another reference position 
setting. 
093 
(1) A first to third reference position 
return cannot be executed 
because the reference position 
has not yet been established. 
(2) The reference position external 
setting was executed without 
Absolute pulse coder. 
(1) Set the reference position.


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B-65395EN/01 TROUBLESHOOTING 2.ALARM NUMBERS AND BRIEF DESCRIPTIONS
- 191 - 
No. LED display Description Countermeasure
224 
The reference position has not yet 
been established. This occurs only 
when the ZRTN bit of parameter 
No.001 is set to 0. 
Set the reference position. 
250 Input data 1 or command is invalid. Check input data 1, specified with a 
function code. 
251 Input data 2 is invalid. Check input data 2, specified with a 
function code. 
254


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function code. 
254 
 A function code or mode is invalid. Check the command code, specified 
with a function code. 
Check the mode. 
255 
Operation cannot be activated 
because an invalid mode is specified 
or because block execution is in 
progress. 
Check the mode. Check whether a 
block is being executed. 
290 The interface switch signal (DRC) 
was switched during block execution.
Switch the signal after block 
execution stops. 
291 
The speed of an axial movement


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specified by an external pulse has 
exceeded the upper limit. This occurs 
only when the EPEXA bit of 
parameter No.001 is set to 1. 
Check the speed specified by the 
external pulse. Check the 
magnification of the external pulse 
(parameters No.062 and 063). 
292 
 A checksum error for the nonvolatile 
memory was detected. 
Parameters are cleared. Set the 
parameters again. If this alarm 
subsequently recurs, replace the unit.
293 Software version between FROM on 
CPU and EPROM is same.


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CPU and EPROM is same. 
Remove the EPROM. 
294 CRC check alarm of EPROM was 
detected. 
Remove the EPROM.


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2.ALARM NUMBERS AND BRIEF DESCRIPTIONS TROUBLESHOOTING B-65395EN/01
- 192 - 
Pulse coder alarms 
No. LED display Description Countermeasure
300
 A communication error (DTER) for 
the serial pulse coder was detected.
Check the continuity of the signal 
cable. If the cable is normal, the pulse 
coder or servo amplifier module may 
be defective. This error can also be 
caused by external noise. See the 
chapter on noise reduction in 
"Descriptions." 
301
 A communication error (CRCER) for


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the serial pulse coder was detected.
Check the continuity of the signal 
cable. If the cable is normal, the pulse 
coder or servo amplifier module may 
be defective. This error can also be 
caused by external noise. See the 
chapter on noise reduction in 
"Descriptions." 
302
 A communication error (STBER) for 
the serial pulse coder was detected.
Check the continuity of the signal 
cable. If the cable is normal, the pulse 
coder or servo amplifier module may


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be defective. This error can also be 
caused by external noise. See the 
chapter on noise reduction in 
"Descriptions." 
303
An LED disconnection (LDAL) was 
detected in the serial pulse coder. 
Turn the power off. If this alarm recurs 
when the power is reapplied, replace 
the motor. 
304
 A mispulse alarm (PMAL) for the 
serial pulse coder was detected. 
Turn the power off. If this alarm recurs 
when the power is reapplied, replace 
the motor. 
305
 A miscount alarm (CMAL) for the


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serial pulse coder was detected. 
Turn the power off. If the alarm recurs 
when the power is re-applied, replace 
the motor. 
Even if the alarm does not recur, 
restart the operation from reference 
position return. 
306
 The motor has overheated (OHAL). This alarm is issued when the motor 
has overheated, causing the 
thermostat to trip. 
Possible causes include an 
excessively high ambient temperature 
and excessively strict operating 
conditions. Check the actual cause.


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If it occurs again when the motor is 
cooled, the motor or servo amplifier 
may have failed. Replace the faulty 
motor or servo amplifier. 
308 A soft phase alarm (SPHAL) was 
detected. 
Turn the power off. This alarm may be 
caused by noise.


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B-65395EN/01 TROUBLESHOOTING 2.ALARM NUMBERS AND BRIEF DESCRIPTIONS
- 193 - 
No. LED display Description Countermeasure
319
When the absolute pulse coder is 
used, the motor has not yet rotated 
through more than one turn after the 
first power-up. 
Cause the motor to rotate through 
more than one turn in jog feed mode, 
then turn the power off then back on.
350
The battery voltage of the absolute 
pulse coder is low. 
Replace the battery. 
Restart the operation from reference


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position return. 
351
The battery voltage of the absolute 
pulse coder is low. (warning) 
Replace the battery.


