Instruction Manual
AC Servo Motor and Driver
MINAS A4 Series
•Thank y ou for b uying and using Panasonic AC Serv o Motor and Driv er, MINAS A4 Series.
•Read through this Instruction Manual for proper use, especially read "Precautions for
Safety" ( P.8 to 11) without fail for safety purpose.
•Keep this Manual at an easily accessib le place so as to be referred anytime as necessary.
・This product is for industrial equipment. Don't use this product at general household.
2
[Before Using the Products] page
Safety Precautions .................................................................... 8
Maintenance and Inspection................................................... 12
Introduction.............................................................................. 14
Outline ..........................................................................................................................................................14
On Opening the Package .............................................................................................................................14
Check of the Driver Model............................................................................................................................14
Check of the Motor Model ............................................................................................................................15
Check of the Combination of the Driver and the Motor................................................................................16
Parts Description..................................................................... 18
Driver ............................................................................................................................................................18
Motor............................................................................................................................................................. 20
Console.........................................................................................................................................................21
Installation................................................................................ 22
Driver ............................................................................................................................................................22
Motor............................................................................................................................................................. 24
Console.........................................................................................................................................................26
[Preparation] page
System Configuration and Wiring .......................................... 28
Overall Wiring (Connecting Example of C-frame, 3-phase).........................................................................28
Overall Wiring (Connecting Example of E-frame) ........................................................................................30
Driver and List of Peripheral Equipments.....................................................................................................32
Wiring of the Main Circuit (A to D-frame) .....................................................................................................34
Wiring of the Main Circuit (E and F-frame)...................................................................................................35
Wiring to the Connector, CN X6 (Connection to Encoder)...........................................................................38
Wiring to the Connector, CN X3 and 4 (Connection to PC, Host Controller or Console) ............................40
Wiring to the Connector, CN X5 (Connection to Host Controller) ................................................................41
Timing Chart ............................................................................ 42
Built-in Holding Brake ............................................................. 46
Dynamic Brake......................................................................... 48
Caution on Homing.................................................................. 50
Setup of Parameter and Mode ................................................ 51
Outline of Parameter ....................................................................................................................................51
How to Set ....................................................................................................................................................51
How to Connect ............................................................................................................................................51
Composition and List of Parameters ............................................................................................................52
Setup of Torque Limit....................................................................................................................................57
How to Use the Front Panel and Console.............................. 58
Setup with the Front Panel ...........................................................................................................................58
Setup with the Console ................................................................................................................................58
Initial Status of the Front Panel Display (7 Segment LED) ..........................................................................59
Initial Status of the Console Display (7 Segment LED)................................................................................59
Structure of Each Mode................................................................................................................................60
Monitor Mode................................................................................................................................................63
Parameter Setup Mode ................................................................................................................................69
Content
3
EEPROM Writing Mode................................................................................................................................70
Auto-Gain Tuning Mode ...............................................................................................................................71
Auxiliary Function Mode ............................................................................................................................... 73
Copying Function (Console Only) ................................................................................................................79
[Connection and Setup of Position Control Mode] page
Control Block Diagram of Position Control Mode................. 82
Wiring to the Connector, CN X5.............................................. 83
Wiring Example to the Connector, CN X5 ....................................................................................................83
Interface Circuit ............................................................................................................................................84
Input Signal and Pin No. of the Connector, CN X5 ......................................................................................86
Output Signal and Pin No. of the Connector, CN X5 ...................................................................................92
Connecting Example to Host Controller .......................................................................................................96
Trial Run (JOG Run) at Position Control Mode.................... 104
Inspection Before Trial Run ........................................................................................................................104
Trial Run by Connecting the Connector, CN X5.........................................................................................104
Real-Time Auto-Gain Tuning................................................. 106
Outline ........................................................................................................................................................106
Applicable Range .......................................................................................................................................106
How to Operate ..........................................................................................................................................106
Adaptive Filter.............................................................................................................................................107
Parameters Which are Automatically Set...................................................................................................107
Parameter Setup .................................................................... 108
Parameters for Functional Selection ..........................................................................................................108
Parameters for Adjustment of Time Constant of Gains and Filters............................................................ 111
Parameters for Auto-Gain Tuning............................................................................................................... 112
Parameters for Adjustment (2nd Gain Switching Function) ....................................................................... 115
Parameters for Position Control ................................................................................................................. 116
Parameters for Velocity/Torque Control .....................................................................................................120
Parameters for Sequence ..........................................................................................................................120
[Connection and Setup of Velocity Control Mode] page
Control Block Diagram of Velocity Control Mode ............... 126
Wiring to the Connector, CN X5............................................ 127
Wiring Example to the Connector, CN X5 ..................................................................................................127
Interface Circuit ..........................................................................................................................................128
Input Signal and Pin No. of the Connector, CN X5 ....................................................................................130
Output Signal and Pin No. of the Connector, CN X5 .................................................................................135
Trial Run (JOG Run) at Velocity Control Mode .................... 138
Inspection Before Trial Run ........................................................................................................................138
Trial Run by Connecting the Connector, CN X5.........................................................................................139
Real-Time Auto-Gain Tuning................................................. 140
Outline ........................................................................................................................................................140
Applicable Range .......................................................................................................................................140
How to Operate ..........................................................................................................................................140
Adaptive Filter.............................................................................................................................................141
Parameters Which are Automatically Set up..............................................................................................141
Before Using
the Products
Preparation
Connection and Setup of
Position Control Mode
Connection and Setup of
Velocity Control Mode
Connection and Setup of
Torque Control Mode
Full-Closed
Control Mode
Adjustment
When in Trouble
Supplement
4
Parameter Setup .................................................................... 142
Parameters for Functional Selection ..........................................................................................................142
Parameters for Adjustment of Time Constant of Gains and Filters............................................................146
Parameters for Auto-Gain Tuning...............................................................................................................147
Parameters for Adjustment (2nd Gain Switching Function) .......................................................................149
Parameters for Position Control .................................................................................................................151
Parameters for Velocity/Torque Control .....................................................................................................152
Parameters for Sequence ..........................................................................................................................155
[Connection and Setup of Torque Control Mode] page
Control Block Diagram of Torque Control Mode ................. 160
Wiring to the Connector, CN X5............................................ 161
Wiring Example to the Connector, CN X5 ..................................................................................................161
Interface Circuit ..........................................................................................................................................162
Input Signal and Pin No. of the Connector, CN X5 ....................................................................................164
Output Signal and Pin No. of the Connector, CN X5 .................................................................................168
Trial Run (JOG Run) at Torque Control Mode...................... 171
Inspection Before Tr ial Run ........................................................................................................................171
Trial Run by Connecting the Connector, CN X5.........................................................................................171
Real-Time Auto-Gain Tuning................................................. 172
Outline ........................................................................................................................................................172
Applicable Range .......................................................................................................................................172
How to Operate ..........................................................................................................................................172
Parameters Which are Automatically Set up..............................................................................................173
Parameter Setup .................................................................... 174
Parameters for Functional Selection ..........................................................................................................174
Parameters for Adjustment of Time Constant of Gains and Filters............................................................177
Parameters for Auto-Gain Tuning...............................................................................................................178
Parameters for Adjustment (2nd Gain Switching Function) .......................................................................179
Parameters for Position Control .................................................................................................................181
Parameters for Velocity/Torque Control .....................................................................................................183
Parameters for Sequence ..........................................................................................................................185
[Full-Closed Control Mode] page
Outline of Full-Closed Control.............................................. 190
What is Full-Closed Control ?.....................................................................................................................190
Control Block Diagram of Full-Closed Control Mode.......... 191
Wiring to the Connector, CN X5............................................ 192
Wiring Example to the Connector, CN X5 ..................................................................................................192
Interface Circuit ..........................................................................................................................................193
Input Signal and Pin No. of the Connector, CN X5 ...................................................................................195
Output Signal and Pin No. of the Connector, CN X5 .................................................................................201
Connection to the Connector, CN X7 .................................. 204
Connector, CN X7.......................................................................................................................................204
Wiring to the External Scale, Connector, CN X7........................................................................................205
Real-Time Auto-Gain Tuning................................................. 206
Outline ........................................................................................................................................................206
Applicable Range .......................................................................................................................................206
How to Operate ..........................................................................................................................................206
Adaptive Filter.............................................................................................................................................207
Parameters Which are Automatically Set up..............................................................................................207
Parameter Setup .................................................................... 208
Parameters for Functional Selection ..........................................................................................................208
Parameters for Adjustment of Time Constant of Gains and Filters............................................................ 211
Parameters for Auto-Gain Tuning...............................................................................................................212
Parameters for Adjustment (2nd Gain Switching Function) .......................................................................214
Parameters for Position Control .................................................................................................................216
Parameters for Velocity/Torque Control .....................................................................................................220
Parameters for Sequence ..........................................................................................................................220
Parameters for Full-Closed ........................................................................................................................224
[Adjustment] page
Gain Adjustment .................................................................... 226
Real-Time Auto-Gain Tuning................................................. 228
Fit-Gain Function ........................................................................................................................................231
Adaptive Filter........................................................................ 234
Normal Auto-Gain Tuning...................................................... 236
Release of Automatic Gain Adjusting Function .................. 239
Manual Auto-Gain Tuning (Basic)......................................... 240
Adjustment in Position Control Mode .........................................................................................................241
Adjustment in Velocity Control Mode .........................................................................................................241
Adjustment in Torque Control Mode ...........................................................................................................242
Adjustment in Full-Closed Control Mode....................................................................................................242
Gain Switching Function.............................................................................................................................243
Suppression of Machine Resonance .........................................................................................................246
Automatic Gain Setup Function..................................................................................................................248
Manual Auto-Gain Tuning (Application)............................... 249
Instantaneous Speed Observer..................................................................................................................249
Damping Control.........................................................................................................................................250
[When in Trouble] page
When in Trouble..................................................................... 252
What to Check ? .........................................................................................................................................252
Protective Function (What is Error Code ?) ...............................................................................................252
Protective Function (Details of Error Code) ...............................................................................................253
Troubleshooting .................................................................... 260
Motor Does Not Run...................................................................................................................................260
Unstable Rotation (Not Smooth)/Motor Runs Slowly Even with Speed Zero at Velocity Control Mode....261
Positioning Accuracy Is Poor......................................................................................................................262
Origin Point Slips ........................................................................................................................................263
Abnor mal Noise or Vibration ......................................................................................................................263
Overshoot/Undershoot, Overheating of the Motor (Motor Burn-Out).........................................................264
Motor Speed Does Not Reach to the Setup/Motor Revolution (Travel) Is Too Large or Small .................264
Parameter Returns to Previous Setup .......................................................................................................264
Display of "Communication port or dr iver cannot be detected" Appears on the Screen While using the
PANATERM® ..............................................................................................................................................264
5
Before Using
the Products
Preparation
Connection and Setup of
Position Control Mode
Connection and Setup of
Velocity Control Mode
Connection and Setup of
Torque Control Mode
Full-Closed
Control Mode
Adjustment
When in Trouble
Supplement
6
[Supplement] page
Absolute System ................................................................... 266
Outline of the Setup Support Software, PANATERM®......... 276
Communication ..................................................................... 278
Division Ratio for Parameters............................................... 306
Conformity to EC Directives and UL Standards .................. 308
Options................................................................................... 312
Recommended components................................................. 323
Dimensions (Driver)............................................................... 324
Dimensions (Motor) ............................................................... 327
Permissible Load at Output Shaft ........................................ 342
Motor Characteristics (S-T Characteristics) ........................ 343
Motor with Gear Reducer ...................................................... 349
Dimensions (Motor with Gear Reducer)............................... 350
Permissible Load at Output Shaft (Motor with Gear Reducer)......
352
Motor Characteristics (S-T Characteristics)/Motor with Gear Reducer ....
353
Block Diagram of Driver........................................................ 354
Block Diagram of Driver by Control Mode ........................... 356
Specifications (Driver)........................................................... 358
Homing with "Hit & Stop" and "Press & Hold" Control ...... 360
7
[Before Using the Products]
page
Safety Precautions....................................................8
Maintenance and Inspection ..................................12
Introduction .............................................................14
Outline ......................................................................................... 14
On Opening the Package............................................................ 14
Check of the Driver Model........................................................... 14
Check of the Motor Model ........................................................... 15
Check of the Combination of the Driver and the Motor............... 16
Parts Description ....................................................18
Driver........................................................................................... 18
Motor ........................................................................................... 20
Console ....................................................................................... 21
Installation ...............................................................22
Driver........................................................................................... 22
Motor ........................................................................................... 24
Console ....................................................................................... 26
8
Safety Precautions Observe the Following Instructions Without Fail
Observe the following precautions in order to avoid damages on the machinery
and injuries to the operators and other personnel during the operation.
• In this document, the following symbols are used to indicate the level of damages or
injuries which might be incurred by the misoperation ignoring the precautions.
Indicates a potentially hazardous situation which, if not
avoided, will result in death or serious injury.
DANGER
Indicates a potentially hazardous situation which, if not
avoided, will result in minor injury or property damage.
CAUTION
•
The following symbols represent "MUST NOT" or "MUST" operations which you have to
observe.
(Note that there are other symbols as well.)
Represents "MUST NOT" operation which is inhibited.
Represents "MUST" operation which has to be executed.
DANGER
Do not subject the Product to wa-
ter, corrosive or flammable gases,
and combustibles.
Failure to observe this in-
struction could result in fire.
Do not subject the cables to exces-
sive force, heavy object, or pinch-
ing force, nor damage the cables.
Failure to observe this in-
struction could result in
electrical shocks, damages
and breakdowns.
Do not put your hands in the ser-
vo driver.
Failure to observe this in-
struction could result in
burn and electrical shocks.
Do not touch the rotat-
ing portion of the mo-
tor while it is running.
Failure to observe this instruc-
tion could result in injuries.
Do not drive the motor with exter-
nal power.
Failure to observe this in-
struction could result in fire.
Do not touch the motor, servo driver
and external regenerative resistor of
the driver, since they become very hot.
Failure to observe this in-
struction could result in
burns.
Rotating portion
9
[Before Using the Products]
Failure to observe this in-
struction could result in fire.
Do not place the console close to
a heating unit such as a heater or
a large wire wound resistor.
Do not place combustibles near
by the motor, driver and regenera-
tive resistor. Failure to observe this in-
struction could result in fire
and breakdowns.
Ground the earth terminal of the
motor and driver without fail.
Failure to observe this in-
struction could result in
electrical shocks.
Install an over-current protection,
earth leakage breaker, over-tem-
perature protection and emergen-
cy stop apparatus without fail.
Failure to observe this instruc-
tion could result in electrical
shocks, injuries and fire.
Install an emergency stop circuit
externally so that you can stop
the operation and shut off the
power immediately.
Failure to observe this instruction could
result in injuries, electrical shocks, fire,
breakdowns and damages.
Install and mount the Product and
machinery securely to prevent
any possible fire or accidents in-
curred by earthquake.
Failure to observe this instruc-
tion could result in electrical
shocks, injuries and fire.
Mount the motor, driver and re-
generative resistor on incombust-
ible material such as metal.
Failure to observe this in-
struction could result in fire.
Check and confirm the safety of
the operation after the earthquake.
Failure to observe this instruc-
tion could result in electrical
shocks, injuries and fire.
Make the correct phase sequence
of the motor and correct wiring of
the encoder.
Failure to observe this instruction
could result in injuries breakdowns
and damages.
Turn off the power and wait for a
longer time than the specified
time, before transporting, wiring
and inspecting the driver.
Failure to observe this in-
struction could result in
electrical shocks.
Turn off the power and make it
sure that there is no risk of elec-
trical shocks before transporting,
wiring and inspecting the motor.
Failure to observe this in-
struction could result in
electrical shocks.
Wiring has to be carried out by the
qualified and authorized specialist.
Failure to observe this in-
struction could result in
electrical shocks.
DANGER
10
Safety Precautions
Do not hold the motor cable or
motor shaft during the transporta-
tion. Failure to observe this
instruction could result in
injuries.
Do not block the heat dissipating
holes or put the foreign particles
into them.
Failure to observe this in-
struction could result in
electrical shocks and fire.
Never run or stop the motor with
the electro-magnetic contactor
installed in the main power side.
Failure to observe this
instruction could result in
breakdowns.
Do not step on the Product nor
place the heavy object on them.
Failure to observe this
instruction could result in
electrical shocks, injuries,
breakdowns and damages.
Do not turn on and off the main
power of the driver repeatedly.
Failure to observe this
instruction could result in
breakdowns.
Do not give strong impact shock
to the Product.
Failure to observe this
instruction could result in
breakdowns.
Do not make an extreme gain ad-
justment or change of the drive.
Do not keep the machine run-
ning/operating unstably.
Failure to observe this
instruction could result in
injuries.
Do not use the built-in brake as a
"Braking" to stop the moving
load. Failure to observe this
instruction could result in
injuries and breakdowns.
Do not approach to the machine
since it may suddenly restart after
the power resumption.
Design the machine to secure the
safety for the operator even at a
sudden restart.
Failure to observe this
instruction could result in
injuries.
Do not modify, disassemble nor
repair the Product.
Failure to observe this in-
struction could result in fire,
electrical shocks and injuries.
Do not pull the cables with exces-
sive force.
Failure to observe this
instruction could result in
breakdowns.
Do not give strong
impact shockto
the motor shaft.
CAUTION
Failure to observe this
instruction could result
in breakdowns.
Observe the Following Instructions Without Fail
11
[Before Using the Products]
Use the motor and the driver in
the specified combination.
Failure to observe this
instruction could result in
fire.
Make a wiring correctly and
securely.
Failure to observe this
instruction could result in
fire and electrical shocks.
Use the eye bolt of the motor for
transportation of the motor only,
and never use this for transporta-
tion of the machine.
Failure to observe this
instruction could result in
injuries and breakdowns.
Observe the specified mounting
method and direction.
Failure to observe this
instruction could result in
breakdowns.
Make an appropriate mounting of
the Product matching to its weight
and output rating.
When you dispose the batter-
ies, observe any applicable reg-
ulations or laws after insulating
them with tape.
This Product shall be treated as
Industrial Waste when you
dispose.
Failure to observe this
instruction could result in
injuries and breakdowns.
Observe the specified voltage.
Failure to observe this in-
struction could result in
electrical shocks, injuries
and fire.
Keep the ambient temperature be-
low the permissible temperature
for the motor and driver.
Failure to observe this
instruction could result in
breakdowns.
Execute the trial run without connecting
the motor to the machine system and fix
the motor. After checking the operation,
connect to the machine system again.
Failure to observe this
instruction could result in
injuries.
Connect the brake control relay to
the relay which is to shut off at
emergency stop in series.
Failure to observe this
instructioncould result in
injuries and breakdowns.
When any error occurs, remove
the cause and release the error
after securing the safety, then
restart. Failure to observe this
instruction could result in
injuries.
CAUTION
12
Maintenance and Inspection
• Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation.
Notes on Maintenance and Inspection
1) Turn on and turn off should be done by operators or inspectors themselves.
2) Internal circuit of the driver is kept charged with high voltage for a while ev en after power-off. Turn off the
power and allo w 15 minutes or longer after LED displa y of the front panel has gone off, bef ore performing
maintenance and inspection.
3) Disconnect all of the connection to the driver when performing megger test (Insulation resistance mea-
surement) to the driver, otherwise it could result in breakdown of the driver.
Inspection Items and Cycles
General and normal running condition
Ambient conditions : 30˚C (annual average), load factor of 80% or lower, operating
hours of 20 hours or less per day.
Perform the daily and periodical inspection as per the items below.
<Note> Inspection cycle may change when the running conditions of the above change.
Daily
Annual
• Ambient temperature, humidity, speck, dust or foreign object
• Abnormal vibration and noise
• Main circuit voltage
• Odor
• Lint or other particles at air holes
• Cleanness at front portion of the driver and connecter
• Damage of the cables
• Loose connection or misalignment between the motor and
machine or equipment
• Pinching of foreign object at the load
• Loose tightening
• Trace of overheat
• Damage of the terminals
Type Cycles Items to be inspected
Daily
inspection
Periodical
inspection
13
[Before Using the Products]
Before Using
the Products
Guideline for Parts Replacement
Use the table below for a reference. Parts replacement cycle varies depending on the actual operating
conditions. Defective parts should be replaced or repaired when any error have occurred.
Driver
Motor
Motor with
gear reducer
Smoothing capacitor
Cooling fan
Aluminum electrolytic
capacitor (on PCB)
Rush current
preventive relay
Rush current preventive
resistor
Bearing
Oil seal
Encoder
Battery
for absolute encoder
Gear reducer
Product Component Standard replacement
cycles (hour) Note
These hours or cycles are
reference.
When you experience any
error, replacement is required
even before this standard
replacement cycle.
Approx. 5 years
2 to 3 years
(10,000 to 30,000 hours)
Approx. 5 years
Approx. 100,000 times
(depending on working
condition)
Approx. 20,000 times
(depending on working
condition)
3 to 5 years
(20
,000
to 30
,000
hours)
5000 hours
3 to 5 years
(20
,000
to 30
,000
hours)
Life time varies depending
on working conditions.
Refer to the instruction
manual attached to the
battery for absolute
encoder.
10,000 hours
Prohibited
Disassembling for inspection and repair should be carried
out only by authorized dealers or service company.
14
Model number
Rated input/output voltage
Rated output of applicable motor
Rated input/output current
Serial Number
MADDT1205
e.g.) :
P04110001Z
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
50/60Hz 100W
1.3A
1ø
200-240V
Freq.
Model No.
AC SERVO
Serial No.P04110001Z
INPUT
Voltage
Phase
F.L.C
Power
OUTPUT
69V
3ø
1.2A
0~333.3Hz
Introduction
Outline
MINAS-A4 Series with wide output range from 50W to 5kW, are the high speed, high functionality AC servo
drivers and motors . Thanks to the adoption of a ne w po w erful CPU, A4 Series now realiz e velocity response
frequency of 1kHz, and contribute to the development of a high-speed machine and drastic shortening of
tact-time.
Standard line-up includes full-closed control and auto-gain tuning function and the motors with 2500P/r
incremental encoder and 17-bit absolute/incremental encoder.
A4 Series have also improved the user-fr iendliness by offer ing a console (option) which enables you to
monitor the rotational speed display, set up parameters, trial r un (JOG running) and copy parameters.
A4 Series can support various applications and their requirement by featuring automated gain tuning func-
tion, damping control which achieves a stable "Stop Perfor mance" even in low-stiffness machine and high
speed motor.
This document is designed for the customer to exploit the versatile functions of A4 Series to full extent.
Cautions
1) Any part or whole of this document shall not be reproduced without written permission from us.
2) Contents of this document are subject to change without notice.
On Opening the Product Package
• Make sure that the model is what you have ordered.
• Check if the product is damaged or not during transportation.
• Check if the instruction manual is attached or not.
• Check if the power connector and motor connecters (CN X1 and CN X2 connectors) are attached or not (A
to D-frame). Contact to a dealer if you find any failures.
Check of the Driver Model
Contents of Name Plate
MADDT1205 Special specifications
(letters and numbers)
Current detector rating
Power supply
Max. current rating of
power device
Frame-size symbol
MADD
MBDD
MCDD
MDDD
MEDD
MFDD
Frame
Symbol
A4-series, A-frame
A4-series, B-frame
A4-series, C-frame
A4-series, D-frame
A4-series, E-frame
A4-series, F-frame
T1
T2
T3
T5
T7
TA
TB
Current rating
Symbol
Specifications
10A
15A
30A
50A
70A
100A
150A
Symbol
1
2
3
5
Single phase, 100V
Single phase, 200V
3-phase, 200V
Single/3-phase,
200V
05
07
10
15
20
30
40
64
90
A2
Current rating
Symbol
5A
7.5A
10A
15A
20A
30A
40A
64A
90A
120A
1 to 4 75 to 6 10 to 128 to 9
Model Designation
15
[Before Using the Products]
Before Using
the Products
Model Designation
Check of the Motor Model
Contents of Name Plate
AC SERVO MOTOR
RATING S1
MODEL No.
MSMD5AZS1S
INS. CLASS B (TÜV) A (UL)
CONT. TORQUE
0.64
Nm
A1.6
CONNECTION
RATED OUTPUT
RATED FREQ. kW
0.2
SER No.
04110001
Hz
200
RATED REV.
r/min
3000
INPUT 3ØAC
92
IP65
V
Model
Rated output
Rated input voltage/current
Rated rotational speed
Serial Number
e.g.) :
04110001
Lot number
Month of production
Year of production
(Lower 2 digits of AD year)
MSMD5AZS1S
1 to 4 5 to 6 11 to 12
7 8 9 10
Special specifications
(letters and numbers)
Motor structure
Design order
1: Standard
Rotary encoder specifications
Voltage specifications
MAMA
MQMA
MSMD
MSMA
MDMA
MHMA
MFMA
MGMA
Type
Symbol
Ultra low inertia
(100W to 750W)
Low inertia
(100W to 400W)
Low inertia
(50W to 750W)
Low inertia
(1.0kW to 5.0kW)
Middle inertia
(1.0kW to 5.0kW)
High inertia
(500W to 5.0kW)
Middle inertia
(400W to 4.5kW)
Middle inertia
(900W to 4.5kW)
P
SIncremental
Absolute/Incremental common
Specifications
Symbol
Format 2500P/r
17bit
Pulse count
5A
01
02
04
05
08
09
10
Output
Motor rated output
Symbol
50W
100W
200W
400W
500W
750W
900W
1.0kW
15
20
25
30
40
45
50
Output
Symbol
1.5kW
2.0kW
2.5kW
3.0kW
4.0kW
4.5kW
5.0kW
1
2
Z
Specifications
Symbol
100 V
200 V
100/200 common
(50W only)
10,000
131,072
Resolution 5-wire
7-wire
Wire count
Motor structure
MSMD, MQMA
MAMA
A
B
E
F
Shaft
Holding brake
Oil seal
Without
With
Round
Key way Without
With
Symbol
MSMA, MDMA, MFMA, MGMA, MHMA
A
B
S
T
Shaft
Holding brake
Oil seal
Without
With
Round
Key way Without
With
Symbol
*1 The product with oil seal is a special order product.
