I. Introduction: The Core of Modern Motion Control
In industrial automation, servo systems are the heart of precision control. From CNC machinery and robotics to packaging and inspection equipment, servos dictate accuracy, stability, and efficiency.
Fuji Electric’s ALPHA5 series servo systems are widely known for their high response, precision, low noise, and reliability. However, commissioning and maintenance require a solid technical foundation.
This article provides a complete, field-oriented explanation of the Fuji ALPHA5 series, covering wiring, parameters, software setup, diagnostic tools, and common repair practices.

II. System Overview and Working Principle
1. System Components
A standard ALPHA5 servo setup consists of:
- Servo amplifier (drive) – e.g., RYT102C5-VS2, performing power conversion and control.
- AC servo motor – e.g., GYG102CC2-T2E-B, 1 kW, 17-bit absolute encoder.
- Encoder cable (CN2) – provides position feedback.
- I/O control cable (CN1) – handles enable, limit, reset, and I/O commands.
- Communication ports (CN3A/CN3B) – for RS-485, Modbus, or Fuji serial protocol.
2. Operating Principle
The ALPHA5 employs advanced vector control integrating torque, speed, and position loops.
Its Tamagawa TS5668N26 17-bit absolute encoder provides 131,072 counts per revolution.
The amplifier calculates feedback errors in real time and adjusts three-phase PWM output for precise position and velocity control.
When powered on, the drive handshakes with the encoder to identify the motor model and load proper parameters.
III. Installation and Wiring Guidelines
1. Power and Main Circuit
- Input: 3-phase 200–240 V, 50/60 Hz
- Output: 3-phase 0–200 Hz, rated 6.4 A
- Always use shielded cables and ensure the chassis (PE) is solidly grounded.
2. Encoder Wiring (CN2)
Drive CN2 | Motor Encoder | Signal | Description |
---|---|---|---|
1 | H | P5 | +5 V supply to encoder |
2 | G | M5 | 0 V (ground) |
5 | S | SIG+ | Differential signal + |
6 | T | SIG– | Differential signal – |
— | C/D | BAT+ / BAT– | Battery lines (optional) |
Shell | J | FG | Shield/Frame ground |
Notes:
- BAT± are used only when absolute position retention is required; they can remain unconnected.
- Reversed SIG+ / SIG– prevents motor identification (PA2_98 = 0).
3. Control I/O (CN1)
Typical CN1 pin functions:
Pin | Signal | Description |
---|---|---|
1 | COMIN | Common input |
2 | CONT1 | Configurable input |
5 | CONT4 | Configurable input |
7 | +OT | Positive limit input |
8 | –OT | Negative limit input |
10 | EMG | Emergency stop input |
18 | TREF | Analog speed reference |
21 | CB | Brake control output |
25 | FZ | Zero-speed output |
26 | M5 | Common ground |
IV. Parameter Initialization and Basic Settings
1. Initialization Procedure
- Enter the menu:
MODE → SET → PA0_01 = 1
. - After reset, display shows A000 (no position data).
- When encoder handshake succeeds, PA2_98 automatically shows the motor type (e.g., 8 = GYG102CC2).
2. Key Parameters
Parameter | Name | Description | Typical Value |
---|---|---|---|
PA2_98 | Motor model | Auto-detected, read-only | Auto (8 = GYG102CC2) |
PA2_99 | Encoder type | 0 = incremental; 1 = 17-bit absolute; 2 = 20-bit | 1 |
PA1_02 | Control mode | 0 = torque; 1 = speed; 2 = position | As required |
PA1_50–PA1_59 | Input terminal assignment | Defines external inputs (+OT, –OT, etc.) | Application-specific |
PA3_26–PA3_30 | CONT input logic | A/B logic (normally open/closed) | B for limit signals |

V. Trial Operation and PC Loader Diagnostics
1. PC Loader for ALPHA5
Fuji’s PC Loader software provides graphical diagnostics and trial run capability.
After connection:
- S-ON lamp = servo enabled
- +OT / –OT lamps = limit signals active
- Real-time data for voltage, current, and speed appear on screen
2. Releasing Limit Lock (+OT / –OT)
If limit switches are unused:
- Locate terminals assigned to function 21 (+OT) and 22 (–OT).
- Change both to 0 = Unused.