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2.ALARM NUMBERS AND BRIEF DESCRIPTIONS TROUBLESHOOTING B-65395EN/01
- 194 - 
Servo alarms 
No. LED display Description Countermeasure
400 
 The servo motor has overheated. 
(estimated value) 
The motor operation condition may be 
too severe. 
Check the operation condition. 
401 DRDY(Drive Ready signal) becomes 0. 
The servo amplifier is not ready. 
The regenerative discharge unit has 
overheated. 
This alarm is issued when the 
average regenerative discharge 
energy is too high (when the


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energy is too high (when the 
acceleration/deceleration frequency 
is too high, for example). 
404 
(1) When the separate regenerative discharge resistor is not used. 
For the SVM1-4i and SVM1-20i, check whether the CXA20 connector is 
short-circuited by using a dummy connector. 
For the SVM1-40i and SVM1-80i, check whether the CXA20 and CZ6 
connectors are short-circuited by using dummy connectors. 
(2) The average regenerative discharge energy may be too high.


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Decrease the acceleration/deceleration frequency. 
(3) The separate regenerative discharge unit may not be connected properly. 
Check the connection. 
(4) The thermostat of the separate regenerative discharge unit may be 
defective. Disconnect the separate regenerative discharge unit, then check 
the thermostat. If the thermostat is open even through the separate 
regenerative discharge unit is cool, replace the separate regenerative 
discharge unit.


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discharge unit. 
(5) The resistor of the separate regenerative discharge unit may be defective. 
Disconnect the separate regenerative discharge unit, then check the 
resistance. If it does not fall in the range of the predetermined resistance 
"20%, replace the separate regenerative discharge unit. 
(6) If from (1) to (5) are not the cause of the alarm, replace the servo amplifier 
module. 
Reference position return could not be 
executed correctly. 
Re-execute reference position return.


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405 If a value in the range of 4 to 96 is set for parameter No. 032 (CMR), an alarm 
may be issued. In this case, prevent an alarm from being issued by setting 
N405(bit4 of parameter No. 001) to "1". 
409 
 Unexpected disturbance torque has been 
detected. 
Look for the mechanical cause of the 
abnormal load. 
If no mechanical cause is found, 
specify a larger value for the 
parameter.


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B-65395EN/01 TROUBLESHOOTING 2.ALARM NUMBERS AND BRIEF DESCRIPTIONS
- 195 - 
No. LED display Description Countermeasure
410 
 The servo position error in the stop 
state is larger than the value 
specified in parameter No.110. 
Determine the mechanical cause of 
the large position error. 
If no mechanical cause is found, 
specify a larger value for the 
parameter. 
411 
 The servo position error during 
movement is larger than the value 
specified in parameter No.182.


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Determine the mechanical cause of 
the large position error. 
If no mechanical cause is found, 
apply any of the following 
countermeasures: 
• Specify a larger value for the 
parameter. 
• Specify a lower feed rate. 
• Increase the time constants. 
Over Current Alarm has been issued. This alarm is issued when an 
excessively large current flows in 
the main circuit. 
412 
(1) Check whether the motor ID number is correctly set in parameter No.125.


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(2) Check whether the standard values (see Appendix B) are specified in the 
current control parameters for servo control. 
Correct current control is possible only when the standard values are 
specified for the following parameters: 
 No.70, 71, 72, 78, 79, 84, 85, 86, 87, 88, 89, 90, 99, 118, 119 
(3) Disconnect the power line from the servo amplifier module connector. 
- Then, release the emergency stop state. If the over-current alarm


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continues to be issued, replace the servo amplifier module. 
- If no over-current alarm is issued, go to (4). 
(4) Check the insulation between the ground and each of U, V, and W. 
- If the insulation is satisfactory, go to (5). If a short-circuit is detected, 
disconnect the power line from the motor connector. Then, check the 
insulation between the ground and each of U, V, and W of the motor. 
- If a short-circuit is found between the ground and U, V, or W of the 
motor, replace the motor.