*2 Key way with center tap.
C
D
G
H
Shaft
Holding brake
Oil seal
Without
With
Round
Key way Without
With
Symbol
*1
*2
*2
Products are standard stock items or build to order
items. For details, inquire of the dealer.
16
Introduction
Check of the Combination of the Driver and the Motor
This drive is designed to be used in a combination with the motor which are specified by us.
Chec k the series name of the motor, rated output torque, voltage specifications and encoder specifications.
Incremental Specifications, 2500P/r
<Remarks> Do not use in other combinations than those listed below.
Single phase,
200V
3-phase,
200V
Single phase,
100V
Single phase,
200V
Single phase,
100V
Single phase,
200V
Single/3-phase,
200V
3-phase,
200V
Single/3-phase,
200V
3-phase,
200V
Single/3-phase,
200V
3-phase,
200V
Single/3-phase,
200V
3-phase,
200V
Single/3-phase, 200V
3-phase, 200V
MAMA
Ultra low
inertia
MAMA
Low
inertia
MSMD
Low
inertia
MSMA
Low
inertia
MDMA
Middle
inertia
MHMA
High
inertia
MFMA
Middle
inertia
MGMA
Middle
inertia
Power
supply Motor
series
Applicable motor Applicable driver
5000r/min
3000r/min
3000r/min
3000r/min
2000r/min
2000r/min
2000r/min
1000r/min
Rated
rotational speed 100W
200W
400W
750W
100W
200W
400W
100W
200W
400W
50W
100W
200W
400W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
500W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
400W
1.5kW
2.5kW
4.5kW
900W
2.0kW
3.0kW
4.5kW
Rated
output
MAMA012P1*
MAMA022P1*
MAMA042P1*
MAMA082P1*
MQMA011P1*
MQMA021P1*
MQMA041P1*
MQMA012P1*
MQMA022P1*
MQMA042P1*
MSMD5AZP1*
MSMD011P1*
MSMD021P1*
MSMD041P1*
MSMD5AZP1*
MSMD012P1*
MSMD022P1*
MSMD042P1*
MSMD082P1*
MSMA102P1*
MSMA152P1*
MSMA202P1*
MSMA302P1*
MSMA402P1*
MSMA502P1*
MDMA102P1*
MDMA152P1*
MDMA202P1*
MDMA302P1*
MDMA402P1*
MDMA502P1*
MHMA052P1*
MHMA102P1*
MHMA152P1*
MHMA202P1*
MHMA302P1*
MHMA402P1*
MHMA502P1*
MFMA042P1*
MFMA152P1*
MFMA252P1*
MFMA452P1*
MGMA092P1*
MGMA202P1*
MGMA302P1*
MGMA452P1*
Model
A-frame
B-frame
C-frame
D-frame
A-frame
B-frame
C-frame
A-frame
A-frame
B-frame
A-frame
B-frame
C-frame
A-frame
B-frame
C-frame
D-frame
E-frame
F-frame
D-frame
E-frame
F-frame
C-frame
D-frame
E-frame
F-frame
C-frame
D-frame
E-frame
F-frame
D-frame
F-frame
Frame
MADDT1207
MBDDT2210
MCDDT3520
MDDDT5540
MADDT1107
MBDDT2110
MCDDT3120
MADDT1205
MADDT1207
MBDDT2210
MADDT1105
MADDT1107
MBDDT2110
MCDDT3120
MADDT1205
MADDT1207
MBDDT2210
MCDDT3520
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2
MDDDT3530
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2
MCDDT3520
MDDDT3530
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2
MCDDT3520
MDDDT5540
MEDDT7364
MFDDTB3A2
MDDDT5540
MFDDTA390
MFDDTB3A2
Model
<Note>
Suffix of " * " in the applicable motor model represents the motor structure.
17
[Before Using the Products]
Before Using
the Products
Absolute/Incremental Specifications, 17-bit
<Remarks> Do not use in other combinations than those listed below.
Single phase,
200V
3-phase,
200V
Single phase,
100V
Single phase,
200V
Single phase,
100V
Single phase,
200V
Single/3-phase,
200V
3-phase,
200V
Single/3-phase,
200V
3-phase,
200V
Single/3-phase,
200V
3-phase,
200V
Single/3-phase,
200V
3-phase,
200V
Single/3-phase, 200V
3-phase, 200V
MAMA
Ultra low
inertia
MAMA
Low
inertia
MSMD
Low
inertia
MSMA
Low
inertia
MDMA
Middle
inertia
MHMA
High
inertia
MFMA
Middle
inertia
MGMA
Middle
inertia
Power
supply Motor
series
Applicable motor Applicable driver
5000r/min
3000r/min
3000r/min
3000r/min
2000r/min
2000r/min
2000r/min
1000r/min
Rated
rotational speed 100W
200W
400W
750W
100W
200W
400W
100W
200W
400W
50W
100W
200W
400W
50W
100W
200W
400W
750W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
500W
1.0kW
1.5kW
2.0kW
3.0kW
4.0kW
5.0kW
400W
1.5kW
2.5kW
4.5kW
900W
2.0kW
3.0kW
4.5kW
Rated
output
MAMA012S1*
MAMA022S1*
MAMA042S1*
MAMA082S1*
MQMA011S1*
MQMA021S1*
MQMA041S1*
MQMA012S1*
MQMA022S1*
MQMA042S1*
MSMD5AZS1*
MSMD011S1*
MSMD021S1*
MSMD041S1*
MSMD5AZS1*
MSMD012S1*
MSMD022S1*
MSMD042S1*
MSMD082S1*
MSMA102S1*
MSMA152S1*
MSMA202S1*
MSMA302S1*
MSMA402S1*
MSMA502S1*
MDMA102S1*
MDMA152S1*
MDMA202S1*
MDMA302S1*
MDMA402S1*
MDMA502S1*
MHMA052S1*
MHMA102S1*
MHMA152S1*
MHMA202S1*
MHMA302S1*
MHMA402S1*
MHMA502S1*
MFMA042S1*
MFMA152S1*
MFMA252S1*
MFMA452S1*
MGMA092S1*
MGMA202S1*
MGMA302S1*
MGMA452S1*
Model
A-frame
B-frame
C-frame
D-frame
A-frame
B-frame
C-frame
A-frame
A-frame
B-frame
A-frame
B-frame
C-frame
A-frame
B-frame
C-frame
D-frame
E-frame
F-frame
D-frame
E-frame
F-frame
C-frame
D-frame
E-frame
F-frame
C-frame
D-frame
E-frame
F-frame
D-frame
F-frame
Frame
MADDT1207
MBDDT2210
MCDDT3520
MDDDT5540
MADDT1107
MBDDT2110
MCDDT3120
MADDT1205
MADDT1207
MBDDT2210
MADDT1105
MADDT1107
MBDDT2110
MCDDT3120
MADDT1205
MADDT1207
MBDDT2210
MCDDT3520
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2
MDDDT3530
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2
MCDDT3520
MDDDT3530
MDDDT5540
MEDDT7364
MFDDTA390
MFDDTB3A2
MCDDT3520
MDDDT5540
MEDDT7364
MFDDTB3A2
MDDDT5540
MFDDTA390
MFDDTB3A2
Model
<Notes>
1) Suffix of " * " in the applicable motor model represents the motor structure.
2) Default of the driver is set for the incremental encoder specifications.
When you use in absolute, make the following operations.
a) Install a battery for absolute encoder. (refer to P.314, "Options" of Supplement.)
b) Switch the parameter Pr0B (Absolute encoder setup) from "1 (default)" to "0".
3) No wiring for back up battery is required when you use the absolute 17-bit encoder in incremental.
18
Driver
<Note>
X1 and X2 are attached in A to D-frame driver.
e.g.) : MADDT1207 (Single phase, 200V, 200W : A-frame)
Parts Description
e.g.) : MCDDT1207 (Single/3-phase, 200V, 750W : C-frame)
• A and B-frame
• C and D-frame
X3
X4
X5
X6
X7
Display LED (6-digit)
Mode switching button
MODE
Set button
SET
Check pin (G : GND)
Data setup button
: SHIFT
: UP
: DOWN
Connector, CN X5
for host connection
Connector,CN X6
for encoder connection
Connector, CN X7
for external scale connection
Communication
connector 2, CN X4
Communication
connector 1, CN X3
Screws for earth (x2)
Rotary switch (ID)
Torque monitor check pin (IM)
Velocity monitor check pin (SP)
Connector
Main power
input terminals
(L1,L2,L3)
Control power
input terminals
(L1C, L2C)
Connector, CN X1
for main power connection
05JFAT-SAXGF
(JST)
Connector, CN X2
for motor connection
06JFAT-SAXGF
(JST)
Terminals
for external
regenerative resistor
(RB1,RB2,RB3)
Terminals
for motor connection
(U,V,W)
X6
X3
X4
X7
Display LED (6-digit)
Mode switching button
MODE Set button
SET
Check pin (G : GND)
Data setup button
: SHIFT
: UP
: DOWN
Connector, CN X5
for host connection
Connector,CN X6
for encoder connection
Connector, CN X7
for external scale connection
Communication
connector 2, CN X4
Communication
connector 1, CN X3
Screws for earth (x2)
Rotary switch (ID)
Torque monitor check pin (IM)
Velocity monitor check pin (SP)
Connector
Main power
input terminals
(L1,L2)
Control power
input terminals
(L1C, L2C)
Connector, CN X1
for power input connection
04JFAT-SAXGF
(JST)
Connector, CN X2
for motor connection
06JFAT-SAXGF
(JST)
Terminals
for external
regenerative resistor
(RB1,RB2,RB3)
Terminals
for motor connection
(U,V,W)
19
[Before Using the Products]
Before Using
the Products
• E and F-frame
e.g.) : MEDDT7364 (3-phase, 200V, 2.0kW : E-frame)
X3
X4
X5
X7
X6
Display LED (6-digit)
Mode switching button
MODE
Set button
SET
Check pin (G : GND)
Data setup button
Connector, CN X5
for host connection
Connector,CN X6
for encoder connection
Connector, CN X7
for external scale connection
Terminal cover
Screw for cover M3
Screw for cover M3
Communication
connector 2, CN X4
Communication
connector 1, CN X3
Screws for earth (x2)
Rotary switch (ID)
Torque monitor check pin (IM)
Velocity monitor check pin (SP)
Main power
input terminals
(L1,L2,L3)
Control power
input terminals
(r, t)
Terminals
for external
regenerative
resistor
(P, B1, B2)
Terminals
for motor
connection
(U,V,W)
: SHIFT
: UP
: DOWN
X3
X4
X5
X7
X6
Mode switching button
MODE
Set button
SET
Screw for cover M3
Screw for cover M3
Display LED (6-digit)
Check pin (G : GND)
Data setup button
Connector, CN X5
for host connection
Connector,CN X6
for encoder connection
Connector, CN X7
for external scale connection
Terminal cover
Communication
connector 2, CN X4
Communication
connector 1, CN X3
Screws for earth (x2)
Rotary switch (ID)
Torque monitor check pin (IM)
Velocity monitor check pin (SP)
Main power
input terminals
(L1,L2,L3)
Control power
input terminals
(r, t)
Terminals
for external
regenerative
resistor
(P, B1, B2)
Terminals
for motor
connection
(U,V,W)
: SHIFT
: UP
: DOWN
<Note>
For details of each model, refer to "Dimensions " (P.324 to 326) of Supplement.
e.g.) : MFDDTB3A2 (3-phase, 200V, 5.0kW : F-frame)
20
<Note>
For details of each model, refer to "Dimensions " (P.327 to P.341) of Supplement.
Motor
e.g.) : Low inertia type (MSMD series, 50W)
Flange
Oil seal
Mounting holes (X4) Flange
Connector for motor and brake
Connector for encoder
e.g.) : Middle inertia type (MDMA series, 1.0kW)
• MSMD 50W to 750W
• MAMA 100W to 750W
• MQMA 100W to 400W
• MSMA 1.0kW to 5.0kW
• MDMA 1.0kW to 5.0kW
• MHMA 500W to 5.0kW
• MFMA 400W to 4.5kW
• MGMA 900W to 4.5kW
Motor frame
Motor cable Encoder cable
Rotary encoder
Flange Mounting holes (X4)
Connector for brake cable
(Only applicable to the motor
with electromagnetic brake)
Parts Description
21
[Before Using the Products]
Before Using
the Products
Display/Touch panel
Console
Main Body
<Note>
Console is an option (Part No.: DV0P4420).
Connector Console body
Cable
Display
(7-segment LED)
Touch panel
Display LED (6 digits)
Displays ID number of selected driver (in 2 digits).
The value set in Pr00 (Address) is ID No.
Displays the parameter No. at parameter setup mode.
SET Button : Shifts to "EXECUTE" display of each mode selected
by mode switching button.
Mode switching button : Switches the mode among the following 6 modes.
(1) Monitor mode
(2) Parameter setup mode
(3) EEPROM write mode
(4) Normal auto-gain tuning mode
(5) AUX function mode
• Trial run (JOG mode)
• Alarm clear
(6) Copy mode
• Parameter copy from the servo driver to the console
• Parameter copy from the console to the servo driver
Press this to shift the digit for data change.
Press this to change the data and to execute the operation
of the selected parameter.
Numerical value increases by pressing ,
and decreases by pressing .
22
Install the driver and the motor properly to avoid a breakdown or an accident.
Driver
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beams. The products are not water-
proof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,
chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of
inflammable gas, grinding oil, oil mist, iron powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Vibration-free place
Environmental Conditions
How to Install
1) Rack-mount type. Install in vertical position, and reserve enough space around the servo driver for ventilation.
Base mount type (rear mount) is standard (A to D-frame)
2) Use the optional mounting bracket when you want to change the mounting face.
How to Install
A to D-frame
E and F-frame
e.g.) In case of C-frame
Fastening torque of earth screws (M4) to be 0.39 to 0.59N
•
m.
MADD
MBDD
MCDD
MDDD
Mounting bracket
(optional parts)
Mounting bracket
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Altitude
Condition
0˚C to 55˚C (free from freezing)
Less than 90% RH (free from condensation)
–20˚C to 80˚C (free from freezing)
Less than 90% RH (free from condensation)
Lower than 5.9m/S2 (0.6G), 10 to 60Hz
Lower than 1000m
23
[Before Using the Products]
Before Using
the Products
Mounting Direction and Spacing
• Reserve enough surrounding space for effective cooling.
• Install fans to provide uniform distribution of temperature in the control panel.
• Observe the environmental conditions of the control panel described in the next page.
Fan Fan 100mm
or more
100mm
or more
40mm
or more
40mm
or more
10mm
or
more
10mm
or
more
10mm
or
more
<Note>
It is recommended to use the conductive paint when you make your own mounting bracket, or repaint after
peeling off the paint on the machine for installing the products, in order to make noise countermeasure.
Caution on Installation
We have been making the best effort to ensure the highest quality, however, application of exceptionally
large external noise disturbance and static electricity, or failure in input power, wiring and components may
result in unexpected action. It is highly recommended that you make a fail-safe design and secure the safety
in the operative range.
There might be a chance of smoke generation due to the failure of these products. Pay an extra attention
when you apply these products in a clean room environment.
24
Motor
Installation Place
Since the conditions of location affect a lot to the motor lif e, select a place which meets the conditions below.
1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not water-
proof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,
chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of
inflammable gas, grinding oil, oil mist, iron powder or chips and etc.
3) Where the motor is free from grinding oil, oil mist, iron powder or chips.
4) Well-ventilated and humid and dust-free place, far apart from the heat source such as a furnace.
5) Easy-to-access place for inspection and cleaning.
6) Vibration-free place.
7) Avoid enclosed place. Motor may gets hot in those enclosure and shorten the motor life.
Environmental Conditions
How to Install
Oil, water
Cable Motor
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration Motor only
Impact Motor only
Enclosure rating Motor only
Condition
0˚C to 40˚C (free from freezing) *1
Less than 85% RH (free from condensation)
–20˚C to 80˚C (free from freezing) *2
Less than 85% RH (free from condensation)
Lower than 49m/s
2
(5G) at running, 24.5m/s
2
(2.5G) at stall
Lower than 98m/s
2
(10G)
IP65 (except rotating portion of output shaft and lead wire end)
These motors conform to the test conditions specified in EN
standards (EN60529, EN60034-5). Do not use these motors in
application where water proof performance is required such as
continuous wash-down operation.
•
*1 Ambient temperature to be measured at 5cm away from the motor.
*2 Permissible temperature for short duration such as transportation.
How to Install
You can mount the motor either hor izontally or vertically as long as you observe the followings.
1) Horizontal mounting
• Mount the motor with cable outlet facing downward for water/oil countermeasure.
2) Vertical mounting
• Use the motor with oil seal (non-standard) when mounting the motor with gear reducer to prevent the
reducer oil/grease from entering to the motor.
3) For mounting dimensions, refer to P.326 to 340 "Dimensions".
Oil/Water Protection
1) Don't submerge the motor cable to water or oil.
2) Install the motor with the cable outlet facing downward.
3) Avoid a place where the motor is subjected to oil or water.
4) Use the motor with an oil seal when used with the gear reducer, so that
the oil may not enter to the motor through shaft.
25
[Before Using the Products]
Before Using
the Products
Motor
Stress to Cables
1) Avoid a stress application to the cable outlet and connecting portion by bending or self-weight.
2) Especially in an application where the motor itself travels, fix the attached cable and contain the extension
junction cable into the bearer so that the stress by bending can be minimized.
3) Take the cable bending radius as large as possible. (Minimum R20mm)
Permissible Load to Output Shaft
1) Design the mechanical system so that the applied radial load and/or thrust load to
the motor shaft at installation and at normal operation can meet the permissible
value specified to each model.
2) Pay an extra attention when you use a rigid coupling. (Excess bending load may
damage the shaft or deteriorate the bearing life.
3) Use a fle xib le coupling with high stiffness designed e xclusively f or servo application
in order to make a radial thrust caused by micro misalignment smaller than the
permissible value.
4) For permissible load of each model, refer to P.342, "List of Permissible Load to Output Shaft" of Supple-
ment.
Notes on Installation
1) Do not apply direct impact to the shaft by hammer while attaching/detaching a coupling to and from the
motor shaft.
(Or it may damage the encoder mounted on the other side of the shaft.)
2) Make a full alignment. (incomplete alignment may cause vibration and damage the bearing.)
3) If the motor shaft is not electrically grounded, it may cause electrolytic corrosion to the bearing depending
on the condition of the machine and its mounting environment, and may result in the bearing noise. Check
and verification by customer is required.
26
Console
Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not water-
proof.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous acid,
chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from splash of
inflammable gas, grinding oil, oil mist, iron powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Easy-to-access place for inspection and cleaning
Environmental Conditions
<Cautions>
• Do not give strong impact to the products.
• Do not drop the products.
• Do not pull the cables with excess force.
• Avoid the place near to the heat source such as a heater or a large winding resistor.
How to Connect
<Remarks>
• Connect the console connector securely to CN X4 connector of the driver
• Never pull the cable to plug in or plug out.
MODE
SHIFT
SET
S
M
Connect to
CN X4.
How to Install
Item
Ambient temperature
Ambient humidity
Storage temperature
Storage humidity
Vibration
Impact
Altitude
Condition
0˚C to 55˚C (free from freezing)
Less than 90% RH (free from condensation)
–20˚C to 80˚C (free from freezing)
Less than 90% RH (free from condensation)
Lower than 5.9m/s2 (0.6G), 10 to 60Hz
Conform to JISC0044 (Free fall test, 1m for 2 directions, 2 cycles)
Lower than 1000m
[Preparation] page
System Configuration and Wiring .........................28
Overall Wiring (Connecting Example of C-frame, 3-phase)........ 28
Overall Wiring (Connecting Example of E-frame) ....................... 30
Driver and List of Peripheral Equipments.................................... 32
Wiring of the Main Circuit (A to D-frame) .................................... 34
Wiring of the Main Circuit (E and F-frame).................................. 35
Wiring to the Connector, CN X6 (Connection to Encoder).......... 38
Wiring to the Connector, CN X3 and 4
(Connection to PC, Host Controller or Console) ......................... 40
Wiring to the Connector, CN X5 (Connection to Host Controller) 41
Timing Chart ............................................................42
Built-in Holding Brake ............................................46
Dynamic Brake ........................................................48
Caution on Homing .................................................50
Setup of Parameter and Mode ...............................51
Outline of Parameter ................................................................... 51
How to Set................................................................................... 51
How to Connect........................................................................... 51
Composition and List of Parameters ........................................... 52
Setup of Torque Limit .................................................................. 57
How to Use the Front Panel and Console.............58
Setup with the Front Panel.......................................................... 58
Setup with the Console ............................................................... 58
Initial Status of the Front Panel Display(7 Segment LED) .......... 59
Initial Status of the Console Display(7 Segment LED)................ 59
Structure of Each Model.............................................................. 60
Monitor Mode .............................................................................. 63
Parameter Setup Mode ............................................................... 69
EEPR OM Writing Mode............................................................... 70
Auto-Gain Tuning Mode .............................................................. 71
Auxiliary Function Mode.............................................................. 73
Copying Function (Console Only) ............................................... 79
27
28
System Configuration and Wiring
Circuit Breaker (NFB)
Use the circuit breaker matching capacity
of the power source to protect the power
lines.
Noise Filter (NF)
Prevents external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.
Magnetic Contactor (MC)
Turns on/off the main power of the servo
driver.
Use a surge absorber together with this.
• Never start nor stop the servo motor
with this Magnetic Contactor.
Reactor (L)
Reduces harmonic current of the main
power.
(see P.32, 33 and 309.)
(see P.309)
(see P.32 and 33.)
(see P.321)
• Wiring of the Main Circuit
Ground (earth)
• Connection to
the Connector, CN X1
(connection to input power)
• Connection to the Connector, CN X2
(connection to external components)
RB1 (Pin-6)
RB2 (Pin-4)
L1 (Pin-5)
L2 (Pin-4)
L3 (Pin-3)
L1C (Pin-2)
L2C (Pin-1)
Pin RB1 (6-pin), RB2 (4-pin), and
RB3 (5-pin)
• RB2 and RB3 to be kept shorted for
normal operation.
• When the capacity shortage of
the regenerative resister is found,
disconnect a shorting bar
between RB2 and RB3, then
connect the external regenerative
resister between RB1 and RB2.
(Note that no regenerative resister
is equipped in Frame A and B type.
Install an external regenerative
resister on incombustible materi-
al, such as metal. Follow the same
wiring connection as the above.)
• When you connect an external
regenerative resister, set up
Parameter No. 6C to 1 or 2.
Regenerative resistor (optional)
<Remarks>
When you use an external regenerative resister, install
an external protective apparatus, such as thermal fuse
without fail.
Thermal fuse and thermostat are built in to the regenera-
tive resistor (Option). If the thermal fuse is activated, it
will not resume.
Handle lever
Use this for connector
connection. Store this after
connection for other occasions.
(see page for connection.)
Overall Wiring (Connecting Example of C-frame, 3-phase)
29
[Preparation]
Preparation
X3
X4
X5
X6
X7
PC (to be supplied by customer)
Setup support software
"PANATERM® "
DV0P4460
(English, Japanese version/option)
Console (option)
DV0P4420
• Wiring to Connector, CN X3/X4 (option)
(Connection to PC or host controller)
• Wiring to Connector, CN X5
(Connection to host controller)
• Wiring to Connector, CN X6
(Connection to encoder)
• Wiring to Connector, CN X7
(Connection to external scale)
Junction cable for encoder
Short bar
Junction cable for motor
Junction cable
for brake
DC Power supply
for brake
DC24V
(to be supplied by customer)
• Wiring to Connector, CN X2
(Connection to motor driving
phase and ground)
: High voltage
U-phase(red)
V-phase(white)
W-phase(black)
X1
X2
30
System Configuration and Wiring
Overall Wiring (Connecting Example of E-frame)
Ground (earth)
• Connection with input
power supply
• Connection to external components
P
B2
L1
L2
L3
r
t
Pin P, B1 and B2...
• B1 and B2 to be kept shorted for
normal operation.
• When the capacity shortage of the
regenerative resister is found,
disconnect a short bar between B1
and B2, then connect the external
regenerative resister between P
and B2.
Install an external regenerative
resister on incombustible material,
such as metal . Follow the same
wiring connection as the above.
• When you connect an external
regenerative resister, set up
Parameter No. 6C to 1 or 2.
Circuit Breaker (NFB)
Use the circuit breaker matching capacity
of the power source to protect the power
lines.
Noise Filter (NF)
Prevents external noise from the power
lines. And reduces an effect of the noise
generated by the servo driver.