- Or physically short the limit input pins to COMIN.
- Reboot the drive — limit indicators should go off and trial run becomes available.
VI. Common Faults and Solutions
Symptom | Cause | Remedy |
---|---|---|
Display shows A000 | Default after initialization | Normal |
Motor free, not locked | Encoder not recognized (PA2_98 = 0) | Check CN2 wiring, SIG± polarity |
+OT/–OT active | Limit inputs asserted | Modify parameters or short terminals |
ERR lamp flashing | Alarm detected | Read alarm code via PC Loader |
Motor oscillates | Excessive gain or inertia mismatch | Adjust PA5_01/PA5_02 gains |
Reverse direction | Phase or encoder polarity mismatch | Swap U-V-W or change PA1_04 |
Motor overheats | Overload or cooling blocked | Clean fan path, verify DC bus voltage (~320 V) |
VII. Encoder Identification and Repair
1. Encoder Type
The motor uses Tamagawa TS5668N26, containing chip AU5798N2, a 17-bit absolute encoder communicating via differential serial lines (SIG±).
The drive automatically reads motor ID at power-up.
2. Communication Failure Symptoms
- No alarm but PA2_98 remains 0
- Motor not energized (shaft free)
Causes: Reversed SIG polarity or mis-crimped connector.
Fix: Correct wire mapping and reboot — drive will identify the motor.
3. Encoder Service Notes
- Supply 5 V DC, current ≈ 80 mA
- Check differential output symmetry using an oscilloscope
- Always connect shield (FG) properly
- Never plug/unplug encoder cable under power — encoder IC damage is likely.
VIII. Input/Output Logic Details
1. “A” / “B” Logic
- A-logic = active high (normally open)
- B-logic = active low (normally closed)
Safety signals like +OT, –OT, and EMG use B-logic by default.
2. Example
With a normally-closed limit switch on +OT:
- Normal = closed → valid low → motion enabled
- At limit = open → drive detects +OT active → output inhibited
If limit switches are not installed:
- Set +OT/–OT functions to 0 (Unused), or
- Short input pins to COMIN to simulate safe state.
IX. Field Repair and Troubleshooting Cases
Case 1: Encoder Not Detected
Symptom: PA2_98 = 0, motor free, display A000
Checks:
- CN2 open-circuit → repair wiring
- SIG+ / SIG– swapped → correct connections
- Reboot → PA2_98 = 8 (GYG102CC2) → OK
Case 2: Limit Active, Servo Locked
Symptom: +OT/–OT lit simultaneously
Cause: Limit inputs left open (B-logic)
Fix: Set PA3_26/27 from 7/8 to 0 (Unused)
Case 3: Motor Vibration
Cause: Gain too high or inertia mismatch
Fix: Tune speed loop gain (PA5_01) and position gain (PA5_02); enable Auto Tuning
Case 4: Motor Overheating
Cause: Continuous overload or blocked airflow
Fix: Clean fan path, reduce load, verify bus voltage ≈ 320 V
X. Maintenance and Best Practices
- Do not hot-plug the encoder cable.
The encoder line carries 5 V DC; hot-plugging can destroy the AU5798N2 chip. - Grounding and shielding.
The encoder shield (FG) must be bonded to the drive frame to prevent noise errors. - Cooling inspection.
Clean the heat sink and check fan operation regularly. - Parameter backup.
Use PC Loader to export all parameters before replacement or repair. - Battery maintenance (if absolute mode used).
Replace the 3.6 V lithium cell periodically to retain multi-turn position.
XI. Conclusion
The Fuji ALPHA5 servo system combines precision, speed, and robustness for demanding automation applications.
By mastering proper wiring, parameter configuration, and diagnostic tools, engineers can efficiently commission new systems and resolve faults in the field.
Understanding the logical relationship between encoder feedback, input signal mapping, and safety interlocks ensures both high performance and reliability.
With preventive maintenance and data backup practices, ALPHA5 drives can operate reliably for many years in production environments.
Technical Summary:
This document is based on extensive field experience with Fuji ALPHA5 models such as RYT102C5-VS2 and GYG102CC2 servo motors.
It provides a comprehensive reference for automation engineers, maintenance technicians, and system integrators seeking to maximize the stability and serviceability of Fuji servo systems.