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motor, replace the motor. 
- If the insulation is satisfactory, replace the power line. 
(5) Connect the power line. Observe the waveform of the motor current (IR, 
IS) while the motor is accelerating or decelerating. 
See the description of the checking of the motor current in Appendix E, 
"Servo Check Board". 
- If the motor current (IR, IS) does not exhibit a normal sine wave, replace 
the servo amplifier module. 
(6) Check if the motor current (IR, IS) waveforms include noise.


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- When noise is included, take an action such as making a connection to 
shield ground. 
- When noise is not included, replace the servo amplifier module. 
If (1) to (6) above are not the cause of the alarm, the pulse coder, command 
cable or internal hardware of the CNC may be defective.


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2.ALARM NUMBERS AND BRIEF DESCRIPTIONS TROUBLESHOOTING B-65395EN/01
- 196 - 
No. LED display Description Countermeasure
DC Link Over Voltage Alarm has 
been issued. 
This alarm is issued when the DC 
voltage of the main circuit power is too 
high. 
413 
(1) When SVM1-4i or SVM1-20i is used, and a separate regenerative 
discharge unit is not used, check the specification to see if regenerative 
energy per one time does not exceed the allowable regenerative energy 
of the servo amplifier module.


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(2) For the SVM1-40i and the SVM1-80i, when the separate regenerative 
discharge resistor is not used, check whether 
the CZ6 connector is short-circuited with a dummy connector. 
(3) The supply voltage for dynamic power may exceed the rated value. 
Check the voltage. If the voltage is too high, reduce the voltage to an 
appropriate level. 
(4) The regenerative discharge unit may not be properly connected. Check 
the connection.


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the connection. 
(5) The resistance of the separate regenerative discharge unit may be 
abnormal. Disconnect the separate regenerative discharge unit, then 
check the resistance. If the resistance is not within ±20% of the 
predetermined resistance, replace the separate regenerative discharge 
unit. 
If from (1) to (5) are not the cause of the alarm, replace the servo 
amplifier unit. 
DC Link Low Voltage Alarm has been 
issued. 
This alarm is issued when the DC


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voltage of the main circuit power is too 
low. 
414 
(1) 190 ms or longer may pass from the time when both the *ESP of the 
built-in DI and the *ESP of the I/O link interface signal are canceled until 
the external magnetic contactor inserted into the input for motive power 
turns on(including the operating time of the magnetic contactor). The 
magnetic contactor must turn on within 100 ms. 
(2) The external circuit breaker may be turned off. Check the circuit breaker.


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(3) The supply voltage for dynamic power is lower than the rated value. 
Check the voltage. If the voltage is too low, increase it to an appropriate 
level. 
(4) The external magnetic contactor may not be connected properly. Check 
the connection. 
If from (1) to (4) are not the cause of the alarm, replace the servo 
amplifier unit.


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B-65395EN/01 TROUBLESHOOTING 2.ALARM NUMBERS AND BRIEF DESCRIPTIONS
- 197 - 
No. LED display Description Countermeasure
Inverter IPM Alarm has been issued. 
416 
(1) Check whether the cooling fan is not stopped. 
(2) Check whether the motor is used within related current. 
(3) Check whether the temperature in locker is higher. Check the fin or filter 
in locker. 
(4) Check whether the temperature is higher around the servo amplifier 
module.


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module. 
(5) Disconnect the power line from the servo amplifier module connector. 
Then, release the emergency stop state. 
- If the IPM alarm continues to be issued, replace the servo amplifier 
module. 
- If no IPM alarm is issued, go to (6). 
(6) Disconnect the power line from the servo amplifier module connector. 
Then, check the insulation between the ground and each of U, V, and W.
- If the insulation is satisfactory replace the servo amplifier module.


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- If the insulation is not satisfactory, go to (7). 
(7) Disconnect the power line from the servo motor. Then check the 
insulation. 
- If the insulation of servo motor is not satisfactory, replace the servo 
motor 
- If the insulation of power line is not satisfactory, replace the servo 
amplifier module. 
A parameter has been specified 
incorrectly. 
417 
Check the following parameters: 
- When the both No.030 and No.125 are set for motor ID number, this alarm


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is issued.it is necessary to set motor ID number on No.125 and to set 0 on 
No.030. 
- No.031: the parameter for direction of rotate is not selected in “111” or 
“–111”. 
- No.106: Is the denominator of the number of pulses per single 
revolution of the motor 0? 
- No.107: Is this parameter too large? 
- No.179: Is this parameter out of range (8388607 lower or equal)? 
- Is No.107 (position gain)/No.105 or No.179 (number of pulses per single 
revolution of the motor) less than 0.488?