Magnetic Contactor (MC)
Turns on/off the main power of the servo
driver.
Use a surge absorber together with this.
• Never start nor stop the servo motor
with this Magnetic Contactor.
Reactor (L)
Reduces harmonic current of the main
power.
(see P.32, 33 and 309.)
(see P.309)
(see P.32 and 33.)
(see P.321)
• Wiring of the Main Circuit
Regenerative resistor (optional)
<Remarks>
When you use an external regenerative resister,
install an external protective apparatus, such as
thermal fuse without fail.
Thermal fuse and thermostat are built in to the re-
generative resistor (Option). If the thermal fuse is
activated, it will not resume.
31
[Preparation]
Preparation
X3
X4
X5
X7
X6
• Wiring to Connector, CN X3/X4 (option)
(Connection to PC or host controller)
• Wiring to Connector, CN X5
(Connection to host controller)
• Wiring to Connector, CN X6
(Connection to encoder)
Junction cable
for encoder
Junction cable for motor
Junction cable for brake
Short bar
DC Power supply for brake
DC24V
(to be supplied by customer)
• Connection to motor driving
phase and ground
: High voltage
From a top
U-phase
V-phase
W-phase
• Wiring to Connector, CN X7
(Connection to external scale)
PC (to be supplied by customer)
Setup support software
"PANATERM® "
DV0P4460
(English, Japanese version/option)
Console (option)
DV0P4420
32
System Configuration and Wiring
Driver and List of Applicab le Peripheral Equipments
Connection
Driver
Applicable
motor
Voltage
Rated
output
Required
Power
(at the rated
load)
Noise filter
for signal
Noise
filter Surge
absorber
Magnetic
contactor
Cable
diameter
(main circuit)
Cable
diameter
(control circuit)
MADD
MBDD
MCDD
MDDD
MEDD
MSMD
MQMA
MSMD
MQMA
MAMA
MSMD
MQMA
MSMD
MQMA
MAMA
MQMA
MSMD
MAMA
MFMA
MHMA
MAMA
MDMA
MHMA
MGMA
MSMA
MHMA
MDMA
MSMA
MFMA
MDMA
MSMA
MHMA
MFMA
Single
phase,
100V
Single
phase,
200V
Single
phase,
100V
Single
phase,
200V
Single
phase,
100V
Single/
3- phase,
200V
Single/
3- phase,
200V
3- phase,
200V
50W
–100W
100W
50W
–200W
100W
200W
100W
200W
400W
200W
400W
750W
400W
500W
750W
1.0kW
900W
1.0kW
1.5kW
2.0kW
2.5kW
approx.
0.4kVA
approx.
0.4kVA
approx.
0.5kVA
approx.
0.3kVA
approx.
0.5kVA
approx.
0.3kVA
approx.
0.5kVA
approx.
0.9kVA
approx.
0.5kVA
approx.
0.9kVA
approx.
1.3kVA
approx.
0.9kVA
approx.
1.1kVA
approx.
1.6kVA
approx.
1.8kVA
approx.
1.8kVA
approx.
1.8kVA
approx.
2.3kVA
approx.
3.3kVA
approx.
3.8kVA
Circuit
breaker
(rated
current)
10A
15A
20A
30A
DV0P4170
DV0P4180
DV0P4220
Connection to exclusive connector
DV0P4190
DV0P1450
DV0P1460
BMFT6
1041N
(3P+1a)
BMFT61542N
(3P+1a)
BMFT61041N
(3P+1a)
BMFT61542N
(3P+1a)
BMFT61541N
(3P+1a)
BMFT61542N
(3P+1a)
BMFT61842N
(3P+1a)
BMF6352N
(3P+2a2b)
0.75 to
2.0mm
2
AWG
14 to 18
2.0mm
2
AWG14
2.0mm
2
AWG14
3.5mm
2
AWG12
0.75mm
2
AWG18
Terminal
block
M5
11.0 or
smaller
ø5.3
33
[Preparation]
Preparation
• Select a single and 3-phase common specifications according to the power source.
• Manufacturer of circuit breaker and magnetic contactor : Matsushita Electr ic Works.
To comply to EC Directiv es, install a circuit breaker between the po wer and the noise filter without fail, and
the circuit breaker should conform to IEC Standards and UL recognized (Listed and marked).
5000Arms, 240V is the maximum capacity to be delivered to the circuit of 750W or larger model when the
maximum current value of the circuit breaker is limited to 20A.
• For details of noise filters, refer to P.309, "Noise Filter" and P.311, "Driver and List of Applicab le Peripheral
Equipments (EC Directives)" of Supplement.
<Remarks>
• Select and use the circuit breaker and noise filter with matching capacity to those of the power source,
considering the load conditions as well.
• Terminal block and protective earth terminal
Use a copper conductor cable with temperature rating of 60˚C or higher.
Protective earth terminal is M4 for A to D-frame, and M5 for E and F-frame.
Larger tightening torque of the screw than the max. value (M4 : 1.2 N•m, M5 : 2.0 N•m) may damage the
terminal block.
• Earth cable diameter should be 2.0mm2 (AWG14) or larger for 50W to 2.0kW model, and 3.5mm2 (AWG12)
or larger for 2.5kW to 4.0kW, and 5.3mm2 (AWG10) or larger for 4.5kW to 5kW model.
• Use the attached exclusive connectors for A to D-frame, and maintain the peeled off length of 8 to 9mm.
• Tightening torque of the scre ws f or connector (CN X5) f or the connection to the host to be 0.3 to 0.35 N•m.
Larger tightening torque than these may damage the connector at the driver side.
Connection
Driver
Applicable
motor
Voltage
Rated
output
Required
Power
(at the rated
load)
Noise filter
for signal
Noise
filter Surge
absorber
Magnetic
contactor
Cable
diameter
(main circuit)
Cable
diameter
(control circuit)
Circuit
breaker
(rated
current)
MFDD
MGMA
MDMA
MHMA
MSMA
MGMA
MDMA
MHMA
MSMA
MFMA
MGMA
MDMA
MHMA
MSMA
3- phase,
200V
2.0kW
3.0kW
4.0kW
4.5kW
5.0kW
approx.
3.8kVA
approx.
4.5kVA
approx.
6kVA
approx.
6.8kVA
approx.
7.5kVA
approx.
7.5kVA
50A
DV0P3410
DV0P1450
DV0P1460
BMF6352N
(3P+2a2b)
BMF6652N
(3P+2a2b)
3.5mm
2
AWG12
5.3mm
2
AWG10
0.75mm
2
AWG18
Terminal
block
M5
11.0 or
smaller
ø5.3
34
System Configuration and Wiring
Wiring of the Main Circuit (A to D-frame)
• Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
Tips on Wiring
1) Peel off the insulation cover of the cable.
(Observe the dimension as the right fig. shows.)
2) Insert the cable to the connector detached from the driver. (See P.37 for details.)
3) Connect the wired connector to the driver.
Red
Black
Green/
Yellow
Motor
Surge absorber
DC
24V
NFB
Power
supply
DC power supply
for brake
NF MC
1
2
3
4
U
V
W
E
CN X1
CN X2
L
Yellow
(X2)
Fuse (5A)
Check the name plate of the driver for power
specifications.
Provide a circuit breaker, or a leakage breaker. The
leakage breaker to be the one designed for "Inverter"
and is equipped with countermeasures for harmonics.
Provide a noise filter without fail.
Provide a surge absorber to a coil of the Magnetic
Contactor. Never start/stop the motor with this
Magnetic Contactor.
Connect a fuse in series with the surge absorber. Ask
the manufacturer of the Magnetic Contactor for the
fuse rating.
Provide an AC Reactor.
Connect L1 and L1C, and L3 and L2C at single
phase use (100V and 200V), and don't use L2.
Match the colors of the motor lead wires to those of the
corresponding motor output terminals (U,V,W).
Don't disconnect the shorting cable between RB2 and
RB3 (C and D frame type). Disconnect this only when
the external regenerative register is used.
Avoid shorting and ground fault. Don't connect
the main power.
*
Connect pin 3 of the connector on the amplifier
side with pin 1 of the connector on the motor side.
Earth-ground this.
Connect the protective earth terminal ( ) of the driver
and the protective earth (earth plate) of the control panel
without fail to prevent electrical shock.
Don't co-clamp the earth wires to the protective earth
terminal ( ) . Two terminals are provided.
Don't connect the earth cable to other inserting
slot, nor make them touch.
Compose a duplex Brake Control Circuit so that the
brake can also be activated by an external
emergency stop signal.
The Electromagnetic Brake has no polarity.
For the capacity of the electromagnetic brake and
how to use it, refer to P.47, "Specifications of Built-in
Holding Brake".
Provide a surge absorber.
Connect a 5A fuse in series with the surge absorber.
Ground resistance : 100Ω max.
For applicable wire, refer to P32 and 33.
White
L1C
L3
L2
L1
L2C
RB1
RB3
RB2
U
V
W
2
3
4
5
1
6
5
4
3
2
1
8 to 9mm
35
[Preparation]
Preparation
Wiring of the Main Circuit (E and F-frame)
• Wiring should be performed by a specialist or an authorized personnel.
• Do not turn on the power until the wiring is completed.
Tips on Wiring
1) Take off the cover fixing screws, and detach the terminal cover.
2) Make wiring
Use clamp type terminals of round shape with insulation cover for wiring to the terminal block. For cable
diameter and size, rater to "Driver and List of Applicable Per ipheral Equipments" (P.32 and 33).
3) Attach the terminal cover, and fix with screws.
Fastening torque of cover fixed screw in less than 0.2 N•m.
Red
Black
Green/
Yellow
Motor
Surge absorber
DC
24V
White
NFB
Power
supply
DC power supply
for brake
NF MC
L1
U
V
W
E
L2
L3
r
t
P
B1
B2
U
V
W
L
Check the name plate of the driver for power
specifications.
Provide a circuit breaker, or a leakage breaker.
The leakage breaker to be the one designed for
"Inverter" and is equipped with countermea-
sures for harmonics.
Provide a noise filter without fail.
Provide a surge absorber to a coil of the
Magnetic Contactor. Never start/stop the
motor with this Magnetic Contactor.
Connect a fuse in series with the surge
absorber. Ask the manufacturer of the Magnetic
Contactor for the fuse rating.
Provide an AC Reactor.
Don't disconnect the short bar between B1 and
B2. Disconnect this only when an external
regenerative register is used.
Match the colors of the motor lead wires to
those of the corresponding motor output
terminals (U,V,W).
Avoid shorting and ground fault.
Don't connect the main power.
Earth-ground this.
Connect the protective earth terminal ( ) of
the driver and the protective earth (earth
plate) of the control panel without fail to
prevent electrical shock.
Don't co-clamp the earth wires to the protective
earth terminal ( ) . Two terminals are provided.
Don't connect the earth cable to other inserting
slot, nor make them touch.
Compose a duplex Brake Control Circuit so that
the brake can also be activated by an external
emergency stop signal.
The Electromagnetic Brake has no polarity.
For the capacity of the electromagnetic brake
and how to use it, refer to P.47, "Specifications
of Built-in Holding Brake".
Provide a surge absorber.
Connect a 5A fuse in series with the surge
absorber.
Yellow
(X2)
Ground resistance : 100Ω max.
For applicable wire, refer to P32 and 33.
Fuse (5A)
36
System Configuration and Wiring
Wiring Diagram
Compose the circuit so that the main circuit power will be shut off when an error occurs.
In Case of Single Phase, 100V (A and B-frame) In Case of Single Phase, 200V (A and B-frame)
In Case of Single Phase, 200V (C and D-frame)
In Case of 3-Phase, 200V (C and D-frame)
AHG
CDE
BIF
CBA
IHG
FED
JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
Noise
filter
Main power
supply
Control power
supply
Motor
ALM
37
ALM+
L3
L1C
L2C
RB1
MC
NFB
RB3
RB2
U
V
W
L1
CN X2
Surge absorber
External regenerative resistor
ALM–
36
DC12 to 24V
(±5%)
Red
White
Black
Green
1
2
3
4
1
2
3
4
Motor
connection
CN X5
CN X1
172167-1
Tyco Electronics AMP
172159-1
Tyco Electronics AMP
L
MC ALMON OFF
Power supply Single phase, 100V to 115V
+10%
–15% +10%
–15%
Noise
filter
Main power
supply
Control power
supply
Motor
ALM
37
ALM+
L3
L1C
L2C
RB1
MC
NFB
RB3
RB2
U
V
W
L1
CN X2
Surge absorber
External regenerative resistor
ALM–
36
DC12 to 24V
(±5%)
Red
White
Black
Green
1
2
3
4
1
2
3
4
Motor
connection
CN X5
CN X1
172167-1
Tyco Electronics AMP
172159-1
Tyco Electronics AMP
L
MC ALMON OFF
Power supply Single phase, 200V to 240V
+10%
–15% +10%
–15%
Use a reactor for
3-phase
External regenerative resistor
<Remarks>
When you use single
phase, connect the main
power between L1 and
L3 terminals.
Motor
L2
L3
L1C
L2C
RB1
MC
NFB
RB3
RB2
U
V
W
L1
Surge absorber
1
2
3
4
1
2
3
4
(Remove the short wire when you connect
the external regenerative resistor.)
172167-1
Tyco Electronics AMP
172159-1
Tyco Electronics AMP
L
<Remarks>
When you use single
phase, connect the main
power between L1 and
L3 terminals.
Motor
L2
L3
L1C
L2C
RB1
MC
NFB
RB3
RB2
U
V
W
L1
Surge absorber
1
2
3
4
1
2
3
4
(Remove the short wire when you connect
the external regenerative resistor.)
*
172167-1
Tyco Electronics AMP
172159-1
Tyco Electronics AMP
L
A
B
D
C
A
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R
U-phase
V-phase
W-phase
Ground
PIN No.
B
C
D
Application
PIN No. Application
G
H
A
F
I
B
E
D
C
Brake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
PIN No. Application
ABrake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
B
C
D
E
F
G
H
I
<Remark>
Do not connect anything to NC.
* When you use motor model of
MSMA, MDMA, MFMA, MHMA and
MGMA, use the connections as the
right table shows..
[Motor portion]
Connector : by Japan Aviation Electronics Ind.
CN X2
CN X1
ALM
37
ALM+
ALM–
36
DC12 to 24V
(±5%)
CN X5
CN X2
CN X1
CN X5
ALM
37
ALM+
ALM–
36
DC12 to 24V
(±5%)
MC ALMON OFF MC ALMON OFF
Use a reactor for
3-phase
Noise
filter
Noise
filter
Main power
supply
Control power
supply
Motor
connection
Main power
supply
Control power
supply
Motor
connection
Power supply Single phase, 200V to 240V
+10%
–15% +10%
–15%
Power supply 3-phase, 200V to 240V
+10%
–15% +10%
–15%
Red
White
Black
Green
External regenerative resistor
Red
White
Black
Green
*
MC
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
Built-in thermostat of an external
regenerative resistor (light yellow)
MC
Built-in thermostat of an external
regenerative resistor (light yellow)
37
[Preparation]
Preparation
In Case of 3-Phase, 200V (E and F-frame)
Red
White
Black
Green
PIN No. Application
PIN No. Application
[Motor portion]
Connector : by Japan Aviation Electronics Ind.
A
B
D
C
AHG
CDE
BIF
CBA
IHG
FED
A
JL04V-2E20-4PE-B-R
JL04HV-2E22-22PE-B-R
JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R
U-phase
V-phase
W-phase
Ground
PIN No.
B
C
D
Application
G
H
A
F
I
B
E
D
C
Brake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
A Brake
Brake
NC
U-phase
V-phase
W-phase
Ground
Ground
NC
B
C
D
E
F
G
H
I
Motor
ALM
37
ALM+
L2
L3
r
t
P
MC
MC
NFB
ALM
ON OFF
B1
B2
U
V
W
L1
Surge absorber
ALM–
DC12 to 24V
(±5%)
(Remove the short wire when you connect
the external regenerative resistor.)
36
L
<Remark> Do not connect anything to NC.
Power supply 3-phase, 200V to 230V
+10%
–15% +10%
–15%
Noise
filter
Main power
supply
Control power
supply
Motor
connection
External regenerative resistor
MC
Built-in thermostat of an external
regenerative resistor (light yellow)
How to
connect
Attach the handle lever to the
handling slot on the upper
portion. Press down the lever
to push down the spring.
Insert the peeled cable
while pressing down the
lever, until it hits the
insertion slot (round hole).
Release the lever.
• Follow the procedures below for the wiring connection to the Connector CN X1 and X2 .
1. Peel off the insulation cover of the cable.
(see the right fig for exact length for peeling.)
2. Insert the cable to the connecter in the following 2 methods.
(a) Using the attached Handle Lever
(b) Using a screw driver (blade width of 3.0 to 3.5 mm)
8 to 9mm
Wiring method to connector (A to D-frame)
Press the screw driver to
the handling slot on the
upper portion to push
down the spring.
Insert the peeled cable
while pressing down the
screw driver, until it hits the
insertion slot (round hole).
Release the screw driver
.
* You can pull out the cable by pushing down the spring as the above.
* You can pull out the cable by pushing down the spring as the above.
<CAUTION>
•
Peel off the cable with
exact length (8 to 9 mm).
•
Take off the connector
from the Servo Driver
before making
connection.
•
Insert one cable into each
one of cable insertion
slot.
•
Pay attention to injury by
screw driver.
(a) Using handle lever
(b) Using screw driver
123
123
38
System Configuration and Wiring
Wiring Diagram In case of 2500P/r incremental encoder
Wiring to the Connector, CN X6 (Connection to Encoder)
Tips on Wiring
Motor Encoder30cm or more
20m max.
Maximum cable length between the driver and the motor to be 20m.
Consult with a dealer or distributor if you want to use the longer
cable than 20m. (Refer to the back cover.)
Keep this wiring away from the main circuit by 30 cm or more. Don't
guide this wiring through the same duct with the main, nor bind
them together.
Encoder outlets are different by the motors, flyer leads + connecter
and cannon plug type.
When you make your own encoder junction cable (for connectors,
refer to P.319, "Options (Connector Kit for Motor and Encoder
connection)" of Supplement.
1) Refer to the Wiring Diagram below.
2) Cable to be : Shielded twisted pair cable with core diameter of
0.18mm
2
or larger (AWG24), and with higher bending resistance.
3) Use twisted pair cable for corresponding signal/power wiring.
4) Shielding treatment
• Shield wall of the driver side : Connect to Pin-20 (FG) of CN X6.
• Shield wall of the motor side :
Tyco Electronics AMP
In case of 9-pin (
17-bit absolute/incremental encoder
) : Connect to pin-3.
In case of 6-pin (
2500P/r incremental encode
r) : Connect to pin-6.
In case of cannon plug, connect to Pin-J.
5) Connect nothing to the empty terminals of each connector and
Cannon Plug.
Connector Junction cable
Junction cable
Cannon plug
20m max.
20m max.
E5V
1
2
5
6
E0V
E5V
E0V
PS
PS
Encoder
junction cable
Encoder side
connector
(Cannon plug)
Driver side
CN X6
• MSMD 50W to 750W
• MAMA100W to 750W
• MQMA100W to 400W
PS
PS
Power
supply
Regulator
motor
1+5V
0V
2
3
4
5
6
4
5
2
3
6
Twisted pair
Junction cable
(by Tyco Electronics, AMP)
172160-1172168-1
(by Tyco Electronics, AMP)
Motor side Driver side
Case
CN X6
Black
Purple
White
Light Blue
E5V
E0V
E5V
E0V
PS
PS
PS
FG
PS
39
[Preparation]
Preparation
• MSMA 1kW to 5kW
• MDMA 1kW to 5kW
• MHMA500W to 5kW
• MFMA 400W to 4.5kW
• MGMA900W to 4.5kW
• MSMD 50W to 750W
• MAMA100W to 750W
• MQMA100W to 400W
• MSMA 1kW to 5kW
• MDMA 1kW to 5kW
• MHMA 500W to 5kW
• MFMA 400W to 4.5kW
• MGMA 900W to 4.5kW
Case
CN X6
Regulator
+5V
0V
motor
(by Japan Aviation Electronics Ind.)
1
2
3
4
5
6
H
G
K
L
Twisted pair
Pin No. of connector
Junction cable
Straight plug
Cable clamp
N/MS3106B20-29S
N/MS3057-12A
Motor side Driver side
E5V
E0V
PS
PS
J
PS
PS
FG
E5V
E0V
motor
1+5V
0V
+5V
0V
2
3
4
5
6
1
battery
battery
2
7
8
4
5
3
Twisted pair
Junction cable
(by Tyco Electronics, AMP)
172161-1172169-1
(by Tyco Electronics, AMP)
Motor side Driver side
Black
Purple
Yellow/Green
White
Light Blue
Pink
Red
E5V
E0V
E5V
E0V
BAT+
BAT– PS
PS
motor
(Japan Aviation Electronics Industry, Ltd.)
1
2
3
4
5
6
H
G
K
L
J
T
S
Twisted pair
Pin No. of connector
Junction cable
Straight plug
Cable clamp
N/MS3106B20-29S
N/MS3057-12A
Motor side Driver side
E5V
E0V
PS
PS
PS
PS
FG
E5V
E0V
PS
PS
Case
Case
BAT+
BAT–
FG
Regulator
Regulator
CN X6
CN X6
Wiring Diagram In case of 17-bit absolute/incremental encoder
40
System Configuration and Wiring
In Case of Communication with Multiple Drivers Using RS232 and RS485
By connecting the host (PC and host controller) and one driver via RS232 and connecting other drivers via
RS485 each other, you can connect multiple drivers..
In Case of Communication with Multiple Drivers Using RS485 Only
By connecting the host with all drivers via RS485 you can realize connection with multiple drivers.
• Set up the rotary switch (ID) to 1 to F.
<Notes>
• You can connect up to 15 drivers with the host.
• For details, refer to P.278, "Communication"of Supplement.
Connection with the Console
[How to connect]
Wiring to the Connector s, CN X3 and X4 (Connection to PC, Host or Console)
• This servo driver features 2 kinds of communication function, RS232 and RS485, and you can use in 3
connecting methods.
In Case of Communication with One Driver Using RS232
By connecting the PC and the driver via RS232, you can utilize the setup support software, "PANATERM®"
(option). "PANATERM "offers useful functions such as monitoring of various status, setup/change of pa-
rameters and waveform graphic display and so on.
You can set the rotary switch (ID) to any of 0 to F.
CN X4 Connector for RS232
(back side)
Exclusive connecting
cable
Refer to "Options".
Shut off both powers of
the PC andthe driver
before inserting/pulling
out the connector.
Tighten the stop screw
securely.
Set up the rotary switch (ID) to 0.
RS485RS485
RS232
Host controller
(PC controller)
Set up the rotary switch (ID) to 1 to F.
CN X3 CN X4
MODE
SHIFT
SET
S
M
Connect to
CN X4
41
[Preparation]
Preparation
Wiring to the Connector, CN X5 (Connection to Host Controller)
• Tips on wiring
Controller
3m
or shorter
30cm or longer
COM+
GND
1
CN X5
COM–
FG
V
DC
Power
supply
Motor
2
Peripheral apparatus such as host controller should be located
within3m.
Separate the main circuit at least 30cm away.
Don't pass them in the same duct, nor bind them together.
Power supply for control signals (VCC) between COM+ and COM– (VDC)
should be prepared by customer.
Use shield twisted pair for the wiring of command pulse input and
encoder signal output.
Don't apply more than 24V to the control signal output terminals, nor run
50mA or more to them.
When the relay is directly driven by the control output signals, install a
diode in parallel with a relay, and in the direction as the Fig. shows. The
driver might be damaged without a diode installment, or by reverse
direction.
Frame ground (FG) is connected to the earth terminal inside of the
driver.
•
For detailed information, refer to Wiring Diagram at each control mode, P.83 (Position control mode),
P.127 (Velocity control mode), P.161 (Torque control mode) and P.192 (Full-closed control mode).
• Specifications of the Connector, CN X5
<Note>
For details, refer to P.312, "Options" of Supplement.
<Remarks>
• Tightening torque of the screws for connector (CN X5) f or the connection to the host to be 0.3 to 0.35 N•m.
Larger tightening torque than these may damage the connector at the driver side.
Connector at driver side
52986-5071
Part name
Connecter (soldering type)
Connector cover
Connecter (soldering type)
Connector cover
Part No.
54306-501 1 or
54306-5019 (lead-free)
54331-0501
10150-3000VE
10350-52A0-008
Connecter to be prepared by customer
Manufacturer
Molex Inc.
Sumitomo 3M
or
42
Timing Chart
<Cautions>
• The above chart shows the timing from AC power-ON to command input.
• Activate the external command input according to the above timing chart.
*1. In this ter m Servo-ON input (SRV-ON) turns ON as a hard ware, but operation command can not be
received.
*2. S-RDY output will turn on when both conditions are met, initialization of micro computer has been com-
pleted and the main power has been turned on.
*3. After Internal control power supply , protective functions are active from approx. 1.5 sec after the start of
initializing microcomputer. Please set the signals, especially for protective function, for example over-
travel inhibit input (CWL,CCWL) or external scale input, so as to decide their logic until this term.
Control
power supply
(L1C,L2C)
Internal control
power supply
Action of
driver CPU
Main
power supply
(L1,L2,L3)
S-RDY output
(X5, Pin-34 and 35)
Servo-ON input
(X5, Pin-29)
Dynamic
brake
Motor
energization
BRK-OFF output
(X5, Pin-10 and 11)
Position/Speed/
Torque command
10ms
or longer
*2
10ms
or longer
*2
OFF
OFF
ON
reset
(initialization)
usually operation
OFF ON
OFF ON
ONOFF
OFF (brake engaged) ON
(brake released)
releasedengaged
not-energized energized
No command entry Command
entry
100ms or longer
*1
approx.2s
approx.100 to 300 ms
approx.1.5s
established
approx.40ms
approx.2ms
approx.2ms
0ms or longer
0s or longer
*3
Timing Chart
43
[Preparation]
Preparation
When an Alarm Has Been Cleared (at Servo-ON Command)
Dynamic brake
Motor energization
Brake release output
(BRK-OFF)
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
Alarm-clear input
(A-CLR)
approx.40ms
approx.2ms
120ms or longer
clear
engaged released
energized
released (ON)
ready
not alarm
not-energized
engaged (OFF)
not ready
alarm
no input entry
input enabled
Position/Speed/
Torque command
100ms or longer
approx.2ms
When an Error (Alarm) Has Occurred (at Servo-ON Command)
<Cautions>
*1. t1 will be a shorter time of either the setup value of Pr6B or elapsing time for the motor speed to fall below
30r/min.
t1 will be 0 when the motor is in stall regardless of the setup pf Pr6A.
*2. For the action of dynamic brake at alarm occurrence, refer to an explanation of Pr68, "Sequence at alarm
("Parameter setup" at each control mode) as well.
Alarm
Dynamic brake
Motor energization
normal
energized
ready
not alarm
alarm
engaged *2
non-energized
not ready
alarm
Servo-Ready output
(S-RDY)
Servo-Alarm output
(ALM)
0.5 to 5 ms
t1 *1 engaged (OFF)
engaged
(OFF)
released (ON)
released (ON)
approx.30r/min
approx.30r/min
motor speed
motor speed
Break release output
(BRK-OFF)
t1 *1
Setup value of
Pr6B
Setup value of
Pr6B
when setup
value of Pr6B
is shorter,
when time to fall
below 30r/min
is shorter,
44
Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock)
<Cautions>
*1. t1 will be determined by Pr6A setup value.
*2. For the dynamic brake action at Servo-OFF, refer to an explanation of Pr69, "Sequence at Servo-OFF
("Parameter setup" at each control mode) as well.
*3. Servo-ON will not be activated until the motor speed falls below approx. 30r/min.
Dynamic brake
Motor energization
Brake release output
(BRK-OFF)
Servo-ON input
(SEV-ON)
approx.40ms
approx.2ms
approx.2ms
1 to 5ms
t1 *1
released (ON)
OFF
not-energized
ON
released
energized
engaged (OFF)
OFF
engaged *2engaged *3
not-energized
engaged (OFF)
Timing Chart
45
[Preparation]
Preparation
Servo-ON/OFF Action While the Motor Is in Motion
(Timing at emergency stop or trip . Do not repeat this sequence. During the normal operation, stop the motor,
then make Servo-ON/OFF action.)
<Cautions>
*1. t1 will be a shorter time of either the setup value of Pr6B or elapsing time for the motor speed to fall below
30r/min.
*2. Even though the SRV-ON signal is turned on again during the motor deceleration, Servo-ON will not be
activated until the motor stops.
*3. For the action of dynamic brake at alarm occurrence, refer to an explanation of Pt69, "Sequence at
Servo-OFF ("Parameter setup" at each control mode) as well.
*4. Servo-ON will not be activated until the motor speed falls below approx. 30r/min.
*5. F or the motor energization during deceler ation at Serv o-OFF, refer to an e xplanation of Pr69, "Sequence
at Serve-OFF ("Parameter setup" at each control mode) as well.
OFF OFF
ON
engaged *3 released
not-energized
engaged *3
*4
not-energized *5energized
engaged
(OFF) released (ON)
engaged (OFF)released (ON)
No servo-ON until the motor speed
falls below approx. 30r/min.
1 to 5ms
approx.40ms
Setup value of
Pr6B
Setup value of
Pr6B
when setup
value of Pr6B
is shorter,
approx.2ms
approx.30r/min
Dynamic brake
Motor energization
Motor rotational
speed
Motor rotational speed
servo validated
Brake release output
(BRK-OFF)
Servo-ON input
(SEV-ON)
when time to fall
below 30r/min
is shorter,
Motor rotational
speed
approx.30r/min
Motor rotational
speed
approx.30r/min
at Servo-ON at Servo-OFF
t1 *1
t1 *1
engaged
(OFF)
46
In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the
work (moving load) from falling by gravity while the power to the ser vo is shut off.
<Caution>
<Notes, Cautions>
1. The brake coil has no polarity.
2. Po w er supply for the brak e to be provided by customer. Do not co-use the power supply for the brake and
for the control signals (VDC).
3. Install a surge absorber as the above Fig. shows to suppress surge voltage generated by ON/OFF action
of the relay (RY). When you use a diode, note that the time from the brake release to brake engagement
is slower than that of the case of using a surge absorber.
4. For a surge absorber, refer to P.323, "Recommended Components"of Supplement.
5. Recommended components are specified to measure the brake releasing time.
Reactance of the cable varies depending on the cable length, and it might generate surge voltage.
Select a surge absorber so that relay coil voltage (max. rating : 30V, 50mA) and terminal voltage may not
exceed the rating.
Output Timing of BRK-OFF Signal
• For the brake release timing at power-on, or braking timing at Servo-OFF/Servo-Alarm while the motor is
in motion, refer to P.42 , "Timing Chart".
• With the parameter, Pr6B (Setup of mechanical brake action while the motor is in motion), you can set up
a time between when the motor enters to a free-run from energized status and when BRK-OFF signal
turns off (brake will be engaged), when the Servo-OFF or alarm occurs while the motor is in motion.
<Notes>
1. The lining sound of the brake (chattering and etc.) might be generated while running the motor with built-
in brake, however this does not affect any functionality.
2. Magnetic flux might be generated through the motor shaft while the brake coil is energized (brake is
open). Pay an extra attention when magnetic sensors are used nearby the motor.
Connecting Example
The following shows the example when the brake is controlled by using the brake release output signal
(BRK-OFF) of the driver.
Driver Surge absorber
Relays to be shut off
at emergency stop
Motor
Brake coil
BRK-OFF+
11
10
41
RY
BRK-OFF–
VDC
RY
12 to 24V
Power supply
for brake
DC24V
COM–
CN X5
Fuse
(5A)
Built-in Holding Brake
Use this built-in brake for "Holding" purpose only, that is to hold the stalling status.
Never use this for "Brake" purpose to stop the load in motion.
47
[Preparation]
Preparation
Specifications of Built-in Holding Brake
• Excitation voltage is DC24±10%.
• * Values represent the ones with DC-cutoff using a surge absorber for holding brake.
Values in ( ) represent those measured by using a diode (V03C by Renesas Technology Corp.)
• Above values (except static friction torque, releasing voltage and excitation current) represent typical
values.
• Backlash of the built-in holding brake is kept ±1˚ or smaller at ex-factory point.
• Permissible angular acceleration : 30000rad/s2 for MAMA series
10000rad/s2 for MSMD, MQMA, MSMA, MDMA, MHMA, MFMA and
MGMA series
• Service life of the number of acceleration/deceleration with the above permissible angular acceleration is
more than 10 million times.
(Life end is defined as when the brake backlash drastically changes.)
4.9
44.1
147
44.1
147
196
490
2156
780
1470
2156
2450
2940
784
1470
2940
784
2940
1470
2156
1470
2940
39.2
137
196
137
196
392
1470
588
1176
1470
1078
1372
588
1176
1372
588
1372
1470
1176
1372
DC2V
or more
DC1V
or more
DC2V
or more
0.25
0.30
0.35
0.29
0.41
0.74
0.81
0.90
0.59
0.79
0.90
1.10
1.30
0.59
0.79
1.30
0.59
0.83
0.75
0.79
1.3
1.4
10 or less
20 or less
15 or less
15 or less
(100)
50 or less
(130)
70 or less
(200)
50 or less
(130)
35 or less
(150)
25 or less
(200)
70 or less
(200)
50 or less
(130)
25 or less
(200)
70 or less
(200)
35 or less
(150)
100 or less
(450)
50 or less
(130)
25 or less
(200)
50 or less
(130)
MSMD
MAMA
MQMA
MSMA
MDMA
MHMA
MFMA
MGMA
50W, 100W
200W, 400W
750W
100W
200W, 400W
1.0kW
1.5kW, 2.0kW
3.0kW
4.0kW, 5.0kW
1.0kW
1.5kW, 2.0kW
3.0kW
4.0kW
5.0kW
500W, 1.0kW
1.5kW
2.0kW to 5.0kW
400W
1.5kW
2.5kW
4.5kW
900W
2.0kW
3.0kW, 4.5kW
0.29 or more
1.27 or more
2.45 or more
0.29 or more
1.27 or more
4.9 or more
7.8 or more
11.8 or more
16.1 or more
4.9 or more
13.7 or more
16.1 or more
21.5 or more
24.5 or more
4.9 or more
13.7 or more
24.5 or more
4.9 or more
7.8 or more
21.6 or more
31.4 or more
13.7 or more
24.5 or more
58.8 or more
0.002
0.018
0.075
0.03
0.09
0.25
0.33
1.35
1.35
4.25
4.7
1.35
4.7
1.35
4.7
8.75
1.35
4.7
35 or less
50 or less
70 or less
50 or less
60 or less
50 or less
80 or less
110 or less
80 or less
100 or less
110 or less
90 or less
80 or less
100 or less
80 or less
150 or less
100 or less
80 or less
150 or less
Permissible
total work
x 103J
Permissible
work (J) per
one braking
Releasing
voltage
Exciting
current DC A
(at cool-off)
Releasing
time
ms*
Engaging
time
ms
Rotor inertia
X10–4
kg
•
m2
Static friction
torque
N
•
m
Motor
output
Motor
series
48
This driver is equipped with a dynamic brake for emergency stop.
Pay a special attention to the followings.
<Caution>
1. Dynamic brake is only for emergency stop.
D B
D B
Free-run
Free-run
D B
D B
Free-run
Free-run
D B
Free-run
Free-run
D B
D B
Clear
Clear
Clear
Clear
Hold
Hold
Hold
Hold
Free-run
Free-run
Emergency stop
Clear
D B
Emergency stop
Clear
Free-run
D B
0
Setup value of Pr67
1
2
3
4
5
6
7
8
9
Sequence at main
power-off (Pr67) Driving condition
during deceleration
after stalling Contents of
deviation
counter
Dynamic Brake
2. Dynamic brake is a short-duration r ating, and designed for only emergency stop. Allow appro x. 3 minutes
pause when the dynamic brake is activated during high-speed running.
(Over-current protection (error code No. 14) may be activated when the dynamic brake circuit inside the
F-frame amplifier has overheated.)
•You can activate the dynamic brake in the following cases.
1) When the main power is turned off
2) At Servo-OFF
3) When one of the protective function is activated.
4) When over-travel inhibit input (CWL, CCWL) of CN X5 is activated
In the above cases from 1) to 4), you can select either activation of the dynamic brake or making the
motor free-run during deceleration or after the stop, with parameter.
Note that when the control power is off, the dynamic brake will be kept activated.
1) Setup of driving condition from deceleration to after stop by main power-off (Pr67)
The motor becomes a dynamo when driven externally, and shorting current runs
while this dynamic brake is activated and might cause smoking or fire.
Do not start/stop the motor by turning on/off the Servo-ON signal (SRV-ON).
Or it may damage the dynamic brake circuit of the driver.
Torque limit value at emergency stop will be that of Pr6E (Setup of torque at emergency stop)
when the setup value is 8 or 9.
49
[Preparation]
Preparation
4) Setup of driving condition from deceleration to after stop by validation of over-travel inhibit
input (Pr66)
D B
D B
Free-run
Free-run
D B
Free-run
Free-run
D B
Hold
Hold
Hold
Hold
0
1
2
3
Setup value of Pr68
Sequence at main
Servo-OFF (Pr68) Contents of
deviation
counter
Driving condition
During deceleration
after stalling
DB Hold
Hold
0
Setup value of Pr66
1
2
Sequence at over-travel
inhibit input (Pr66)
Contents of
deviation
counter
Driving condition
During deceleration
After stalling
Emergency stop
clear
Torque command to
inhibited direction is 0
Torque command to
inhibited direction is 0
Torque command to
inhibited direction is 0
Torque command to
inhibited direction is 0
2) Setup of driving condition from deceleration to after stop by Servo-OFF (Pr69)
3) Setup of driving condition from deceleration to after stop by activation of protective func-
tion (Pr68)
D B
D B
Free-run
Free-run
D B
D B
Free-run
Free-run
D B
Free-run
Free-run
D B
D B
Clear
Clear
Clear
Clear
Hold
Hold
Hold
Hold
Free-run
Free-run
D B
0
Setup value of Pr69
1
2
3
4
5
6
7
Sequence at main
Servo-OFF (Pr69) Contents of
deviation
counter
Driving condition
During deceleration
after stalling
Emergency stop
Clear
D B
Emergency stop
Clear
Free-run
8
9
Torque limit value at emergency stop will be that of Pr6E (Setup of torque at emergency stop)
when the setup value is 8 or 9.
Torque limit value during deceleration will be that of Pr6E (Setup of torque at emergency stop)
when the setup value is 2.
Changes will be validated after the control power is turned on.
Deviation counter at activation of protective function will be cleared at alarm-clear.
50
• In homing action by using the host controller, stop position might not be stabilized if the origin input (Z-
phase of the encoder) is entered while the motor is not decelerated enough after the proximity input is
turned on. Set up the ON-positions of proximity input and the position of origin point, considering the
necessary pulse counts for deceler ation. Tak e the positioning action and homing action into account when
you set put acceleration/deceleration time with parameter, since this affect these action as well.
For the details of homing, observe the instruction manual of the host controller.
Example of Homing Action
Proximity dog on... .Decelerates at an entry of the proximity input, and stops at an entry of the first origin
input (Z-phase)
Proximity dog off... .Decelerates at an entry of the proximity input, and stops at an entry of the first origin
input (Z-phase) after the input is tuned off
proximity input
origin input
proximity dog
encoder Z-phase
speed
proximity input
origin input
proximity dog
speed
encoder Z-phase
Caution on Homing Operation
51
[Preparation]
Preparation
Outline of Parameter
This driver is equipped with various parameters to set up its characteristics and functions. This section
describes the function and pur pose of each parameter. Read and comprehend very well so that you can
adjust this driver in optimum condition for your running requirements.
How to Set
• You can refer and set up the parameter with either one of the following.
1) Front panel of the driver
2) Combination of the setup suppor t software, "PANATERM®" (Option, DV0P4460: English/Japanese
version) and PC.
3) Console (DV0P4420, option)
<Note>
For setup of the parameters on PC screen, refer to the instruction manual of the "PANATERM®".
How to Connect
Setup of Parameter and Mode
<Remarks>
• Connect the console connector to the connector, CN X4 of the driver securely.
• Do not pull the cable to insert/unplug.
MODE
SHIFT
SET
S
M
RS232 connection cable (option)
• DV0P1960 (for DOS/V machines)
Connect to CN X4
Connect to CN X4
Console
• DV0P4420
Setup disc of setup support software,
“PANATERM
®”
• DV0P4460 :
English/Japanese version (option)
52
Setup of Parameter and Mode
Composition and List of Parameters
For details, refer to "Parameter Setup" of each control mode.
• In this document, following symbols represent each mode.
*When you select the combination mode of 3, 4 or 5, you can select either 1st or 2nd with control
mode switching input (C-MODE).
When C-MODE is open : 1st mode selection
When C-Mode is closed : 2nd mode selection
Do not enter the command 10ms before/after the switching.
Group Outline
Parameter No.
(Pr )
Functional selection
Adjustment
Position (Step)
Control
Velocity Control,
Torque Control
Sequence
Full-Closed Control
00 to 0F
10 to 1F,
27 to 2E
20 to 26, 2F
30 to 3F
40 to 4F
50 to 5A,
74 to 77
5B to 5F
60 to 6F
70 to 73
78 to 7F
You can select a control mode, designate I/O signals and set up a baud
rate.
You can set up servo gains (1st and 2nd) of position, velocity,
integration, etc, and time constants of various filters.
Parameters related to Real Time Auto-Gain Tuning. You can set up a
mode and select a mechanical stiffness.
You can set up parameters related to gain switching(1st 2nd)
You can set up an input form, directional selection of command pulses,
dividing of encoder output pulse and set up a division multiplier ratio of
command pulse.
You can set up an input gain of command pulse, reverse polarity and
adjust offset. You can also set up internal speeds (1 to 8th speed),
acceleration/deceleration time.
You can set an input gain, reverse polarity and set up a torque limit of
torque command.
You can set up detecting conditions of output signals, such as
positioning-complete and zero-speed.
You can also set up a deceleration/stop action at main power-off, at
alarm output and at servo-off, and clear condition of the deviation
counter.
You can set up actions of protective functions.
You can set up dividing of external scale.
P
S
T
F
Symbol
0
1
2
6
Setup
value
of Pr02
Position control
Velocity control
Torque control
Full-Closed control
Control mode
P/S
P/T
S/T
Symbol
3*
4*
5*
Setup
value
of Pr02
Position (1st)/Velocity (2nd) control
Position (1st)/Torque (2nd) control
Velocity (1st)/Torque (2nd) control
Control mode
53
[Preparation]
Preparation
Parameters for Adjustment of Time Constant for Gains and Filters
Parameters for Functional Selection
• For parameters which default values are parenthesized by "< >", default value varies automatically by the
real-time auto-gain tuning function. Set up Pr21 (Setup of Real-time auto-gain tuning mode) to 0 (invalid)
when you want to adjust manually.
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
00 *1
01 *1
02 *1
03
04 *1
05
06
07
08
09
0A
0B *1
0C *1
0D *1
0E *1
0F
0 to 15
0 to 17
0 to 6
0 to 3
0 to 2
0 to 3
0 to 2
0 to 9
0 to 12
0 to 8
0 to 8
0 to 2
0 to 5
0 to 5
0 to 1
–
1
1
1
1
1
0
0
3
0
0
1
1
2
2
0
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
all
all
all
P, S, F
all
S
S, T
all
all
all
all
all
all
all
all
–
Address of axis
Initial display of LED
Setup of control mode
Selection of torque limit
Setup of over-travel inhibit input
Switching of Internal/External speed setup
Selection of ZEROSPD input
Selection of speed monitor (SP)
Selection of torque monitor (IM)
Selection of TLO output
Selection of ZSP output
Setup of absolute encoder
Baud rate setup of RS232
Baud rate setup of RS485
Setup of front panel lock
(For manufacturer's use)
Set up of parameter Range Unit Related Control Mode
Parameter No.
(Pr ) Default
Set up of parameter Range Unit Related Control Mode
Parameter No.
(Pr ) Default
10
11
12
13
14
15
16
17
18
19
1A
1B
1C
1D
1E
1F
27
28
29
2A
2B
2C
2D
2E
0 to 3000
1 to 3500
1 to 1000
0 to 5
0 to 2500
–2000 to 2000
0 to 6400
–
0 to 3000
1 to 3500
1 to 1000
0 to 5
0 to 2500
100 to 1500
0 to 4
–
0 to 1
100 to 1500
0 to 4
0 to 99
0 to 2000
–200 to 2000
0 to 2000
–200 to 2000
<63><32>
<35><18>
<16><31>
<0>
<
65>
<
126>
<300>
<50>
–
<
73><38>
<35><18>
<1000>
<0>
<
65>
<
126>
1500
2
–
<0>
1500
2
0
0
0
0
0
1/s
Hz
ms
–
0.01ms
0.1%
0.01ms
–
1/s
Hz
ms
–
0.01ms
Hz
–
–
–
Hz
–
–
0.1Hz
–
0.1Hz
–
P, F
all
all
all
all
P, F
P, F
–
P, F
all
all
all
all
all
all
–
P, S
all
all
all
P, F
P, F
P, F
P, F
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of velocity detection
1st time constant of torque filter
Velocity feed forward
Time constant of feed forward filter
(For manufacturer's use)
2nd gain of position loop
2nd gain of velocity loop
2nd Time constant of velocity loop integration
2nd filter of velocity detection
2nd torque filter time constant
1st notch frequency
Selection of 1st notch width
(For manufacturer's use)
Setup of instantaneous velocity observer
2nd notch frequency
Selection of 2nd notch width
Selection of 2nd notch depth
1st damping frequency
Setup of 1st damping filter
2nd damping frequency
Setup of 2nd damping filter
A to C-frame D to F-frame
54
Setup of Parameter and Mode
Parameters for Auto-Gain Tuning
Parameters for Adjustment (2nd Gain Switching Function)
* In this documentation, each mode is represented by the following symbols
P : Position control, S : Velocity control, T : Torque control, F : Full-closed control, P/S : Position (1st),/
Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control, S/T : Velocity (1st)/Torque (2nd) control
• For parameters which default values are parenthesized by "< >", default value varies automatically by the
real-time auto-gain tuning function. Set up Pr21 (Setup of Real-time auto-gain tuning mode) to 0 (invalid)
when you want to adjust manually.
Set up of parameter Range Unit Related Control Mode
Parameter No.
(Pr ) Default
A to C-frame D to F-frame
20
21
22
23
24
25
26
2F *3
0 to 10000
0 to 7
0 to 15
0 to 2
0 to 2
0 to 7
0 to 1000
0 to 64
<250>
1
4 1
1
0
0
10
0
%
–
–
–
–
–
0.1rev
–
All
All
All
P, S, F
P, F
All
P, F
P, S, F
Inertia ratio
Setup of real-time auto-gain tuning mode
Mechanical stiffness at real-time auto-gain tuning
Setup of adaptive filter mode
Selection of damping filter switching
Setup of action at normal mode auto-gain tuning
Setup of software limit
Adaptive filter frequency
Set up of parameter Range Unit Related Control Mode
Parameter No.
(Pr ) Default
30
31
32
33
34
35
36
37
38
39
3A
3B
3C
3D
3E
3F
0 to 1
0 to 10
0 to 10000
0 to 20000
0 to 20000
0 to 10000
0 to 5
0 to 10000
0 to 20000
0 to 20000
–
–
–
0 to 500
–
–
<1>
<0>
<30>
<50>
<33>
<20>
<0>
0
0
0
–
–
–
300
–
–
–
–
166µS
–
–
–
166µS
–
–
–
–
–
r/min
–
–
All
All
All
All
All
P, F
S, T
S, T
S, T
S, T
–
–
–
All
–
–
Setup of 2nd gain
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
Time for position gain switching
2nd mode of control switching
2nd delay time of control switching
2nd level of control switching
2nd hysteresis of control switching
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
Setup of JOG speed
(For manufacturer's use)
(For manufacturer's use)
(1+setup value)
x 166µs
*3 this parameter will be automatically set up when the adaptive filter is validated (Pr23, “Setup of adaptive
filter mode” is “1”, and you cannot set this up at your discretion. Set up Pr23, “Setup of adaptive filter
mode” to “0” (invalid) to clear this parameter.
55
[Preparation]
Preparation
Parameters for Position Control
Parameters for Velocity/Torque control
*2 Defaults of Pr5E and Pr5F vary depending on the combination of the driver and the motor.
Refer to P.57, "Setup of Torque Limit".
Set up of parameter Range Unit Related Control Mode
Parameter No.
(Pr ) Default
40*1
41*1
42*1
43
44*1
45*1
46*1
47*1
48
49
4A
4B
4C
4D*1
4E
4F
0 to 1
0 to 1
0 to 3
0 to 1
1 to 32767
0 to 32767
0 to 3
0 to 32767
0 to 10000
0 to 10000
0 to 17
1 to 10000
0 to 7
0 to 31
0 to 2
–
0
0
1
1
2500
0
0
0
0
0
0
10000
1
0
1
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
P, F
P, F
P, F
P, F
all
all
all
F
P, F
P, F
P, F
P, F
P, F
P, F
P, F
–
Selection of command pulse input
setup of rotational direction of command pulse
setup of command pulse input mode
Canceling of command pulse prohibition input
Numerator of pulse output division
Denominator of pulse output division
Logic reversal of pulse output
Setup of Z-phase of external scale
1st numerator of electronic gear
2nd numerator of electronic gear
Multiplier for numerator of electronic gear
Denominator of electronic gear
Setup of smoothing filter for primary delay
Setup of FIR smoothing
Counter clear input mode
(For manufacturer's use)
Set up of parameter Range Unit Related Control Mode
Parameter No.
(Pr ) Default
50
51
52
53
54
55
56
74
75
76
77
57
10 to 2000
0 to 1
–2047 to 2047
–20000 to 20000
–20000 to 20000
–20000 to 20000
–20000 to 20000
–20000 to 20000
–20000 to 20000
–20000 to 20000
–20000 to 20000
0 to 6400
500
1
0
0
0
0
0
0
0
0
0
0
(r/min)/V
–
0.3mV
r/min
r/min
r/min
r/min
r/min
r/min
r/min
r/min
0.01ms
S, T
S
S, T
S
S
S
S, T
S
S
S
S
S, T
Input gain of speed command
Input reversal of speed command
Offset of speed command
1st speed of speed setup
2nd speed of speed setup
3rd speed of speed setup
4th speed of speed setup
5th speed of speed setup
6th speed of speed setup
7th speed of speed setup
8th speed of speed setup
Setup of speed command filter
Setup of acceleration time
Setup of deceleration time
Setup of sigmoid acceleration/deceleration time
Selection of torque command
Input gain of torque command
Input reversal of torque command
Setup of 1st torque limit
Setup of 2nd torque limit
58
59
5A
5B
5C
5D
5E
5F
0 to 5000
0 to 5000
0 to 500
0 to 1
10 to 100
0 to 1
0 to 500
0 to 500
0
0
0
0
30
0
<500>*2
<500>*2
2ms/(1000r/min)
2ms/(1000r/min)
2ms
–
0.1V/rated torque
–
%
%
S
S
S
T
T
T
all
P, S, F
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
56
Setup of Parameter and Mode
Set up of parameter Range Unit Related Control Mode
Parameter No.