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2.ALARM NUMBERS AND BRIEF DESCRIPTIONS TROUBLESHOOTING B-65395EN/01
- 198 - 
No. LED display Description Countermeasure
423 
 The specified speed exceeds 
32767000 detection units per 
second. 
Re-examine the CMR and speed 
settings. 
The fan for internal agitation has 
stopped. 
425 
This alarm is issued when the fan motor built into the servo amplifier module 
has failed. The fan motor is consumable. For the explanation about its


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replacement procedure, see Part IV "Maintenance of Servo Amplifier Unit."
(1) Check that the fan is not clogged with foreign matter. 
(2) Check that the power connector of the fan is connected properly. 
(3) Replace the fan or servo amplifier module. 
446 The external pulse input line is 
disconnected. 
Connect the external pulse input 
signal correctly. 
447 
 The velocity deviation is too high 
(velocity control) 
Check the actual velocity. 
See the settings of parameter 
No.136. 
449


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No.136. 
449 
No.080 is not corrected. 
(This parameter is out of range 
from 0 to 8010) 
Set No.080 correctly 
(from 0 to 8010). 
The fan for cooling the external 
radiator fin has stopped. 
601 
This alarm is issued when the fan motor for inverter radiator has failed. The 
fan motor is consumable. For an explanation of the replacement procedure,
see Part IV, "Maintenance of Servo Amplifier Unit." 
(1) Check that the fan is not clogged with foreign matter.


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(2) Check that the power connector of the fan is connected properly. 
(3) Replace the fan or servo amplifier module. 
Overtravel alarms 
No. LED display Description Countermeasure
500
The positive stroke limit has been 
exceeded. 
501 
 The negative stroke limit has been 
exceeded. 
Check whether *+OT and *-OT are 
connected correctly. Check whether a 
correct move command is specified. 
Move the tool in the opposite direction 
in jog mode, then perform a reset. 
510


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510
 The positive soft stroke limit has been 
exceeded. 
511 
 The negative soft stroke limit has 
been exceeded. 
Check whether appropriate values 
have been specified for parameters 
No.142 and 143. Check whether a 
valid move command is specified. 
Move the tool in the opposite direction 
in jog mode, then perform a reset.


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B-65395EN/01 TROUBLESHOOTING 2.ALARM NUMBERS AND BRIEF DESCRIPTIONS
- 199 - 
System alarms 
No. LED display Description Countermeasure
− 
An error was detected in the RAM 
write/read test at power-up. (External 
SRAM) 
Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
− 
A watchdog alarm 1 was issued. Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
−


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amplifier module. 
− 
A watchdog alarm 2 was issued. Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
− 
A watchdog alarm 3 was issued. Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
− 
The logic supply was less than 5V. Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
−
 The low voltage of the 24-VDC 
control supply was detected.


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control supply was detected. 
Check the 24-VDC control supply 
voltage. If the voltage is low, increase 
the voltage to an appropriate level. 
− 
An error was detected in the data 
collation check for the nonvolatile 
memory. 
Turn the power off then back on. 
Then, re-enter the parameters. If this 
alarm recurs, replace the servo 
amplifier module. 
− 
A data transfer alarm for the 
nonvolatile memory has been issued. 
Turn the power off then back on. If this


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alarm recurs, replace the servo 
amplifier module. 
− 
A CRC check alarm for the FROM 
that is built into the CPU is issued. 
Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
− 
A alarm for the servo amplifier 
module is issued. (Synchronous 
deviation alarm) 
Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
− 
A alarm for the servo amplifier 
module is issued. (Dead-band 0 
alarm)


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alarm) 
Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
− 
A alarm for the servo amplifier 
module is issued. (Timer for skip 
position measurement) 
Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
− 
Loading of a software on the FROM 
that is built into the CPU is 
incomplete. 
An error was detected in the RAM 
write/read test at power-up. (Internal 
RAM) 
An error was detected in the control


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circuit. 
Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module.