(Pr ) Default
60
61
62
63
64
65
66*1
67
68
69
6A
6B
6C*1
6D*1
6E
6F
70
71
72
73
0 to 32767
10 to 20000
10 to 20000
0 to 3
–
0 to 1
0 to 2
0 to 9
0 to 3
0 to 9
0 to 100
0 to 100
0 to 3
35 to 1000
0 to 500
–
0 to 32767
0 to 100
0 to 500
0 to 20000
131
50
1000
0
–
1
0
0
0
0
0
0
35
0
–
25000
0
0
0
Pulse
r/min
r/min
–
–
–
–
–
–
–
2ms
2ms
–
2ms
%
–
256Pulse
0.1V
%
r/min
P, F
all
S, T
P, F
–
all
all
all
all
all
all
all
all
all
all
–
P, F
S, T
all
all
In-position (positioning complete) range
Zero speed
At-speed (arrived speed)
Setup of in-position output
(For manufacturer's use)
Selection of LV-trip at main power off
Sequence at run-prohibition
Sequence at main power off
Sequence at alarm
Sequence at servo-off
Setup of mechanical brake action at stall
Setup of mechanical brake action in motion
Selection of external regenerative resister
Detection time of main power shut-off
Setup to torque at emergency stop
(For manufacturer's use)
Excess setup of positional deviation
Excess setup of analog input
Setup of over-load level
Setup of over-speed level
A, B-frame : 3,
C,D,E-frame : 0
Parameters for Sequence
Parameters for Full-Closed Control
Set up of parameter Range Unit Related Control Mode
Parameter No.
(Pr ) Default
78*1
79*1
7A*1
7B*1
7C*1
7D
7E
7F
0 to 32767
0 to 17
1 to 32767
1 to 10000
0 to 1
–
–
–
–
–
–
–
–
–
–
F
F
F
F
F
–
–
–
Numerator of external scale division
Numerator multiplier of external scale division
Denominator of external scale division
Excess setup of hybrid deviation
Reversal of direction of external scale
(For manufacturer's use)
(For manufacturer's use)
(For manufacturer's use)
0
0
10000
100
0
–
–
–
16X external
scale pulses
• For parameters with suffix of "*1", change will be validated after the reset of the control power.
* In this documentation, each mode is represented by the following symbols
P : Position control, S : Velocity control, T : Torque control, F : Full-closed control, P/S : Position (1st),/
Velocity (2nd) control, P/T : Position (1st)/Torque (2nd) control, S/T : Velocity (1st)/Torque (2nd) control
57
[Preparation]
Preparation
Setup of Torque Limit
Torque limit setup range is 0 to 300 and default is 300 except the combinations of the motor and the driver
listed in the table below.
Model No.
Frame
Applicable motor
500
500
500
500
500
500
255
255
A-
frame
B-
frame
C-
frame
MAMA012P1*
MAMA012S1*
MAMA022P1*
MAMA022S1*
MAMA042P1*
MAMA042S1*
MHMA052P1*
MHMA052S1*
MADDT1207
MBDDT2210
MCDDT3520
Model No.
Frame
Applicable motor
225
225
500
500
230
230
235
235
255
255
D-
frame
F-
frame
MGMA092P1*
MGMA092S1*
MAMA082P1*
MAMA082S1*
MGMA202P1*
MGMA202S1*
MGMA302P1*
MGMA302S1*
MGMA452P1*
MGMA452S1*
MDDDT5540
MFDDTA390
MFDDTB3A2
Max. value of
torque limit
Max. value of
torque limit
• The abov e limit applies to Pr5E, 1st torque limit setup, Pr5F, 2nd torque limit setup and Pr6E, Torque setup
at emergency stop.
<Caution>
When you change the motor model, above max. value may change as well. Check and reset the setup
values of Pr5E, Pr5F and Pr6E.
Cautions on Replacing the Motor
As stated above, torque limit setup range might change when you replace the combination of the motor and
the driver. Pay attention to the followings.
1.When the motor torque is limited,
When you replace the motor series or to the different wattage motor, you need to reset the torque limit
setup because the rated toque of the motor is different from the previous motor. (see e.g.1)
2.When you want to obtain the max. motor torque,
You need to reset the torque limiting setup to the upper limit, because the upper limit value might be
different from the previous motor. (see e.g.2)
e.g.1)
Pr5E Setup range : 0 to 300%
Setup value : 100%.
before replacing the motor
Rated torque
0.64N
•
mRated torque
0.19N
•
m
MADDT1207
MSMD022P1A
Pr5E Setup range :
Change to 0 to 500%.
Setup value : Keep 100%.
after replacing the motor
MADDT1207
MAMA012P1A
Torque limit value
0.19N
•
m
0.19N
•
m x 100% =
Torque limit value
0.64N
•
m
0.64N
•
m x 100% =
Set up Pr5E to 337 to
make torque limit value
to 0.64N
•
m
(0.19N
•
m x 337% = 0.64N
•
m)
e.g.2)
before replacing the motor
MADDT1207 MADDT1207
MSMD022P1A MAMA012P1A
after replacing the motor
Pr5E Setup range : 0 to 300%
Setup value : 300%. Pr5E Setup range :
change to 0 to 500%
Setup value : Keep 300%.
Rated torque
0.19N
•
m
Set up Pr5E to 500 to obtain
the max. output torque.
58
How to Use the Front Panel and Console
Setup with the Front Panel
Composition of Touch Panel and Display
Mode switching button (valid at SELECTION display)
Press this to switch 5 kinds of mode.
1) Monitor Mode
2) Parameter Set up Mode
3) EEPROM Write Mode
4) Auto-Gain Tuning Mode
5) Auxiliary Function Mode
Display LED (6-digit)
All of LED will flash when error occurs,
and switch to error display screen.
All of LED will flash slowly when warning occurs.
Shifting of the digit for data changing to higher digit.
(Valid to the digit whose decimal point flashes.)
Press these to change display and data, select
parameters and execute actions.
(Change/Selection/Execution is valid to the digit
which decimal point flashes.)
Numerical value increases by pressing , ,
decreases by pressing .
SET Button (valid at any time)
Press this to switch SELECTION and
EXECUTTION display.
Setup with the Console
Composition of Touch Panel and Display
Display LED (6-digit)
All of LED will flash when error occurs, and switch to
error display screen.
Displays ID No. (address) of selected driver (in 2 digits).
The value set in Pr00(address) is ID No. Parameter No.
is displayed (2 digits) at parameter setup mode.
Press this to shift the digit for data change.
Press these to change data or execute selected action
of parameter.
Numerical value increases by pressing , ,
decreases by pressing .
SET Button
Press this to shift each mode which is selected by
mode switching button to EXECUTION display.
Mode Switching Button Press this to switch 6 kinds of mode.
1) Monitor mode 4) Normal auto-gain tuning mode
2) Parameter setup mode 5) Auxiliary function mode
3) EEPROM write mode 6) Copy mode
59
[Preparation]
Preparation
Initial Status of the Front Panel Display (7 Segment LED)
Front panel display shows the following after tur ning on the power of the driver.
approx. 2 sec
approx. 0.6 sec
approx. 0.6 sec
...Initial display of LED (Determined by the setup of
Parameter, Pr01 "Initial status of LED".)
•
Release of RS232 communication error
When RS232 communication error occurs
as the Fig, below shows, release it by
pressing and at the same time.
• Release of RS485 communication error
When RS485 communication error occurs as
the Fig, below shows, release it by pressing
and at the same time.
(Displays the version No. of this product.)
Press
(Displays the version No. of this product.)
(ID of the selected driver)
(ID of the selected driver)
Dot flashes when RS485 is connected.
Set up ID of the connecting Driver
with and .
(approx.0.6sec)
When ID No. of the driver is other than "0"
•
In case of communication with RS232 only
• In case of communication with other drivers
which are connected via RS485
When ID No. of the driver is "0"
1 sec
approx. 0.6 sec approx. 0.6 sec approx. 0.6 sec
[flashes for approx. 0.6 sec each for initialization of the console]
Displays version No.
of micro computer of
the console. (
Displayed
figures vary
depending on
the version)
Displays ID No. of the
Driver. (data of Para-
meter, Pr00)
Initial display of LED
(Determined by the
setup of Parameter
Pr01, "Initial Status of
LED".)
Initial Status of LED
Initial Status of the Console Display (7 Segment LED)
Turn on the pow er of the driver while inserting the console connector to the driv er main body, or inserting the
console connector to CN X4 connector.
60
How to Use the Front Panel and Console
Structure of Each Mode
Use each button on the touch panel to select the structure and switch the mode.
Initial status of the Console LED
SELECTION display
Monitor
mode
Parameter
set up mode
EEPROM
writing mode
(Mode switching button)
(Mode switching button)
(Mode switching button)
(Mode switching button)
(Mode switching button)
[Console only]
(Front panel)
(Mode switching button)
(SET button)
<Note>
You can change the flashing
decimal point with , then shift
the digit for data change
“ ”
Auto-gain
tuning mode
Auxiliary
function mode
Copy
function
61
[Preparation]
Preparation
......P.69
• For details of parameters, refer to
"Parameter setup" of each mode.
......P.63
......P.70
......P.71
......P.79
• Copying of parameters from the driver
to the console
......P.77
• Clear of absolute encoder
......P.74
• Auto-offset adjustment (front panel only)
......P.73
•
Alarm clear
......P.75
• Trial run (JOG)
......P.78
• Clear of external scale error
(front panel only)
......P.80
• Copying of parameters from the console
to the driver
EXECUTION display
(SET button)
(SET button)
(SET button)
(SET button)
(SET button)
(SET button)
62
How to Use the Front Panel and Console
How to Set
After the writing completes, return to SELECTION display by referring to
"Structure of each mode" (P.60 and 61).
1) Insert the console connector to
CN X6 of the driver, and turn on
the power of the driver.
Parameter setup
2) Press .
3) Press .
4) Select the required parameters
with and .
5) Press .
6) Change the value with ,
and .
7) Press .
EEPROM writing
8) Press .
9) Press .
10
) Keep pressing (for approx.5
sec), then the bars increases as
the right Fig. shows.
Writing starts.
(displays for only a moment)
Writing finishes
Writing completes Writing error occurs.
<Remarks>
• will be displayed when you change the parameter setup which change will be validated only
after the reset. Turn off the power of the driver, then reset it.
• When writing error occurs, repeat the writing. If the writing error persists, the console might be a failure.
• Do not shut down the power during EEPROM writing, otherwise wrong data might be written.
In such case, set up all parameters again to write them again after full confirmation.
• Do not disconnect the console connector from the driver between and . If the connector
is disconnected, insert the connector and repeat the procedure from the beginning.
63
[Preparation]
Preparation
(
SET button
)
(Mode switch button)
To Parameter Setup Mode
When you turn on the Product for the first time, display shows . (at motor stall) To change this display,
change the setup of Pr01 (Initial status of LED). (For details, refer to Parameter Setup of each control mode.)
EXECUTION displaySELECTION display
Positional deviation
Motor rotational speed
Torque output
Control mode
I/O signal status
Error factor, history
Software version
Alarm
Regenerative
load factor
Overload factor
Inertia ratio
Feedback pulse sum
Command pulse sum
External scale
deviation
External scale
feedback pulse sum
Automatic motor
recognizing function
(5 deviation pulses)
(1000r/min)
(Torque output 100%)
(Position control mode)
(Input signal No.0 : Active)
(No error currently)
(Software version of 0.23)
(No alarm)
(30% of permissible
regenerative power)
(28% of overload factor)
(Inertia ratio 100%)
(Feedback pulse sum is
50 pulses.)
(Command pulse sum is
10 pulses.)
(External scale deviation is
5 pulses.)
External scale feedback
pulse sum is 500 pulses.
(Automatic motor recognizing
function is validated.)
(RS232 communication)
(SPR input +10.00V)
(No Servo-ON input)
P.64
P.64
P.64
P.64
P.64
P.65
P.66
P.66
P.66
P.66
P.66
P.66
P.66
P.66
P.67
P.67
P.67
P.67
P.68
Display shifts toward the arrowed direction by
pressing and reversed direction by pressing .
Analog input
value
Factor for
No-Motor
Running
[Front panel]
[Console]
Selection of
communication
P.69
Display
example Description Pages to
refer
Monitor Mode
64
How to Use the Front Panel and Console
Display of Position Deviation, Motor Rotational Speed and Torque Output
Display of Control Mode
..........Positional deviation (cumulative pulse counts of deviation counter)
• – display : generates rotational torque of CW direction (viewed from shaft end)
no display : generates rotational torque of CCW direction (viewed from shaft end)
..........Rotational speed of the motor unit [r/min]
• – display : CW rotation, no display : CCW rotation
..........Torque command unit [%] (100 for rated torque)
• – display : CW rotation, no display : CCW rotation
Data
<Note>
“
+
”
is not displayed on LED, but only
“
-
”
appears.
.....Position control mode
.....Velocity control mode
.....Torque control mode
.....Full-closed control mode
Display of I/O Signal Status
Displays the control input and output signal to be connected to CN X5 connector.
Use this function to check if the wiring is correct or not.
.....Input signal
.....Output signal
(Lowest place
No. of input
signal)
(Highest place
No. of input
signal)
(Lowest place
No. of output
signal)
(Highest place
No. of output
signal)
Signal No.
(Hexadecimal number, 0-1F)
.....Active
(This signal is valid)
.....Inactive
(This signal is invalid)
Select the signal No. to be monitored by pressing .
Transition when
pressing .
<Note>
• Shift the flashing decimal point with . • The other way to change signal No. at I/O
selection modeSignal selection mode.
(Right side of decimal point :
Signal selection mode)
(Left side of decimal point :
Input/Output selection mode)
65
[Preparation]
Preparation
• Signal No. and its title
0
1
2
3
4
5
6
8
9
A
C
D
13
14
15
Servo-ON
Alarm clear
CW over-travel inhibit
CCW over-travel inhibit
Control mode switching
Speed-Zero clamp
Switching of electronic gear
Command pulse input inhibition
Gain switching
Deviation counter clear
Selection 1 of Internal command speed
Selection 2 of Internal command speed
Damping control switching input
Selection 3 of internal command speed
Torque limit switching input
SRV-ON
A-CLR
CWL
CCWL
C-MODE
ZEROSPD
DIV
INH
GAIN
CL
INTSPD1
INTSPD2
VS-SEL
INTSPD3
TL-SEL
Signal
No.
29
31
8
9
32
26
28
33
27
30
33
30
26
28
27
Pin No.
Title
Input signal Symbol 0
1
2
3
4
5
6
9
A
Servo-Ready
Servo-Alarm
Positioning complete (In-position)
Release of external brake
Zero-speed detection
Torque in-limit
In-speed(Speed coincidence)
At-speed(Speed arrival)
Full-closed positioning complete
S-RDY
ALM
COIN
BRK-OFF
ZSP
TLC
V-COIN
COIN
EX-COIN
35/34
37/36
39/38
11/10
12
40
12/40
39/38
39/38
Pin No.
Title
Input signal Symbol
Signal
No.
Reference of Error Factor and History
........Present error
........History 0 (latest error)
........History 13 (oldest error)
Error code No.
( appears if
no error occurs)
• You can refer the last 14 error factors (including present one)
Press to select the factor to be referred.
<Note>
• Following errors are not included in the history.
11:Under-voltage protection for control power
13:Under-voltage protection for main power
36:EEPROM parameter error protection
37:EEPROM check code error protection
38:Ocer-travel inhibition input protection
95:Automatic motor recognition error protection
• When one of the errors which are listed in error history occurs,
this error and history o shows the same error No.
• When error occurs, the display flashes.
•Error code No. and its content
11
12
13
14
15
16
18
21
23
24
25
26
27
28
29
34
35
36
37
38
Under-voltage protection for control power
Over-voltage protection
Under-voltage protection for main power
Over-current protection
Overheat protection
Overload protection
Over-regenerative load protection
Encoder communication error protection
Encoder communication data error protection
Excess positional deviation protection
Excess hybrid deviation error protection
Over-speed protection
Command pulse multiplication error protection
External scale communication data error protection
Deviation counter overflow protection
Software limit protection
External scale communication data error protection
EEPROM parameter error protection
EEPROM parameter error protection
Run-inhibition input protection
Error code No.
Error content 39
40
41
42
44
45
47
48
49
50
51
52
53
54
55
65
66
95
others
Excess analog input error protection
Absolute system-down error protection
Absolute counter-over error protection
Absolute over-speed error protection
Absolute single-turn error protection
Absolute multi-turn error protection
Absolute status error protection
Encoder Z-phase error protection
Encoder CS signal error protection
External scale status 0 error protection
External scale status 1 error protection
External scale status 2 error protection
External scale status 3 error protection
External scale status 4 error protection
External scale status 5 error protection
Excess CCWTL input protection
Excess CWTL input protection
Automatic motor recognition error protection
Other error
Error code No.
Error content
66
How to Use the Front Panel and Console
Software V ersion
Alarm Display
Display of Regenerative Load Factor
Display of Over-load Factor
Displays the software version of the driver.
.......no alarm .......Alarm occurrence
• Over-regeneration alarm : Turns on when regenerative load reaches more than 85% of
alarm trigger level of regenerative load protection. Alarm trigger level is defined as 10% of
regenerative resister working ratio, when Pr6C "Selection of external regenerative resister " is 1.
• Overload alarm :
Turns on when the load reaches 85% or more of alarm trigger level of over-load protection.
• Battery alarm :
Turns on when battery voltage for absolute encoder falls to alarm level (approx.3.2V) or lower.
•
Cooling fan rotational speed error alarm
: Shows cooling fan rotational speed error.
• External scale alarm : Turns on when external scale temperature rises to more than 85˚C or
scale rigidity is not enough (adjustment is needed on mounting).
Display the ratio (%) against the alarm trigger level of regenerative protection.
This is valid when Pr6C (Selection of external regenerative resistor) is 0 or 1.
Displays the ratio (%) against the rated load.
Refer to P.258, "Overload Protection Time Characteristics" of When in Trouble.
Display of Inertia Ratio
Display of Feedback Pulse Sum, Command Pulse Sum and External Scale Feedback Pulse Sum
Displays the inertia ratio (%) .
Value of Pr20 (Inertia ratio) will be displayed as it is.
Total sum of pulses after control power-ON. Display overflows as the figures show.
[0-clear EXECUTION display]
CW CCW
00
9999999999 99999
0
By pressing for approx. 3 sec. or longer on either
one of screens of total sum of pulses display, you can
clear feedback total sum, command pulse total sum
or external scale feedback pulse total sum to
“
0
”
.
<Cautions>
• You can not clear the each date of [PANATERM
® ] and console to "0" with this operation.
• Since accumulation process of command pulse cannot be executed when the command pulse input
prohibition is validated, during normal auto-gain tuning and while measuring function to frequency
characteristics of [PANATERM
® ] is used, actual pulse input counts may differ from the displayed value
of command pulse total sum.
Keep pressing
to shift the “ ” as
the right fig. shows.
(
at control power-ON
)
67
[Preparation]
Preparation
External Scale Deviation
• Polarity (+) : CCW, (-) : CW
Limited by ± 999999.
Note) You can 0-clear the external scale deviation during
normal auto-gain tuning and motor trial run.
Automatic Motor Recognizing Function
Automatic recognition is valid.
Display of Analog Input Value (Front Panel Only)
(SPR analog input value, unit [V]) Displays the value after offset correction.
(CCWTL analog input value, unit [V])
(CWTL analog input value, unit [V])
Input signal
Note) Voltage exceeding ± 10V can not be displayed correctly.
Input voltage value [V]
•Select the signal No. to be monitored by pressings .
Switching of the Driver to be Communicated
RS232 communication
.........Displays the ID of the connected driver. ID cannot be switched.
RS485 communication
.........Select the ID of the driver to be operated by pressing .
Initial display of LED of the selected driver will appear by pressing .
will appear when you select the ID of not-selected driver .
68
How to Use the Front Panel and Console
Display of the Factor of No-Motor Running
Displays the factor of no-motor running in number.
.......Position control
....... Velocity control
.......Torque control
....... Full-closed control
Control mode
•Explanation of factor No.
Factor
No.
flashing
00
01
02
03
04
05
06
07
08
09
10
11
12
13
14
all
all
all
all
all
all
P,S,F
P,F
P,F
P,F
S,T
S
S
T
T
all
Occurrence of
error/alarm
No particular factor
Main power shutoff
No entry of
SRV-ON input
Over-travel
inhibition input
is valid
Torque limit setup
is small
Analog torque
limit input is valid.
INH input is valid.
Command pulse
input frequency
is low.
CL input is valid.
ZEROSPD input
is valid.
External speed
command is small.
Internal speed
command is 0.
Torque command
is small.
Speed limit is
small.
Other factor
<Note>
* Motor might run even though the other number than 0 is displayed.
Factor Content
Control
mode
Factor No.
An error is occurring, and an alarm is triggered.
No factor is detected for No-motor run.
The motor runs in normal case.
The main power of the driver is not turned on.
The Servo-ON input (SRV-ON) is not connected to COM–.
While Pr04 is 0 (Run-inhibition input is valid),
• CCW over-travel inhibition input (CCWL) is open and speed command is CCW direction.
• CW over-travel inhibition input (CWL) is open and speed command is CW direction.
Either one of the valid torque limit setup value of Pr5E (1st) or Pr5F (2nd) is set to 5% or
lower than the rating.
While Pr03 is 0 (analog torque limit input accepted),
• CCW analog torque limit input (CCWTL) is negative voltage and speed command is CCW
direction.
• CW analog torque limit input (CWTL) is positive voltage and speed command is CW
direction.
Pr43 is 0 (Command pulse inhibition input is valid.), and INH is open.
The position command per each control cycle is 1 pulse or smaller due to,
• No correct entry of command pulse
• No correct connection to the input selected with Pr40.
• No matching to input status selected with Pr41 pr Pr42.
While Pr4E is 0 (Deviation counter clear at level), the deviation counter clear input (CL) is
connected to COM–.
While Pr06 is 1 (Speed zero clamp is valid.), the speed zero clamp input (ZEROSPD) is
open.
While the analog speed command is selected, the analog speed command is smaller than
0.06[V].
While the internal speed command is selected, the internal speed command is set to lower
than 30 [r/min]
The analog torque command input (SPR or CCWTL) is smaller than 5 [%] of the rating.
• While Pr5B is 0 (speed is limited by 4th speed of internal speed), Pr56, (4th speed of
speed setup) is set to lower than 30 [r/min].
• While Pr5B is 1 (speed is limited by SPR input), the analog speed limit input (SPR) is
smaller than 0.06 [V].
The motor runs at 20 [r/min] or lower even though the factors from 1 to 13 are cleared,
(the command is small, the load is heavy, the motor lock or hitting, driver/motor fault etc.)
69
[Preparation]
Preparation
<Remarks>
After changing the parameter value and pressing , the content will be reflected in the control.
Do not extremely change the parameter value which change might affect the motor movement very much
(especially velocity loop or position loop gains).
Press or to select parameter No. to be referred/set.
Parameter No. (Hexadecimal No.)
<Note>
For parameters which place is displayed with “ ”, the content
changed and written to EEPROM becomes valid after turning off
the power once.
(2)
Press or to set up the value of parameter.
Value increases with decreases with .
(1) You can change the decimal point with ,
then shift the digit for data change.
Press to shift to arrowed direction.
Press to shift to reversed direction.
You can change the value which digit has a flashing decimal point.
Parameter value <Note>
Each parameter has a limit in number of
places for upper-shifting.
After setting up parameters, return to SELECT mode, referring to structure of each mode (P.60 and 61).
Press once after pressing from
initial status of LED to change the display to
Parameter setup mode,
Press to change to EXECUTION display of
Parameter Setup Mode
Operation at SELECTION display
Operation at EXECUTION display
70
How to Use the Front Panel and Console
EEPROM Writing Mode
EEPROM Writing
• When you change the parameters which contents become valid after resetting, will be
displayed after finishing wiring. Turn off the control power once to reset.
Note 1) When writing error occurs, make writing again. If the writing error repeats many times,
this might be a failure.
Note 2) Don't turn off the power during EEPROM writing. Incorrect data might be written.
If this happens, set up all of parameters again, and re-write after checking the data.
Starts writing.
Finishes writing
Writing completes Writing error
Starting from the initial LED status,
press two time after pressing ,
then brings the display of
EEPROM Writing Mode,
Keep pressing
until the display changes to when you execute writing.
“ ” increases while
keep pressing
(for approx. 5sec) as
the right fig. shows.
Press to make
EXECUTION DISPLAY to
Operation at SELECTION display
Operation at EXECUTION display
71
[Preparation]
Preparation
After setting up tuning, return to SELECT DISPLAY, referring to structure of each mode (P.60 and 61).
<Remarks>
Don't disconnect the console from the driver between and
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.
<Note> If the following status occurs during the tuning action, the tuning error occurs.
(1)
During the tuning action, 1) when an error occurs, 2) when turned to Servo-OFF, 3) even the deviation counter
is cleared, 4) when the tuning is actuated close to the limit switch and 5) when the main power is shut off.
(2) When the output torque is saturated because the inertia or load is too large.
(3) When the tuning can not be executed well causing oscillation.
If the tuning error occurs, value of each gain returns to the previous value before the tuning. The
driver does not trip except error occurrence. Depending on the load, the driver might oscillate without
becoming tuning error. (not showing )Extra attention should be paid to secure the safety.
Starting of the motor
Tuning finishes.
Tuning errorTuning completes
machine stiffness No.
(1 to 9, A (10) to F (15))
<Note>
For machine
stiffness No.,
refer to P.238.
<Note>
To prevent the loss of
gain value due to the
power shutdown, write
into EEPROM.
Press to make
EXECUTION DISPLAY to
Starting from the initial LED status, press three time after pressing ,
then brings the display of normal
auto-gain tuning,
then press
to select the machine
stiffness No.
After inhibiting command input, and during Servo-On status,keep pressing until
Console (LED) display changes to .
“ ” increases by pressing (approx. 5sec)
as the left fig. shows.
Auto-Gain T uning Mode
Normal Mode Auto-Gain Tuning Screen
<Remarks>
•For details of nor mal auto-gain tuning, refer to P.236, "Nor mal Auto-Gain Tuning" of Adjustment. Pay a
special attention to applicable range and cautions.
• The motor will be driven in a preset pattern by the driver in normal auto-gain tuning mode . You can change
this patter n with Pr25 (Setup of action at nor mal auto-gain tuning), however, shift the load to where the
operation in this pattern may not cause any trouble, then execute this tuning.
• Depending on the load, oscillation may occur after the tuning. In order to secure the safety, use the
protective functions of Pr26 (Setup of software limit), Pr70 (Setup of excess position deviation) or Pr73
(Setup of over-speed level).
Operation at SELECTION display
Operation at EXECUTION display
72
How to Use the Front Panel and Console
Fit-Gain Screen
Clears 1st notch filter (Pr1D, Pr1E) by pressing for approx. 3 sec. in this status.
No gain switching : Load inertia does not change.
Vertical axis mode : Load inertia changes rapidly.
Vertical axis mode : Load inertia changes slowly.
Vertical axis mode : Load inertia does not change.
Normal mode : Load inertia changes rapidly.
Normal mode : Load inertia changes slowly.
Normal mode : Load inertia does not change.
Executes automatic gain setup by pressing for approx.3sec. in this status.
with each press of , stiffness changes in
numerical/alphabetical order (0 to 9,A(10) to F(15).
Fit gain function starts by pressing at stiffness 0.
You can change/store the setup of real time auto-gain tuning/adaptive
filter or start the fit-gain function by using key, after matching the
decimal point to (1), (2), (4), (6) by pressing .
(6) (5) (4) (3) (2) (1)
(1) Stiffness setup of real time auto-gain tuning / Start of fit-gain
Stiffness 15
Stiffness 1
Stiffness 0
Display Contents/Expansion function
(2) Action setup of real time auto-gain tuning/Start of fit-gain
Valid
Valid
Valid
Valid
Valid
Valid
Valid
Invalid
Display Contents/Expansion function
(3) Status of real time auto-gain tuning action (display only)
:Invalid
:Valid
:Estimating load inertia
(4)
Switch of adaptive filter action and copy to 1st notch filter pf adaptive filter setup
Hold
Valid
Invalid
Display Contents/Expansion function
(5) Status of real time auto-gain tuning action (display only)
:Invalid
:Valid
:Adaptive action working
Write the present setup into EEPROM by pressing approx. 3 sec.
(6) EEPROM writing
Display Contents/Expansion function
Press to call for EXECUTION DISPLAY.
You can
change
with
You can
change
with
You can
change
with
or
or
•••
•••
Save the present adaptive filter setup to Pr1D,Pr1E
by pressing for approx. 3 sec. in this status.
Operation at SELECTION display
Operation at EXECUTION display
73
[Preparation]
Preparation
Auxiliary Function Mode
Alarm Clear Screen
Protective function will be activated and release the motor stall status (error status).
Alarm clear starts.
Clearing finishes.
Clear is not finished.
Release the error by resetting
the power.
Alarm clear completes
After alarm cleaning, return to SELECTION display, referring to structure of each mode (P.60 and 61).
<Remarks>
Don't disconnect the console from the driver between and .
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.
Starting from the initial LED status,
Press four time after pressing ,
then press to make a display to
Press to call for
EXECUTION display of
Keep pressing until the console (LED)
changes to “
”
increases by pressing
(approx. 5sec) as the right fig. shows.
Operation at SELECTION display
Operation at EXECUTION display
74
How to Use the Front Panel and Console
Automatic Offset Adjustment (Front Panel Only)
Automatically adjust the offset value of Pr52 (Velocity command offset) of analog velocity command input
(SPR/TRQR).
Adjustment finishes.
Automatic offset
adjustment finishes. Error occurs.
• Press to call for EXECUTION display of
When you execute automatic offset adjustment, make command input to 0V,
then keep pressing until the display changes to .
<Notes>
This function is invalid at position control mode.
You cannot write the data only by executing automatic offset adjustment.
Execute a writing to EEPROM when you need to reflect the result afterward.
“ ”
increases by
pressing (approx. 5sec)
as the right fig. shows.
Automatic offset
adjustment starts.
(
Invalid mode is selected, or offset value
)
exceeds the setup range of Pr52.
Operation at SELECTION display
Operation at EXECUTION display
75
[Preparation]
Preparation
Inspection Before Trial Run
(1) Inspection on wiring
• Miswiring ?
(Especially power input and motor output)
• Short or grounded ?
• Loose connection ?
(2) Confirmation of power supply and voltage
• Rated voltage ?
(3) Fixing of the servo motor
• Unstable mounting ?
(4) Separation from the
mechanical system
(5) Release of the brake
(6) Turn to Servo-OFF after finishing the trial run by pressing .
Trial Run (JOG Run)
You can make a trial run (JOG run) without connecting the Connector , CN X5 to the host controller such as PLC .
<Remarks>
• Separate the motor from the load, detach the Connector, CN X5 before the trial run.
•Bring the user parameter setups (especially Pr11-14 and 20) to defaults, to avoid oscillation or other
failure.
Display LED
Console
CN X6
ground
Power
supply
Motor
Machine
76
How to Use the Front Panel and Console
Servo-ON status
Preparation step 2 for trial run
Preparation step 1 for trial run
Turns to Servo-OFF
by pressing .
After the Servo-ON of preparation step 2 for trial run,
the motor runs at the preset speed with Pr3D (JPG speed) to CCW direction by pressing CW by
pressing .
The motor stops by pressing .
After finished trial running, return to SELECTION display, referring to structure of each mode (P.60 and 61).
<Notes>
• Set up torque limit input invalidation (Pr03) to 1, run-inhibit input invalidation (Pr04) to 1 and ZEROSPD
input (Pr06) to 0.
• If SRV-ON becomes valid during trial run, the display changes to which is normal run through
external command.
<Caution>
If such trouble as disconnection of cable or connector occurs during trial run, the motor makes
over-run for maximum 1 sec. Pay an extra attention for securing safety.
Not a Servo-Ready.
Or SRV-ON signal is not entered.
Not a servo-ready status.
(Shuts off the main when error occurs.)
Press to call for
EXECUTION DISPLAY of
Then keep pressing until
the display of Console (LED)
changes to .
Then keep pressing
until the display of LED
changes to .
Press four time after pressing ,
to setup auxiliary function mode,
then with , make a display to
Keep pressing (approx. 5 sec)
to shift the decimal point toward
left as the left fig. shows.
“ ”
increases by
pressing (approx. 5sec)
as the left fig. shows.
Procedure for Trial Run
When you use the console, insert the console connector to CN X4 of the driver securely and turn on the
driver power.
Operation at SELECTION display
Operation at EXECUTION display
77
[Preparation]
Preparation
Clearing of Absolute Encoder
Only applicable to the system which uses absolute encoder. You can clear the alarm and multi-turn data of
the absolute encoder.
Clearing of absolute encoder starts
Clearing finishes
Error occurs
(
When non-applicable encoder is
)
connected
Clearing of absolute encoder
completes
After clearing of absolute encoder finishes, return to SELECTION display, referring to structure of each
mode (P.60 and 61).
<Remarks>
Don't disconnect the console from the driver between to .
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.
Press four time after pressing , to setup auxiliary function mode,
then with , make a display to
Press to call for
EXECUTION DISPLAY of
Then keep pressing until the display of Console (LED)
changes to “ ” increases by
pressing (approx. 5sec)
as the left fig. shows.
Operation at SELECTION display
Operation at EXECUTION display
78
How to Use the Front Panel and Console
Clearing of External Scale Error (Front panel only)
You can clear an error of the external scale.
Clearing of absolute encoder starts
Clearing finishes.
Error occurs
(At other control mode than full-closed
control, and when no external scale error
has occurred)
Clearing of absolute encoder
completes
After cleaning of External scale Error, return to SELECTION display, referring to the structure of each
mode (P.60 and 61).
Press four time after pressing , to setup auxiliary function mode,
then with , make a display to
Press to call for
EXECUTION DISPLAY of
Then keep pressing until the display of Console (LED)
changes to “ ” increases by
pressing (approx. 5sec)
as the left fig. shows.
Operation at SELECTION display
Operation at EXECUTION display
79
[Preparation]
Preparation
Initialization of EEPROM
of the console starts.
Copying of parameters
from the driver to the console starts.
Writing of parameters
into the console EEPROM starts.
• • • • •
Numeral decreases
as time passes.
Copying completes normally.
Error display
<Remarks>
If error is displayed, repeat
the procedures from the
beginning.
Press for releasing
error.
After copying finishes, return to SELECTION display, referring to structure of each mode (P.60 and 61)
<Remarks>
Don't disconnect the console from the driver between to
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.
<Note>
If the error display repeats frequently, check the broken cable, disconnection of the connector,
misoperation due to noise or failure of console.
Starting from initial LED status, Press five time after pressing ,
then press , to make a display to
Press to call for
EXECUTION DISPLAY of
Keep pressing until
the console display (LED)
changes to
“ ” increases by
pressing (approx. 3sec)
as the left fig. shows.
Copying Function (Console Only)
Copying of Parameters from the Driver to the Console
Operation at SELECTION display
Operation at EXECUTION display
80
How to Use the Front Panel and Console
Copying of Parameters from the Console to the Driver
Reading of EEPROM of the
console starts.
Copying of parameters from
the console to the driver starts.
Writing of parameters into
the driver EEPROM starts.
......Numeral decreases
as time passes.
Copying completes normally.
Error display
<Remarks>
If error is displayed, repeat the
procedures from the beginning.
Press for releasing error.
After copying finishes, return to SELECTION display, referring to structure of each mode (P.60 and 61).
<Remarks>
Don't disconnect the console from the driver between to
Should the connector is pulled out, insert it again and repeat the procedures from the beginning.
<Note>
If the error display repeats frequently, check the broken cable, disconnection of the connector,
misoperation due to noise or failure of console.
Starting from initial LED status,
Press five time after pressing , then press
to make a display to
Press to call for
EXECUTION DISPLAY of
Keep pressing until
the console display (LED)
changes to
“ ” increases by
pressing (approx. 3sec)
as the left fig. shows.
Operation at SELECTION display
Operation at EXECUTION display
81
page
Control Block Diagram of Position Control Mode82
Wiring to the Connector, CN X5.............................83
Wiring Example to the Connector, CN X5 ................................... 83
Interface Circuit ........................................................................... 84
Input Signal and Pin No. of the Connector, CN X5 ..................... 86
Output Signal and Pin No. of the Connector, CN X5 .................. 92
Connecting Example to Host Controller ...................................... 96
Trial Run (JOG Run) at Position Control Mode ..104
Inspection Before Trial Run....................................................... 104
Trial Run by Connecting the Connector, CN X5........................ 104
Real-Time Auto-Gain Tuning ................................106
Outline ....................................................................................... 106
Applicable Range ...................................................................... 106
How to Operate ......................................................................... 106
Adaptive Filter ........................................................................... 107
Parameters Which are Automatically Set.................................. 107
Parameter Setup....................................................108
Parameters for Functional Selection ......................................... 108
Parameters for Adjustment of Time Constant of Gains and Filters.......
111
Parameters for Auto-Gain Tuning...............................................112
Parameters for Adjustment (2nd Gain Switching Function) .......115
Parameters for Position Control .................................................116
Parameters for Velocity/Torque Control .................................... 120
Parameters for Sequence ......................................................... 120
[
Connection and Setup of Position Control Mode
]
82
Control Block Diagram of Position Control Mode
PULS
SIGN
Input setup
Pulse
train
Positional deviation
monitor
Actual speed monitor
Command speed
monitor
Feedback pulses Serial communication
data
OA/OB/OZ
Pr40
Input
selection
Pr41
Reversal
Pr42Mode
Division/
Multiplication
Pr48
1st
numerator
Pr49
2nd
numerator
Pr4A
Multiplier
Pr4B
Denominator
Damping control
Pr2B
1st
frequency
Pr2C1st filter
Pr2D
2nd
frequency Pr2E2nd filter Velocity control
Pr11
1st
proportion
Pr12
1st
integration
Pr19
2nd
proportion
Pr1A
2nd
integration
Pr20
Inertia ratio
Notch filter
Pr1D
1st
frequency
Pr1E1st width
Pr28
2nd
frequency
Pr292nd width
Pr2A2nd depth
Pr2F
Adaptation
Torque filter
Motor
Torque command monitor
Pr14
1st time
constant Pr1C
2nd time
constant Pr5E1st limit
Pr5F
2nd limit
Pr4D
Average
travel times
Primary delay
smoothing
Pr4C
Selection
Division
Pr44
Numerator
Pr45
Denominator
Pr46
Selection
Velocity feed
forward
Pr15Gain
Pr16Filter
Speed detection
filter
Pr131st
Pr1B2nd
Speed detection
Encoder reception
processing
Position control
Pr101st
+
++
–
+
–
Pr182nd
Encoder
FIR smoothing
83
Connection and Setup of
Position Control Mode
Wiring Example to the Connector, CN X5
Wiring Example of Position Control Mode
Wiring to the Connector, CN X5
14
15
16
43
18
42
In case of open collector I/F (1) When you use the external
resistor with 12V and 24V
power supply
(2) When you do not use the
external resistor with 24V
power supply
CCW torque limit input
(0 to +10V)
CW torque limit input
(
-
10 to +10V)
Velocity monitor output
Torque monitor output
( represents twisted pair.)
Command
pulse
input A
(Use with 500kpps
or less.)
7
4.7kΩ
COM+
PULS2
SIGN1
SIGN2
GND
OA+
OA
-
OB+
OB
-
OZ+
OZ
-
GND
CZ
SPR/TRQR
GND
CCWTL/TRQR
GND
CWTL
SP
IM
3
2
1
4
5
6
13
21
22
48
24
25
19
49
23
3.83kΩ
3.83kΩ
43kΩ
2kΩ
2kΩ
43kΩ
220Ω
20kΩ
220Ω
330Ω
330Ω
330Ω
220Ω
2.2kΩ
2.2kΩ
10kΩ
10kΩ
1kΩ
1kΩ
PULS1
OPC2
OPC1
INH
CL
SRV-ON
GAIN
DIV
VS-SEL
C-MODE
A-CLR
CCWL
CWL
S-RD Y
+
S-RDY
-
ALM+
COIN+
BRKOFF
+
BRKOFF
-
TLC
V
DC
12 to
24V
ZSP
COM
-
SIGNH1
SIGNH2
GND
PULSH1 PULS
PULSH2
FG
COIN
-
ALM
-
33
30
29
27
28
32
31
9
8
35
34
37
36
39
38
11
10
40
12
41
44
45
13
50
Servo-ON input
Gain switching input
Electronic gear
switching input
Control mode
switching input
26
Damping control
switching input
Divider
Alarm clear input
CCW over-travel
inhibition input
A-phase
output
B-phase
output
Z-phase
output
Z-phase output (open collector)
CW over-travel
inhibition input
Servo-Ready output
Servo-Alarm output
Positioning complete output
Brake release output
Torque in-limit output
(Select with Pr09)
Zero speed detection output
(Select with Pr0A)
Deviation counter
clear input
Command pulse
inhibition input
Command pulse input B
(Use with 2Mpps or less.)
PULS1
PULS2
SIGN1
GND
VDC
12V
24V
Specifications
of R
1kΩ1/2W
2kΩ1/2W
SIGN2
220Ω
220Ω
V
DC
R
R
3
4
5
6
13
PULS2
GND
SIGN2
OPC1
OPC2
220Ω
220Ω
24V
DC
1
4
2
6
13
2.2kΩ
2.2kΩ
VDC
-
1.5
R
+
220 =10mA
.
.
CN X5
SIGN
46
47
43kΩ
2kΩ
2kΩ
43kΩ
220Ω
[Connection and Setup of Position Control Mode]
84
Interface Circuit
Input Circuit
Wiring to the Connector, CN X5
(1) Line driver I/F (Input pulse frequency : max. 500kpps)
• This signal transmission method has better noise immunity.
We recommend this to secure the signal transmission.
(2)Open collector I/F (Input pulse frequency : max. 200kpps)
•
The method which uses an external control signal power supply (VDC)
• Current regulating resistor R corresponding to V
DC
is
required in this case.
• Connect the specified resister as below.
(3)Open collector I/F (Input pulse frequency : max. 200kpps)
• Connecting diagram when a current regulating resistor is not
used with 24V power supply.
Connection to sequence input signals (Pulse train interface)
PI1
Max.input voltage : DC24V,
Rated current : 10mA
V
DC
12V
24V
Specifications
1kΩ1/2W
2kΩ1/2W
V
DC
–1.5
R+220 .
=
. 10mA
Line driver I/F (Input pulse frequency : max. 2Mpps)
• This signal transmission method has better noise immunity.
We recommend this to secure the signal transmission
when line driver I/F is used.
Connection to sequence input signals
(Pulse train interface exclusive to line driver)
PI2
AM26LS31 or equivalent
3PULS1
H/L
ON/OFF
ON/OFF
H/L
H/L
PULS
L/H
PULS
L/H
SIGN
H/L
SIGN
PULS2
SIGN1
SIGN2
GND
220Ω
220Ω
4
5
6
13
PULS1
PULS2
SIGN1
GND
SIGN2
220Ω
220Ω
V
DC
R
R
3
4
5
6
13
(1)
(2)
ON/OFF
ON/OFF
L/H
PULS
L/H
SIGN
OPC1
PULS2
OPC2
GND
SIGN2
220Ω
220Ω
2.2kΩ
2.2kΩ
V
DC
1
4
2
6
13
(3)
44
45
13
2kΩ
43kΩ
43kΩ
2kΩ
220Ω
GND
H/L H/L
PULS
SIGN
AM26C32 or equivalent
46
47
2kΩ
43kΩ
43kΩ
2kΩ
220Ω
H/L H/L
PULS
SIGN
AM26C32 or equivalent
represents twisted pair.
represents twisted pair.
• Connect to contacts of switches and relays, or open collector output transistors.
• When you use contact inputs, use the switches and relays for micro current to avoid contact failure.
• Make the lower limit voltage of the power supply (12 to 24V) as 11.4V or more in order to secure the primary
current for photo-couplers.
Connection to sequence input signalsSI
12 to 24V 7 COM+4.7kΩ
SRV-ON etc.
Relay
7 COM+4.7kΩ
12 to 24V
SRV-ON etc.
Analog command input
AI
• The analog command input goes through 3 routes,
SPR/TRQR(Pin-14), CCWTL (Pin-16) and CWTL (Pin-18).
• Max. permissible input voltage to each input is ±10V.
For input impedance of each input, refer to the right Fig.
• When you compose a simple command circuit using variable
resistor(VR) and register R, connect as the right Fig. shows.
When the variable range of each input is made as –10V to
+10V, use VR with 2kΩ, B-characteristics, 1/2W or larger, R
with 200Ω, 1/2W or larger.
• A/D converter resolution of each command input is as follows.
(1)ADC1 : 16 bit (SPR/TRQR), (including 1bit for sign), ±10V
(2)ADC2 : 10 bit (CCWTL, CWTL), 0 to 3.3V
+12V
+3.3V
SPR/TRQR
CCWTL
CWTL
R14 20kΩ20kΩ
1kΩ
1kΩ
10kΩ
GND
GND
10kΩ
3.83kΩ
3.83kΩ
ADC
1
ADC
2
15
16
17
18
R
VR
–12V
+
–
+
–
+
–
+3.3V
1kΩ
1kΩ
85
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
Output Circuit
• The output circuit is composed of open collector transistor
outputs in the Darlington connection, and connect to relays or
photo-couplers.
• There exists collector to emitter voltage, V
CE
(SAT) of approx.
1V at transistor-ON, due to the Darlington connection of the
output or. Note that normal TTL IC cannot be directly connec-
ted since it does not meet VIL.
• There are two types of output, one which emitter side of the
output transistor is independent and is connectable individual-
ly, and the one which is common to – side of the control pow-
er supply (COM–).
• If a recommended primary current value of the photo-coupler
is 10mA, decide the resistor value using the formula of the
right Fig.
Sequence output circuitSO1 SO2
• Feeds out the divided encoder outputs (A, B and Z-phase) in
differential through each line driver.
• At the host side, receive these in line receiver. Install a termi-
nal resistor (approx. 330Ω) between line receiver inputs with-
out fail.
• These outputs are not insulated.
Line driver (Differential output) outputPO1
• Feeds out the Z-phase signal among the encoder signals in
open collector. This output is not insulated.
• Receive this output with high-speed photo couplers at the
host side, since the pulse width of the Z-phase signal is nar-
row.
Open collector outputPO2
• There are two outputs, the speed monitor signal output (SP)
and the torque monitor signal output (IM)
• Output signal width is ±10V.
• The output impedance is 1kΩ. Pay an attention to the input
impedance of the measuring instrument or the external circuit
to be connected.
<Resolution>
(1) Speed monitor output (SP)
With a setup of 6V/3000r/min (Pr07=3), the resolution converted to speed is 8r/min/16mV.
(2) Torque monitor output (IM)
With a relation of 3V/rated torque (100%), the resolution converted to torque is 0.4%/12mV.
Analog monitor outputAO
For the recommended primary current value, refer to the data sheet of apparatus or photo-coupler to be used.
R [kΩ] =
Install toward the direction as
the fig. shows without fail.
V
DC
[V]
–
2.5[V]
10
V
DC
12 to 24V
SO1
ALM+ etc.
ALM– etc.
COM–41
ZSP, TLC
SO2
Max. rating 30V,
50mA
AM26LS32 or equivalent AM26LS31 or
equivalent
A
B
Z
22
21
OA
+
OA
–
OZ
+
OZ
–
OB
+
OB
–
48
23
25
GND
24
49
Connect signal ground of the host
and the driver without fail.
19
25
CZ
Max. rating 30V,
50mA
Measuring
instrument
or
external
circuit
GND
High speed
photo-coupler
(TLP554 by Toshiba or equivalent)
43
1k
Ω
1k
Ω
SP
IM
42
GND
17
represents twisted pair.
represents twisted pair.
86
Input Signal and Pin No. of the Connector, CN X5
Input Signals (common) and Their Functions
Wiring to the Connector, CN X5
Title of signal
Pin No.
Symbol Function
I/F circuit
Power supply for
control signal (
+
)
7 –COM+ • Connect + of the external DC power supply (12 to 24V).
• Use the power supply voltage of 12V ± 5% – 24V ± 5%
Power supply for
control signal (
-
)
41 –COM– • Connect – of the external DC power supply (12 to 24V).
• The power capacity varies depending on a composition of I/O circuit. 0.5A
or more is recommended.
CW over-travel
inhibit input 8SI
P.84
CWL • Use this input to inhibit a CW over-travel (CWL).
• Connect this so as to make the connection to COM– open when the
moving portion of the machine over-travels the movable range toward CW.
• CWL input will be invalidated when you set up Pr04 (Setup of over-travel
inhibit input) to 1.Default is "Invalid (1)".
• You can select the action when the CWL input is validated with the setup
of up Pr66 (Sequence at over-travel inhibit). Default is "Emergency stop
with dynamic brake".(Pr66=0)
CCW over-travel
inhibit input 9SI
P.84
CCWL • Use this input to inhibit a CCW over-travel (CCWL).
•
Connect this so as to make the connection to COM
–
open when the moving
portion of the machine over-travels the movable range toward CCW.
• CWL input will be invalidated when you set up Pr04 (Setup of over-travel
inhibit input) to 1.Default is "Invalid (1)".
• You can select the action when the CCWL input is validated with the setup
of Pr66 (Sequence at over-travel inhibit). Default is "Emergency stop with
dynamic brake".(Pr66=0)
damping control
switching input 26 SI
P.84
VS-SEL • Function varies depending on the control mode.
• Becomes to a speed-zero clamp input (ZEROSPD).
• In case Pr06 is 2 at torque control, ZERPSPD is invalid.
•
Becomes to an input of damping control switching (VS-SEL).