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2.ALARM NUMBERS AND BRIEF DESCRIPTIONS TROUBLESHOOTING B-65395EN/01
- 200 - 
No. LED display Description Countermeasure
− 
An error was detected in the control 
circuit. 
Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
−
 A alarm for the servo amplifier 
module is issued. (General illegal 
instruction) 
Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
− 
A alarm for the servo amplifier


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module is issued. (Slot illegal 
instruction) 
Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
− 
A alarm for the servo amplifier 
module is issued. (CPU address 
error) 
Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
− 
A alarm for the servo amplifier 
module is issued. (DTC address 
error) 
Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
−


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amplifier module. 
−
 Stuck overflow occurred. Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
−
 Stuck underflow occurred. Turn the power off then back on. If this 
alarm recurs, replace the servo 
amplifier module. 
I/O link alarm 
No. LED display Description Countermeasure
− 
A FANUC I/O Link error occurred. 
Some unit connected to the line was 
turned off. 
Turn off the power to all units 
connected to the line. Then, turn on


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the slave devices, followed by the 
master device. 
No LED display 
No. LED display Description Countermeasure
− No indicators 
lit 
The control circuit is not operating 
normally. 
(1) Check the 24-VDC control supply 
voltage. If the voltage is low, 
increase the voltage to an 
appropriate level. 
(2) Check whether a fuse in the 
servo amplifier module has 
blown. 
 If a blown fuse is found, replace 
it, following the procedure 
described in Part IV 
"Maintenance of Servo Amplifier


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B-65395EN/01 TROUBLESHOOTING 3.ACTION AGAINST NOISE
- 201 - 
3 ACTION AGAINST NOISE 
The servo amplifier module has been steadily reduced in size using 
surface-mount and custom LSI technologies for electronic components. 
The servo amplifier module also is designed to be protected from 
external noise. However, it is difficult to measure the level and 
frequency of noise quantitatively, and noise has many uncertain factors. 
It is important to prevent both noise from being generated and


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generated noise from being introduced into the servo amplifier module. 
This precaution improves the stability of the servo amplifier module 
machine tool system. 
The servo amplifier module component units are often installed close to 
the parts generating noise in the power magnetics cabinet. Possible 
noise sources into the servo amplifier module are capacitive coupling, 
electromagnetic induction, and ground loops. 
When designing the power magnetics cabinet, guard against noise in


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the machine as described in the following section. 
 - Separating signal lines 
The cables used for the machine are classified as listed in the following 
table: 
Process the cables in each group as described in the action column. 
Group Signal line Action 
Primary AC power line 
Secondary AC power line 
AC/DC power lines (containing the 
power lines for the servo motors) 
AC/DC solenoid 
A 
AC/DC relay
Bind the cables in group A separately (Note 1) from


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groups B and C, or cover group A with an 
electromagnetic shield (Note 2). 
Connect spark killers or diodes with the solenoid 
and relay. 
DC solenoid (24VDC) 
DC relay (24VDC) 
B DC power line 
Connect diodes with DC solenoid and relay. 
Bind the cables in group B separately from group A, 
or cover group B with an electromagnetic shield. 
Separate group B as far from Group C as possible.
It is more desirable to cover group B with the shield.
Cable between the host and servo


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amplifier module 
Cable for position and velocity 
feedback 
External pulse input 
C 
Other cables to be covered with the 
shield 
Bind the cables in group C separately from group A, 
or cover group C with an electromagnetic shield. 
Separate group C as far from Group B as possible.
Be sure to perform shield processing. 
NOTE 
1 The groups must be 100mm or more apart from one 
another when binding the cables in each group. 
2 The electromagnetic shield refers to shielding


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3.ACTION AGAINST NOISE TROUBLESHOOTING B-65395EN/01
- 202 - 
Cable of group B, C 
Cable of group A 
Cabinet
Servo 
amplifier 
module
Servo 
amplifier 
module
Host NC
Duct 
To operator's 
panel, motor, 
etc. 
Section 
Group A Group B, C 
Cover 
 - Ground 
 The following ground systems are provided for the CNC machine 
tool: 
• The signal ground supplies the reference voltage (0V) of the 
electrical signal system. 
• The frame ground system is used for safety, and suppressing