• While Pr24 (Damping filter switching selection) is 1, the
1st damping filter (Pr2B, Pr2C) will be validated when you
open this input, and the 2nd damping filter (Pr2D, Pr2E)
will be validated when you connect this input to COM–.
Pr06
0
1
2
Connection to COM–
–
open
close
open
close
Content
ZEROSPD input is invalid.
Speed command is 0
Normal action
Speed command is to CCW
Speed command is to CW.
Velocity/
Torque
control
Position/
Full-closed
control
Gain switching
input
or
Torque limit
switching input
27 SI
P.84
GAIN
TL-SEL
• Function varies depending on the setups of Pr30 (2nd gain setup) and
Pr03 (Selection of torque limit).
• For details of 2nd gain switching function, refer to P.243 "Gain Switching
Function" of Adjustment.
invalid
• Input of torque limit switching (TL-SEL)
• Pr5E (Setup of 1st torque limit) will be validated when you
open this input, and Pr5F (Setup of 2nd torque limit) will
be validated when you connect this input to COM–.
Pr30
0
1
–
Pr03
0 – 2
3
Connection to COM–
open
close
open
close
Content
Velocity loop : PI (Proportion/Integration) action
Velocity loop : P (Proportion) action
1st gain selection (Pr10,11,12,13 and 14)
2nd gain selection (Pr18,19,1A,1B and 1C)
when the setups of Pr31 and Pr36 are 2
when the setups of Pr31 and Pr36 are other than 2
87
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
• You can switch the numerator of electronic gear.
• By connecting to COM–, you can switch the numerator of
electronic gear from Pr48 (1st numerator of electronic
gear) to Pr49 (2nd numerator of electronic gear)
• For the selection of command division/multiplication, refer
to the table of next page, "Numerator selection of
command scaling"
• Input of internal speed selection 3 (INTSPD3).
•
You can make up to 8-speed setups combining INH/
INTSPD1 and CL/INTSPD2 inputs. For details of setup,
refer to the table of P.131, "Selection of Internal Speed".
• This input is invalid.
Position/
Full-closed
control
Velocity
control
Torque control
Title of signal
Pin No.
Symbol Function
I/F circuit
Servo-ON input
29
SI
P.84
SRV-ON • Turns to Servo-ON status by connecting this input to COM–.
• Turns to Servo-OFF status by opening connection to COM–, and current
to the motor will be shut off.
• You can select the dynamic brake action and the deviation counter
clearing action at Servo-OFF with Pr69 (Sequence at Servo-OFF).
<Caution>
1.Servo-ON input becomes valid approx. 2 sec after power-on.
(see P.42, "Timing Chart" of Preparation.)
2.Never run/stop the motor with Servo-ON/OFF.
3.After shifting to Servo-ON, allow 100ms or longer pause before entering
the pulse command.
Electronic gear
(division/
multiplication)
switching input
28 SI
P.84
DIV • Function varies depending on the control mode.
<Caution>
Do not enter the command pulse 10ms before/after switching.
• Numerator selection of electronic gear
Setup of electronic gear
CN X5 Pin-28
DIV
Open
Short
1st numerator of electronic gear (Pr48) x 2
or
* Automatic setup by
setting up Pr48 to 0
Denominator of electronic gear (Pr4B)
Multiplier of command scaling (Pr4A)
Encoder resolution*
Command pulse counts per single turn (Pr4B)
2nd numerator of electronic gear (Pr49) x 2
or
* Automatic setup by
setting up Pr49 to 0
Denominator of electronic gear (Pr4B)
Multiplier of command scaling (Pr4A)
Encoder resolution*
Command pulse counts per single turn (Pr4B)
88
Wiring to the Connector, CN X5
Title of signal
Pin No.
Symbol Function
I/F circuit
Inhibition input
of command
pulse
33 SI
P.84
INH • Function varies depending on the control mode.
• Inhibition input of command pulse input (INH)
• Ignores the position command pulse by opening the
connection to COM–
• You can invalidate this input with Pr43 (Invalidation of
command pulse inhibition input)
• Selection 1 input of internal command speed (INTSPD1)
•You can make up to 8-speed setups combining
INH/INTSPD2 and CL/INTSPD3 inputs. For details of the
setup, refer to the table of P.131,
"Selection of Internal Speed" of Velocity Control Mode.
• This input is invalid.
Position/
Full closed
control
Velocity
control
Torque control
Control mode
switching input 32 SI
P.84
C-MODE • You can switch the control mode as below by setting up Pr02 (Control
mode setup) to 3-5.
<Caution>
Depending on how the command is given at each control mode, the action
might change rapidly when switching the control mode with C-MODE. Pay
an extra attention.
Pr02 setup
3
4
5
Open (1st)
Position control
Position control
Velocity control
Connection to COM– (2nd)
Velocity control
Torque control
Torque control
Pr43
0
1(Default)
Content
INH is valid.
INH is valid.
Deviation
counter clear
input
30 SI
P.84
CL • Function varies depending on the control mode.
• Input (CL) which clears the positional deviation counter
and full-closed deviation counter.
• You can clear the counter of positional deviation and
full-closed deviation by connecting this to COM–.
• You can select the clearing mode with Pr4E (Counter clear
input mode).
• Input of selection 2 of internal command speed (INTSPD2)
• You can make up to 8-speed setups combining INH/
INTSPD1 and CL/INTSPD3 inputs. For details of setup,
refer to the table in P.131, "Selection of Internal Speed" of
Velocity Control Mode.
• This input is invalid.
Position/
Full-closed
control
Velocity
control
Torque control
Pr4E
0
1
[Default]
2
Content
Clears the counter of positional devia-
tion and full-closed deviation while CL is
connected to COM–.
Clears the counter of positional deviation
and full-closed deviation only once by
connecting CL to COM– from open status.
CL is invalid
Alarm clear input 31 SI
P.84
A-CLR • You can release the alarm status by connecting this to COM– for more
than 120ms.
• The deviation counter will be cleared at alarm clear.
• There are some alarms which cannot be released with this input.
For details, refer to P.252, "Protective Function " of When in Trouble.
89
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
Title of signal
Pin No.
Symbol Function
I/F circuit
PI2
P.84
Command pulse
input 1
Command pulse
sign input 1
44
45
46
47
PULSH1
PULSH2
SIGNH1
SIGNH2
• Input terminal for position command pulse. You can select by setting up
Pr40 (Selection of command pulse input) to 1.
• This input becomes invalid at such control mode as velocity control or
torque control, where no position command is required.
• Permissible max. input frequency is 2Mpps.
• You can select up to 6 command pulse input formats with Pr41 (Setup of
command pulse rotational direction) and Pr42 (Setup of command pulse
input mode).
For details, refer to the table below, "Command pulse input format".
Title of signal
Pin No.
Symbol Function
I/F circuit
PI1
P.84
Command pulse
input 2
Command pulse
sign input 2
1
3
4
2
5
6
OPC1
PULS1
PULS2
OPC2
SIGN1
SIGN2
• Input terminal for the position command. You can select by setting up Pr40
(Selection of command pulse input) to 0.
• This input becomes invalid at such control mode as the velocity control or
torque control, where no position command is required.
• Permissible max. input frequency is 500kpps at line driver input and
200kpps at open collector input.
• You can select up to 6 command pulse input formats with Pr41 (Setup of
command pulse rotational direction) and Pr42 (Setup of command pulse
input mode).
For details, refer to the table below, "Command pulse input format".
• Pulse train interface
Input Signals (Pulse Train) and Their Functions
You can select appropriate interface out of two kinds, depending on the command pulse specifications.
• Pulse train interface exclusive for line driver
Pr41 Setup value
(Setup of
command pulse
rotational direction)
Pr42
Setup value
(Setup of
command pulse
input mode)
Signal
title
CCW command
B-phase advances to A by 90°.B-phase delays from A by 90°.
CW command
Command
pulse
format
t1
A-phase
B-phase
t1 t1 t1
t1 t1t1 t1
t2 t2
t2
t3
t2
t4
“H” “L”
t5t4
t6 t6 t6 t6
t5
B-phase advances to A by 90°.
B-phase delays from A by 90°.
t1
A-phase
B-phase
t1t1 t1
t1 t1 t1 t1
t2 t2
t2
t3
t2
t4
“L” “H”
t5t4
t6 t6 t6 t6
t5
0 or 2
0 or 2
01
3
11
3
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
2-phase pulse
with 90°
difference
(A+B-phase)
CW pulse train
+
CCW pulse train
Pulse train
+
Sign
2-phase pulse
with 90°
difference
(A+B-phase)
CW pulse train
+
CCW pulse train
Pulse train
+
Sign
• Command pulse input format
Line driver interface
Open collector interface
Pulse train interface exclusive for line driver
Pulse train interface
Input I/F of PULS/SIGN signal
Permissible max.
input frequency
2Mpps
500kpps
200kpps
t
1
500ns
2µs
5µs
Minimum necessary time width
t
2
250ns
1µs
2.5µs
t
3
250ns
1µs
2.5µs
t
4
250ns
1µs
2.5µs
t
5
250ns
1µs
2.5µs
t
6
250ns
1µs
2.5µs
• Permissible max. input frequency of command pulse input signal and min. necessary time width
Set up the rising/falling time of command pulse input signal to 0.1µs or shorter.
• PULS and SIGN repre-
sents the outputs of pulse
train in put circuit. Refer
to the fig. of P.84, "Input
Circuit".
• In case of CW pulse train
+ CCW pulse train and
pulse train + sign, pulse
train will be cap tured at
the rising edge.
• In case of 2-phase pulse,
pulse train will be cap-
tured at each edge.
90
Wiring to the Connector, CN X5
Input Signals (Analog Command) and Their Functions
Title of signal
Pin No.
Symbol Function
I/F circuit
Speed command
input
or
Torque command
input
14 AI
P.84
SPR
TRQR
• Function varies depending on control mode.
•The resolution of the A/D converter used in this input is 16 bit
(including 1 bit for sign).
± 32767 (LSB) = ± 10[V], 1[LSB]
.
=
. 0.3[mV]
Control mode
Position/
Velocity
Position/
Torque
Other control
mode
Function
• Input of external speed command (SPR) when the
velocity control is selected.
• Set up the gain, polarity, offset and filter of the
Speed command with;
Pr50 (Speed command input gain)
Pr51 (Speed command input reversal)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
• Function varies depending on Pr5B (Selection of
torque command)
• This input is invalid.
Pr5B
0
1
Pr02
3
4
Others
Content
•
Torque command (TRQR) will be selected.
• Set up the torque (TRQR) gain, polarity,
offset and filter with;
Pr5C(Torque command input gain)
Pr5D(Torque command input reversal)
Pr52(Speed command offset)
Pr57(Speed command filter setup)
• Speed limit (SPL) will be selected.
• Set up the speed limit (SPL) gain, offset
and filter with;
Pr50 (Speed command input gain)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
*Function becomes valid when the control mode with underline ( / )
<Remark>
Do not apply voltage exceeding ±10V to analog command input of SPR/TRQR.
91
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
Title of signal
Pin No.
Symbol Function
I/F circuit
CCW-Torque
limit input 16 AI
P.84
CCWTL • Function varies depending on Pr02 (Control mode setup).
• Resolution of A/D converter used in this input is 16 bit
(including 1 bit for sign).
± 511 [LSB] = ± 11.9[V], 1 [LSB]
.
=
. 23[mV]
Control mode
Torque Control
Position/Torque
Velocity/
Torque
Position/Torque
Velocity/Torque
Other
control mode
Function
• Function varies depending on Pr5B (Selection of
torque command)
Pr5B
0
1
This input becomes invalid.
• Torque command input (TRQR) will be
selected.
• Set up the gain and polarity of the com-
mand with;
Pr5C (Torque command input gain)
Pr5D (Torque command input reversal)
• Offset and filter cannot be set up.
Content
Pr02
2
4
5
4
5
Other
• Becomes to the torque command input (TRQR).
• Set up the gain and polarity of the command with;
Pr5C (Torque command input gain)
Pr5D (Torque command input reversal)
• Offset and filter cannot be set up.
• Becomes to the analog torque limit input to CCW
(CCWTL).
• Limit the CCW-torque by applying positive voltage
(0 to +10V) (Approx.+3V/rated toque)
• Invalidate this input by setting up Pr03 (Torque limit
selection) to other than 0.
CW-Torque limit
input 18 AI
P.84
CWTL • Function varies depending on Pr02 (Control mode setup).
• Resolution of A/D converter used in this input is 16 bit
(including 1 bit for sign).
± 511 [LSB] = ± 11.9[V], 1 [LSB]
.
=
. 23[mV]
Control mode
Torque control
Position/Torque
Velocity/Torque
Position/Torque
Velocity/Torque
Other
control mode
Function
• This input becomes invalid when the torque control
is selected.
• Becomes to the analog torque limit input to CW
(CWTL).
• Limit the CW-torque by applying negative voltage
(0 to –10V) (Approx.+3V/rated toque).
Invalidate this input by setting up Pr03 (Torque limit
selection) to other than 0.
Pr02
2
4
5
4
5
Other
*Function becomes valid when the control mode with underline ( / )
is selected while the switching mode is used in the control mode in table.
<Remark>
Do not apply voltage exceeding ±10V to analog command input of CWTL and CCWTL
92
Wiring to the Connector, CN X5
Output signal and Pin No. of the Connector, CN X5
Output Signals (Common) and Their Functions
0
1
2
3
4
5
6
7
8
X5 TLC : Output of Pin-40 X5 ZSP : Output of Pin-12
Title of signal
Pin No
Symbol Function
I/F circuit
External brake
release signal 11
10 SO1
P.85
BRKOFF+
BRKOFF–
•
Feeds out the timing signal which activates the electromagnetic brake of the motor.
• Turns the output transistor ON at the release timing of the electro-
magnetic brake.
• You can set up the output timing of this signal with Pr6A (Setup of
mechanical brake action at stall) and Pr6B (Setup of mechanical brake
action at motion). For details, refer to P42, "Timing Chart" of Preparation.)
Servo-Ready
output 35
34 SO1
P.85
S-RDY+
S-RDY–
• This signal shows that the driver is ready to be activated.
• Output transistor turns ON when both control and main power are ON but
not at alarm status.
Zero-speed
detection
output signal
12
(41) SO2
P.85
ZSP
(COM–) •
Content of the output signal varies depending on Pr0A (Selection of ZSP output).
• Default is 1, and feeds out the zero speed detection signal.
• For details, see the table below, "Selection of TLC,ZSP output".
Torque in-limit
signal output 40
(41) SO2
P.85
TLC
(COM–) •
Content of the output signal varies depending on Pr09 (Selection of TLC output).
• Default is 1, and feeds out the torque in-limit signal.
• For details, see the table below, "Selection of TLC,ZSP output".
Servo-Alarm
output 37
36 SO1
P.85
ALM+
ALM–
• This signal shows that the driver is in alarm status..
• Output transistor turns ON when the driver is at normal status, and turns
OFF at alarm status.
Positioning
complete
(In-position)
39
38 SO1
P.85
AT-SPEED+
AT-SPEED–
• Function varies depending on the control mode.
Position
control
Full-closed
control
Velocity/
Torque
control
• Output of positioning complete (COIN)
• The output transistor will turn ON when the absolute value
of the position deviation pulse becomes smaller than the
setup value of Pr60 (Positioning complete range).
• You can select the feeding out method with Pr63 (Setup of
positioning complete output).
• Output of full-closed positioning complete (EX-COIN)
• The output transistor will turn ON when the absolute value
of full-closed-position deviation pulse becomes smaller
than the setup value of Pr60 (Positioning complete range).
• You can select the feeding out method with Pr63 (Setup of
positioning complete output).
• Output at-speed (speed arrival) (AT-SPEED)
• The output transistor will turn ON when the actual motor
speed exceeds the setup value of Pr62 (In-speed).
• Selection of TCL and ZSP outputs
• Torque in-limit output (Default of X5 TLC Pr09)
The output transistor turns ON when the torque command is limited by the torque limit during Servo-ON.
• Zero-speed detection output (Default of X5 ZSP Pr0A)
The output transistor turns ON when the motor speed falls under the preset value with Pr61.
• Alarm signal output
The output transistor turns ON when either one of the alarms is triggered, over-regeneration alarm, overload alarm,
battery alarm, fan-lock alarm or external scale alarm.
• Over-regeneration alarm
The output transistor turns ON when the regeneration exceeds 85% of the alarm trigger level of the regenerative load protection.
• Over-load alarm
The output transistor turns ON when the load exceeds 85% of the alarm trigger level of the overload alarm.
• Battery alarm
The output transistor turns ON when the battery voltage for absolute encoder falls lower than approx. 3.2V.
• Fan-lock alarm
The output transistor turns ON when the fan stalls for longer than 1s.
• External scale alarm
The output transistor turns ON when the external scale temperature exceeds 65°, or signal intensity is not enough
(adjustment on mounting is required). Valid only at the full-closed control.
• In-speed (Speed coincidence) output
The output transistor turns ON when the difference between the actual motor speed and the speed command before
acceleration/deceleration reaches within the preset range with Pr61. Valid only at the velocity and torque control.
Value of
Pr09 or Pr0A
93
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
Output Signals (Pulse Train) and Their Functions
Title of signal
Pin No
Symbol Function
I/F circuit
PO1
P.85
A-phase output
B-phase output
Z-phase output
21
22
48
49
23
24
OA +
OA –
OB +
OB –
OZ +
OZ –
• Feeds out the divided encoder signal or external scale signal (A, B, Z-
phase) in differential. (equivalent to RS422)
• You can set up the division ratio with Pr44 (Numerator of pulse output
division) and Pr45 (Denominator of pulse output division)
• You can select the logic relation between A-phase and B-phase, and the
output source with Pr46 (Reversal of pulse output logic).
•
When the external scale is made as an output source, you can set up the
interval of Z-phase pulse output with Pr47 (Setup of external scale Z-phase).
• Ground for line driver of output circuit is connected to signal ground (GND)
and is not insulated.
• Max. output frequency is 4Mpps (after quadrupled)
Z-phase output 19 PO2
P.85
CZ • Open collector output of Z-phase signal
• The emitter side of the transistor of the output circuit is connected to the
signal ground (GND) and is not insulated.
<Note>
• When the output source is the encoder
• If the encoder resolution X is multiple of 4, Z-phase will be fed out synchronizing with A-phase.
In other case, the Z-phase width will be equal to the encoder resolution, and will not synchronize with
A-phase because of narrower width than that of A-phase.
• In case of the 5-wire, 2500P/r incremental encoder, the signal sequence might not follow the above fig.
until the first Z-phase is fed out. When you use the pulse output as the control signal, rotate the motor
one revolution or more to make sure that the Z-phase is fed out at least once before using.
Pr44
Pr45
A
B
Z
A
B
Z
synchronized not-synchronized
Pr44
Pr45
when the encoder resolution is multiple of 4,
Pr44
Pr45
when the encoder resolution is not multiple of 4,
94
Wiring to the Connector, CN X5
Output Signals (Analog) and Their Functions
Title of signal
Pin No
Symbol Function
I/F circuit
Torque monitor
signal output 42 AO
P.85
IM • The content of output signal varies depending on Pr08 (Torque monitor
(IM) selection).
• You can set up the scaling with Pr08 value.
Content of signal
Torque
command
Positional
deviation
Full-closed
deviation
Function
• Feeds out the voltage in proportion to the motor
torque command with polarity.
+ : generates CCW torque
– : generates CW torque
• Feeds out the voltage in proportion to the positional
deviation pulse counts with polarity.
+ : positional command to CCW of motor position
– : positional command to CW of motor position
• Feeds out the voltage in proportion to the full-
closed deviation pulse counts with polarity.
+ : positional command to CCW of
external scale position
– : positional command to CW of
external scale position
Pr08
0,
11,12
1 – 5
6 –10
Speed monitor
signal output 43 AO
P.85
SP • The content of the output signal varies depending on Pr07 (Speed monitor
(IM) selection).
• You can set up the scaling with Pr07 value.
• Feeds out the voltage in proportion to the motor
speed with polarity. + : rotates to CCW
– : rotates to CW
• Feeds out the voltage in proportion to the command
speed with polarity.
+ : rotates to CCW
– : rotates to CW
Function
Control mode
Pr07
Motor
speed
Command
speed
0 – 4
5 – 9
95
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
Output Signals (Others) and Their Functions
Title of signal
Pin No
Symbol Function
I/F circuit
Signal ground 13,15,
17,25
–
GND • Signal ground
• This output is insulated from the control signal power (COM–) inside of the
driver.
Frame ground 50 –
FG • This output is connected to the earth terminal inside of the driver.
96
Wiring to the Connector, CN X5
Connecting Example to Host Controller
Matsushita Electric Works, FPG-C32T
2k
Ω
2k
Ω
5.6k
Ω
3kΩ
5.6kΩ
5.6kΩ
220Ω
220Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
CW
pulse command
output
CCW
pulse command
output
CW
pulse
command
input
Y0
Y1
X2
COM
+
Y2
–
COM
X3
X5
X6
PULS1
PULS2
SIGN1
SIGN2
CZ
GND
COM+
CL
SRV-ON
GAIN
A-CLR
CCWL
CWL
S-RDY+
S-RDY–
ALM+
ALM–
COIN+
COIN–
COM–
3
4
5
6
19
13
7
30
29
27
31
9
8
35
34
37
36
39
38
41
CCW
pulse
command
input
Origin input
Deviation
counter reset output
Counter clear
input
Servo-ON
input
Servo-Ready
output
Servo-Alarm
output
Positioning
complete
output
Gain
switching
input
Alarm clear
input
CW
over-travel
inhibit input
CCW
over-travel
inhibit input
PLC
FPG-C32T(FP∑)Driver
A4-series
Z-phase
output
Origin proximity
sensor
CW limit
sensor
CCW limit
sensor
from
PLC I/O
outpu
t
to
PLC I/O
input
GND + 24V
DC24V
Power supply
Origin proximity
input
CCW limit excess
input
CW limit excess
input
represents twisted pair wire.
<Remark>
97
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
220Ω
220Ω
220Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
CW
pulse command
output
CCW
pulse command
output
Origin input
Deviation
counter reset output
External
power supply input
24V+
FG
FG
24V–
Origin proximity
input
CW
pulse
command
input
A1
B1
A2
B2
A4
B3
A6
B6
A7
B7
A20
B19
A19
B20
PULS1
PULS2
SIGN1
SIGN2
OZ+
OZ–
GND
COM+
CL
SRV-ON
GAIN/TC
A-CLR
CCWL
CWL
S-RDY+
S-RDY–
ALM+
ALM–
COIN+
COIN–
COM–
3
4
5
6
23
24
13
7
30
29
27
31
9
8
35
34
37
36
39
38
41
CCW
pulse
command
input
Counter clear
input
Servo-ON
input
Servo-Ready
output
Servo-Alarm
output
Positioning
complete
output
Alarm clear
input
CW
over-travel
inhibit input
CCW
over-travel
inhibit input
PLC
FP2-PP2 AFP2430 Driver
A4-series
Z-phase
output
from
PLC I/O
outpu
t
to
PLC I/O
input
to
PLC I/O
input
1.6Ω
Gain switching/
Torque limit
switching input
Origin proximity
sensor
CW limit
sensor
CCW limit
sensor
GND + 24V
DC24V
Power supply
Matsushita Electric Works, FP2-PP2 AFP2430
represents twisted pair wire.
<Remark>
98
Wiring to the Connector, CN X5
1kΩ
CW
pulse
command
input
19
20
17
18
7
8
9a
9b
11
12
1
4
5
3
PULS1
PULS2
SIGN1
SIGN2
OZ+
OZ–
GND
COM+
CL
SRV-ON
GAIN/TC
A-CLR
CCWL
CWL
S-RDY
+
S-RDY
–
ALM+
ALM–
COIN+
COIN–
COM–
3
4
5
6
23
24
13
7
30
29
27
31
9
8
35
34
37
36
39
38
41
CCW
pulse
command
input
Counter clear
input
Servo-ON
input
Servo-Ready
output
Servo-Alarm
output
Positioning
complete
output
Alarm clear
input
CW
over-travel
inhibit input
CCW
over-travel
inhibit input
PLC
F3NC11-0N Driver
A4-series
Z-phase
output
Origin proximity
sensor
CW limit
sensor
CCW limit
sensor
from
PLC I/O
outpu
t
to
PLC I/O
input
V+
GND
CW
pulse command
output
CCW
pulse command
output
Origin line driver
input
3.5kΩ
Emergency stop
input
Origin proximity
input
CCW limit input
CW limit input
5V power supply
for pulse output
220Ω
220Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
3.5kΩ
3.5kΩ
3.5kΩ
Gain switching/
Torque limit
switching input
GND + 5V
DC5V
Power supply
GND + 24V
DC24V
Power supply
Yokogawa Electric , F3NC11-ON
represents twisted pair wire.
<Remark>
99
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
Yokogawa Electric , F3YP14-0N/F3YP18-0N
240Ω
CW
pulse
command
input
14a
13a
12a
11a
15a
16a
10a
9a
8b
8a
1a
3a
2b
4a
PULS1
PULS2
SIGN1
SIGN2
OZ+
OZ–
GND
COM+
CL
SRV-ON
GAIN/TC
A-CLR
CCWL
CWL
S-RDY
+
S-RDY
–
ALM+
ALM–
COIN+
COIN–
COM–
3
4
5
6
23
24
13
7
30
29
27
31
9
8
35
34
37
36
39
38
41
CCW
pulse
command
input
Counter clear
input
Servo-ON
input
Servo-Ready
output
Servo-Alarm
output
Positioning
complete
output
Alarm clear
input
CW
over-travel
inhibit input
CCW
over-travel
inhibit input
PLC
F3YP14-0N/F3YP18-0N Driver
A4-series
Z-phase
output
from
PLC I/O
outpu
t
to
PLC I/O
input
V+
GND
CW
pulse command
output
CCW
pulse command
output
Origin line driver
input
Deviation pulse clear
signal output
Origin proximity
input
CCW limit input
CW limit input
5V power supply
for pulse output
220Ω
220Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
7.4kΩ
7.4kΩ
7.4kΩ
Gain switching/
Torque limit
switching input
Origin proximity
sensor
CW limit
sensor
CCW limit
sensor
GND + 5V
DC5V
Power supply
GND + 24V
DC24V
Power supply
represents twisted pair wire.
<Remark>
100
Omron, CS1W-NC113
1.6kΩ
1.6kΩ
150Ω
4.7kΩ
4.7kΩ
4.7kΩ
4.7kΩ
220Ω
220Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
CW
pulse command
output
CW
pulse
command
input
A6
A8
A16
A14
A1
A2
A10
A24
A20
A21
A23
A22
PULS1
PULS2
SIGN1
SIGN2
OZ+
OZ–
GND
COM+
CL
SRV-ON
GAIN
A-CLR
CCWL
CWL
S-RDY
+
S-RDY
–
ALM+
ALM–
COIN+
COIN–
COM–
3
4
5
6
23
24
13
7
30
29
27
31
9
8
35
34
37
36
39
38
41
CCW
pulse command
output
CCW
pulse
command
input
Origin line driver
input
Deviation
counter reset output
Power supply
for output
Counter clear
input
Servo-ON
input
Servo-Ready
output
Servo-Alarm
output
Positioning
complete
output
Gain
switching
input
Alarm clear
input
CW
over-travel
inhibit input
CCW
over-travel
inhibit input
Emergency
stop input
PLC
CS1W-NC113 Driver
A4-series
Z-phase
output
from
PLC I/O
outpu
t
to
PLC I/O
input
Origin proximity
input
CCW limit excess
input
CW limit excess
input
V+
GND
Origin proximity
sensor
CW limit
sensor
CCW limit
sensor
GND + 24V
DC24V
Power supply
Wiring to the Connector, CN X5
represents twisted pair wire.
<Remark>
101
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
Omron, CS1W-NC133
150Ω
CW
pulse
command
input
A5
A6
A7
A8
A16
A14
A1
A2
A10
A24
A20
A21
A23
A22
A3
A4
PULS1
PULS2
SIGN1
SIGN2
OZ+
OZ–
GND
COM+
CL
SRV-ON
GAIN
A-CLR
CCWL
CWL
S-RDY+
S-RDY–
ALM+
ALM–
COIN+
COIN–
COM–
3
4
5
6
23
24
13
7
30
29
27
31
9
8
35
34
37
36
39
38
41
CCW
pulse
command
input
Counter clear
input
Servo-ON
input
Servo-Ready
output
Servo-Alarm
output
Positioning
complete
output
Gain
switching
input
Alarm clear
input
CW
over-travel
inhibit input
CCW
over-travel
inhibit input
PLC
CS1W-NC133 Driver
A4-series
Z-phase
output
from
PLC I/O
outpu
t
to
PLC I/O
input
V+
GND
GND
+V
CW
pulse command
output
CCW
pulse command
output
Origin line driver
input
Deviation
counter reset output
24V
power supply
for output
Emergency
stop input
Origin proximity
input
CCW limit over
input
CW limit over input
5V power supply
for pulse output
220Ω
220Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
Origin proximity
sensor
CW limit
sensor
CCW limit
sensor GND + 5V
DC5V
Power supply
GND + 24V
DC24V
Power supply
represents twisted pair wire.
<Remark>
102
Wiring to the Connector, CN X5
Omr on, C200H-NC211
1.6kΩ
1.6kΩ
150Ω
2kΩ
2kΩ
2kΩ
2kΩ
220Ω
220Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
Pulse (CW+CCW)
output
CW
pulse
command
input
2
13
9
11
1
23
4
22
19
7
17
18
PULS1
PULS2
SIGN1
SIGN2
OZ+
OZ–
GND
COM+
CL
SRV-ON
GAIN
A-CLR
CCWL
CWL
S-RDY
+
S-RDY
–
ALM+
ALM–
COIN+
COIN–
COM–
3
4
5
6
23
24
13
7
30
29
27
31
9
8
35
34
37
36
39
38
41
Directional output CCW
pulse
command
input
Origin line driver
input
Deviation
counter reset output
Power supply
for output
Counter clear
input
Servo-ON
input
Servo-Ready
output
Servo-Alarm
output
Positioning
complete
output
Gain
switching
input
Alarm clear
input
CW
over-travel
inhibit input
CCW
over-travel
inhibit input
Emergency
stop input
PLC
C200H-NC211 Driver
A4-series
Z-phase
output
from
PLC I/O
outpu
t
to
PLC I/O
input
Origin proximity
input
CCW limit over
input
CW limit over
input
V+
GND
Origin proximity
sensor
CW limit
sensor
CCW limit
sensor
GND + 24V
DC24V
Power supply
represents twisted pair wire.
<Remark>
103
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
Mitsubishi, A1SD75/AD75P1
220Ω
220Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
CW
pulse command
output
CCW
pulse command
output
Zero point signal
Deviation counter
clear
In position
Common
Proximity signal
Upper limit
Lower limit
Drive unit
ready
CW
pulse
command
input
3
21
4
22
24
25
5
23
26
7
8
35
36
11
12
13
PULS1
PULS2
SIGN1
SIGN2
OZ+
OZ–
GND
COM+
CL
SRV-ON
GAIN
A-CLR
CCWL
CWL
S-RDY
+
S-RDY
–
ALM+
ALM–
COIN+
COIN–
COM–
3
4
5
6
23
24
13
7
30
29
27
31
9
8
35
34
37
36
39
38
41
CCW
pulse
command
input
Counter clear
input
Servo-ON
input
Servo-Ready
output
Servo-Alarm
output
Positioning
complete
output
Gain
switching
input
Alarm clear
input
CW
over-travel
inhibit input
CCW
over-travel
inhibit input
PLC
A1SD75/AD75P1 Driver
A4-series
Z-phase
output
from
PLC I/O
outpu
t
from
PLC I/O
outpu
t
to
PLC I/O
input
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
4.7
k
Ω
500Ω
Origin proximity
sensor
CW limit
sensor
CCW limit
sensor
GND + 24V
DC24V
Power supply
represents twisted pair wire.
<Remark>
104
Trial Run (JOG run) at Position Control Mode
Trial Run by Connecting the Connector, CN X5
(1) Connect the CN X5.
(2) Enter the power (DC12 to 24V) to control signal (COM+, COM–)
(3) Enter the power to the driver.
(4) Confirm the default values of parameters.
(5) Match to the output format of the host controller with Pr42 (Command pulse input mode setup).
(6) Write to EEPROM and turn off/on the power (of the driver).
(7) Connect the Servo-ON input (SRV-ON, CN X5, Pin-29) and COM– (CN X5, Pin-41) to bring the driv er to
Servo-ON status and energize the motor.
(8) Enter low frequency from the host controller to run the motor at low speed.
(9) Check the motor rotational speed at monitor mode whether,
rotational speed is as per the setup or not, and
the motor stops by stopping the command (pulse) or not.
(10) If the motor does not run correctly, refer to P.68, "Display of Factor for No-Motor Running" of Preparation.
COM+
7
29
41
3
4
5
6
COM
-
SRV-ON
PULS1
PULS2
SIGN1
SIGN2
1kΩ
1kΩ
CW/CCW pulse input
in case of
open collector input
CN X5
in case of
line receiver
input
DC
12V – 24V
DC
12V
Title
Setup of control mode
Invalidation of over-travel inhibit input
Selection of command pulse input
Mode setup of command pulse input
Inhibition setup of command pulse input
Counter clear mode
Parameter
PrNo.
02
04
40
42
43
4E
Setup
value
0
1
0/1
1
1
2
Title of signal
Servo-ON
No.
0Monitor display
+A
• Enter command pulses from the host controller.
43kΩ
2kΩ
2kΩ
43kΩ
SIGNH1
SIGNH2
PULSH1
PULS
H/L
PULSH2
44
45
SIGN
46
47
43kΩ
2kΩ
2kΩ
43kΩ
220Ω
220Ω
Wiring Diagram
Input signal status
GND
13
Inspection Before Trial Run
X3
X4
X5
X6
X7
Display LED
CN X6
ground
Power
supply
Motor
Machine
(1) Wiring inspection
• Miswiring
(Especially power input/motor output)
• Short/Earth
• Loose connection
(2) Check of power/voltage
• Rated voltage
(3) Fixing of the motor
• Unstable fixing
(4) Separation from
mechanical system
(5) Release of the brake
105
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
Setup of Motor Rotational Speed and Input Pulse Frequency
Input pulse
frequency
(pps)
2M
500K
250K
100K
500K
Motor
rotational
speed (r/min)
3000
3000
3000
3000
1500
17-bit 2500P/r
17-bit 2500P/r
Encoder 2
n
20
21
22
23
24
25
26
27
28
29
2
10
2
11
2
12
2
13
2
14
2
15
2
16
2
17
Decimal
figures
1
2
4
8
16
32
64
128
256
512
1024
2048
4096
8192
16384
32768
65536
131072
Command pulse
How to determine
parameter 18
365 x
=
x 360°
60°
2
13
1 x 2
17
18
365 x
=
x360
°
60
°
10000
10000
18
365 x
=
x 360
°
60
°
2
6
1 x 2
10
Pr4B
Pr48 x 2
Pr4A
10000
2500
0
x 2
10000
1x 2
10000
10000
0
x 2
5000
10000
0
x 2
2000
10000
0
x 2
10000
50000
0
x 2
e.g.) When you want to rotate the motor by 60
°
with the load of total reduction ratio of 18/365.
*Refer to P.306 "Division Ratio for Parameters" of Supplement.
To rotate the output shaft by 60
°
,
enter the command of 8192 (2
13
)
pulses from the host controller.
To rotate the output shaft by 60
°
,
enter the command of 10000
pulses from the host controller.
60°
<Note>
Defaults of Pr48 and Pr49 are both 0, and encoder resolution is automatically set up as numerators.Defaults
of Pr48 and Pr49 are both 0, and encoder resolution is automatically set up as numerators.
<Remarks>
• Max. input pulse frequency varies depending on input terminals.
• You can set up any values to numerator and denominator, however, setup of an extreme division ratio
or multiplication ratio may result in dangerous action. Recommended ratio is 1/50-20.
Relation between the
motor rotational speed
and input pulse counts
Pulley ratio :
Gear ratio :
Total reduction ratio :
Gear
18
60
12
73
18
365
15
10000
1x 2
17
5000
1x 2
17
2000
1x 2
17
10000
1x 2
16
Pr4B
Pr48 x 2
Pr4A
6912
365 x 2
10
6912
365 x 2
10
884736
365 x 2
17
108
365 x 2
0
108
365 x 2
0
Hence the obtained numerator
becomes 47841280>2621440 and
denominator exceeds the max
value of 10000, you have to re-
duce to the common denominator
to obtain.
106
Real-Time Auto-Gain Tuning
Outline
The driver estimates the load inertia of the ma-
chine in real time, and automatically sets up the
optimum gain responding to the result. Also the
driver automatically suppress the vibration caused
by the resonance with an adaptive filter.
Applicable Range
• Real-time auto-gain tuning is applicable to all
control modes.
Caution
Real-time auto-gain tuning may not be executed
properly under the conditions described in the
right table. In these cases, use the normal mode
auto-gain tuning (refer to P.236 of Adjustment),
or e x ecute a manual gain tuning. (ref er to P.240,
of Adjustment)
Conditions which obstruct
real-time auto-gain tuning
• Load is too small or large compared to rotor inertia.
(less than 3 times or more than 20 times)
• Load inertia change too quickly. (10 [s] or less)
• Machine stiffness is extremely low.
• Chattering such as backlash exists.
•
Motor is running continuously at low speed of 100 [r/min] or lower.
•
Acceleration/deceleration is slow (2000[r/min] per 1[s] or low).
• Acceleration/deceleration torque is smaller than
unbalanced weighted/viscous friction torque.
• When speed condition of 100[r/min] or more and
acceleration/deceleration condition of 2000[r/min] per
1[s] are not maintained for 50[ms].
Load
inertia
Load
Action
pattern
Action command under
actual condition
Position/Velocity
command Position/Velocity
control
Servo driver
Real-time auto-gain tuning
Resonance frequency calculation
Load inertia calculation
Adaptive
Filter Current
control
Auto-gain
setup Auto-filter
adjustment Torque
command Motor
current
Motor
speed
Motor
Encoder
How to Operate
(1) Bring the motor to stall (Servo-OFF).
(2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 1-
7. Default is 1.
(3) Set up Pr22 (Machine stiffness at real-time auto-gain tun-
ing) to 0 or smaller value.
(4) Turn to Servo-ON to r un the machine normally.
(5) Gradually increase Pr22 (Machine stiffness at real-time
auto-gain tuning) when you want to obtain better response.
Lower the value (0 to 3) when you experience abnormal
noise or oscillation.
(6) Write to EEPROM when you want to save the result.
0
<1>
2
3
4
5
6
7
Real-time auto-gain tuning
(not in use)
normal mode
vertical axis mode
no-gain switching mode
Varying degree of load inertia in motion
–
no change
slow change
rapid change
no change
slow change
rapid change
no change
• When the varying degree of load inertia is large, set up 3 or 6.
• When the motor is used for vertical axis, set up 4-6.
• When vibration occurs during gain switching, set up 7.
• When resonance might give some effect, validate the setup of Pr23
(Setup of adaptive filter mode).
Setup
value
Setup of parameter, Pr21
Press .
Press .
Match to the parameter No.
to be set up with . (Here match to Pr21.)
Press .
Change the setup with .
Press .
Setup of parameter, Pr22
Match to Pr22 with .
Press .
Numeral increases with ,
and decreases with .
Press .
(default values)
Writing to EEPROM
Press .
Press .
Bars increase as the right fig. shows
by keep pressing (approx. 5sec).
Writing starts (temporary display).
Finish Writing completes Writing error
occurs
Return to SELECTION display after writing finishes, referring
to "Structure of each mode"(P.60 and 61 of Preparation).
Insert the console connector to
CN X6 of the driver, then turn
on the driver power.
107
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
Adaptive Filters
The adaptive filter is validated by setting up Pr23 (Setup of adaptive filter mode) to other than 0.
The adaptive filter automatically estimates a resonance frequency out of vibration component presented in the motor speed
in motion, then removes the resonance components from the torque command by setting up the notch filter coefficient
automatically, hence reduces the resonance vibration.
The adaptive filter may not operate property under the following conditions. In these cases, use 1st notch filter (Pr1D and 1E)
and 2nd notch filter (Pr28-2A) to make measures against resonance according to the manual adjusting procedures.
For details of notch filters, refer to P.246, "Suppression of Machine Resonance" of Adjustment.
PrNo.
10
11
12
13
14
18
19
1A
1B
1C
20
2F
Title
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of velocity detection
1st time constant of torque filter
2nd gain of position loop
2nd gain of velocity loop
2nd time constant of velocity loop integration
2nd filter of speed detection
2nd time constant of torque filter
Inertia ratio
Adaptive filter frequency
PrNo.
15
16
27
30
31
32
33
34
35
36
300
50
0
1
10
30
50
33
20
0
Title Setup value
Velocity feed forward
Time constant of feed forward filter
Setup of instantaneous speed observer
2nd gain setup
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
Position gain switching time
2nd mode of control switching
Parameters Which Are Automatically Set Up.
Following parameters are automatically adjusted.
Also following parameters are automatically set up.
Resonance point
Command pattern
Load
Conditions which obstruct adaptive filter action
• When resonance frequency is lower than 300[Hz].
• While resonance peak is low or control gain is small and when no affect from these condition is
given to the motor speed.
• When multiple resonance points exist.
•
When the motor speed variation with high frequency factor is generated due to non-linear factor such as backlash.
• When acceleration/deceleration is very extreme such as more than 30000 [r/min] per 1 [s].
<Notes>
• When the real-time auto-gain tuning is valid, you cannot change parameters which are automatically adjusted.
• Pr31 becomes 10 at position or full closed control and when Pr21 (Setup of Real-Time Auto-Gain
Tuning Mode) is 1 to 6, and becomes 0 in other cases.
<Note>
Even though Pr23 is set up to other than 0, there are other cases when adaptive filter is automatically
invalidated. Refer to P.235, "Invalidation of adaptive filter" of Adjustment.
Cautions
(1) After the start-up, you may experience abnormal noise and oscillation right after the first Servo-ON, or when you increase the
setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning), until load inertia is identified (estimated) or adaptive
filter is stabilized, however, these are not failures as long as they disappear immediately. If they persist over 3 reciprocating
operations , take the f ollo wing measures in possib le order .
1) Write the parameters which hav e giv en the normal operation into EEPR OM.
2) Lower the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning).
3) Set up both Pr21 (Setup of real-time auto-gain tuning) and Pr23 (Setup of adaptive filter mode) to 0, then set up other value
than 0. (Reset of inertia estimation and adaptive action)
4) Inv alidate the adaptiv e filter b y setting up Pr23 (Setup of adaptive filter mode setup) to 0, and set up notch filter man ually.
(2) When abnormal noise and oscillation occur, Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) might have changed to
extreme values . Take the same measures as the abo v e in these cases.
(3) Among the results of real-time auto-gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) will be written to EEPROM
every 30 minutes. When you turn on the power again, auto-gain tuning will be executed using the latest data as initial values.
(4)
When you v alidate the real-time auto-gain tuning, Pr27 (Setup of instantaneous speed observer) will be in v alidated automatically.
(5) The adaptiv e filter is normally invalidated at torque control, however, when you select torque control while you set up Pr02
(Control mode setup) to 4 and 5, the adaptive filter frequency before mode switching will be held.
(6) During the trial run and frequency characteristics measurement of "PANATERM
®
", the load inertia estimation will be inv alidated.
108
Parameter Setup
Parameters for Functional Selection
PrNo. Setup
range
Title Function/Content
Standard default : < >
01
*
0 to 17
<1>
LED initial status You can select the type of data to be displayed on the front panel LED (7 segment)
at the initial status after power-on.
Power -ON
Setup value of Pr01
Flashes (for approx. 2 sec)
during initialization
Setup value
Content
0
<1>
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Positional deviation
Motor rotational speed
Torque output
Control mode
I/O signal status
Error factor/history
Software version
Alarm
Regenerative load factor
Over-load factor
Inertia ratio
Sum of feedback pulses
Sum of command pulses
External scale deviation
Sum of external scale feedback pulses
Motor automatic recognizing function
Analog input value
Factor of "No-Motor Running"
For details of display, refer to P.51 "Setup of
Parameter and Mode" of Preparation.
02
*
0 to 6
<1>
Setup of
control mode You can set up the control mode to be used.
Setup
value
0
<1>
2
3
4
5
6
Control mode
1st mode
2nd mode
Position
Velocity
Torque
Position
Position
Velocity
Full-closed
–
–
–
Velocity
Torque
Torque
– 1st 2nd
close
open
C-MODE
10ms or longer 10ms or longer
open
1st
**1) When you set up the combination mode of 3, 4 or
5, you can select either the 1st or the 2nd with
control mode switching input (C-MODE).
When C-MODE is open, the 1st mode will be
selected.
When C-MODE is shorted, the 2nd mode will be
selected.
Don't enter commands 10ms before/after switching.
**1
**1
**1
00
*
0 to 15
<1>
Address In the communication with the host via RS232/485 for multi-axes application, it is
necessary to identify which axis the host is communicating. Use this parameter to
confirm the address of the axis in numbers.
• The address is determined by the setup value of rotary switch (0 to F) of the
front panel at power-on.
• This value becomes the axis number at serial communication.
• The setup value of this parameter has no effect to the servo action.
• You cannot change the setup of Pr00 with other means than rotary switch.
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
109
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
03 0 to 3
<1>
Selection of
torque limit You can set up the torque limiting method for CCW/CW direction.
When the setup value is 0, CCWTL and CWTL will be limited by Pr5E (1st torque
limit setup). At the torque control, Pr5E becomes the limiting value for CCW/CW
direction regardless of the setup of this parameter.
Setup value
0
<1>
2
3
CCW
X5 CCWTL : Pin-16
Set with Pr5E
When GAIN/TL-SEL input is open, set with Pr5E
When GAIN/TL-SEL input is shorted, set with Pr5F
Pr5E is a limit value for both CCW and CW direction
CW
X5 CWTL : Pin-18
Set with Pr5F
07 0 to 9
<3>
Selection of speed
monitor (SP) You can set up the content of analog speed monitor signal output (SP : CN X5,
Pin43) and the relation between the output voltage level and the speed.
Setup value
0
1
2
<3>
4
5
6
7
8
9
Signal of SP
Motor actual
speed
Command
speed
Relation between the output voltage level and the speed
6V / 47 r/min
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
6V / 47 r/min
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
04
*
0 to 2
<1>
Setup of
over-travel
inhibit input
In linear drive application, you can use this over-travel inhibiting function to inhibit the
motor to run to the direction specified by limit switches which are installed at both ends
of the axis, so that you can prevent the work load from damaging the machine due to
the over-travel. With this input, you can set up the action of over-travel inhibit input.
<Cautions>
1. When Pr04 is set to 0 and over-travel inhibit input is entered, the motor deceler-
ates and stops according to the preset sequence with Pr66 (Sequence at over-
travel inhibition). For details, refer to the explanation of Pr66.
2. When both of CCWL and CWL inputs are opened while Pr04 is set to 0, the driver
trips with Err38 (Overtravel inhibit input error) judging that this is an error.
3. When you turn off the limit switch on upper side of the work at vertical axis applica-
tion, the work may repeat up/down movement because of the loosing of upward
torque. In this case, set up Pr66 to 2, or limit with the host controller instead of us-
ing this function.
CW direction CCW direction
CCWL
CWL
Work
Servo motor Limit
switch Limit
switch
Driver
Setup
value
0
<1>
2
Action
CCWL/CWL
input
Valid
Invalid
Valid
Input
CCWL
(CN X5,Pin-9)
CWL
(CN X5,Pin-9)
Connection to COM–
Close
Open
Close
Open
Normal status while CCW-side limit switch is not activated.
Inhibits CCW direction, permits CW direction.
Normal status while CW-side limit switch is not activated.
Inhibits CW direction, CCW direction permitted.
Both CCWL and CWL inputs will be ignored, and over-travel inhibit function will be
invalidated.
Err38 (Over-travel inhibit input protection) is triggered when either one
of the connection of CW or CCW inhibit input to COM– become open.
PrNo. Setup
range
Title Function/Content
Standard default : < >
110
Parameter Setup
08 0 to 12
<0>
Selection of torque
monitor (IM)
You can set up the content of the analog torque monitor of the signal output (IM : CN X5, Pin-
42), and the relation between the output voltage level and torque or deviation pulse counts.
Setup value
<0>
1
2
3
4
5
6
7
8
9
10
11
12
Signal of IM
Torque command
Position
deviation
Full-closed
deviation
Torque
command
Relation between the output voltage level and torque or deviation pulse counts
3V/rated (100%) torque
3V / 31Pulse
3V / 125Pulse
3V / 500Pulse
3V / 2000Pulse
3V / 8000Pulse
3V / 31Pulse
3V / 125Pulse
3V / 500Pulse
3V / 2000Pulse
3V / 8000Pulse
3V / 200% torque
3V / 400% torque
09 0 to 8
<0>
Selection of
TLC output You can assign the function of the torque in-limit output (TLC : CN X5 Pin-40).
Setup value
<0>
1
2
3
4
5
6
7
8
Note
For details of
function of each
output of the
left, refer to the
table of P.92,
"Selection of
TCL and ZSP
outputs".
Function
Torque in-limit output
Zero speed detection output
Alarm output of either one of Over-regeneration
/Over-load/Absolute battery/Fan lock/External scale
Over-regeneration alarm trigger output
Overload alarm output
Absolute battery alarm output
Fan lock alarm output
External scale alarm output
In-speed (Speed coincidence) output
0A 0 to 8
<1>
Selection of
ZSP output
You can assign the function of the zero speed detection output (ZSP: CN X5 Pin-12).
Setup value
0
<1>
2
3
4
5
6
7
8
Note
For details of
function of each
output of the
left, refer to the
table of P.92,
"Selection of
TCL and ZSP
outputs".
Function
Torque in-limit output
Zero speed detection output
Alarm output of either one of Over-regeneration
/Over-load/Absolute battery/Fan lock/External scale
Over-regeneration alarm trigger output
Overload alarm output
Absolute battery alarm output
Fan lock alarm output
External scale alarm output
In-speed (Speed coincidence) output
0B
*0 to 2
<1>
Setup of
absolute encoder You can set up the using method of 17-bit absolute encoder.
<Caution>
This parameter will be invalidated when 5-wire, 2500P/r incremental encoder is used.
Setup value
0
<1>
2
Content
Use as an absolute encoder.
Use as an incremental encoder.
Use as an absolute encoder, but ignore the multi-turn counter over.
0C
*0 to 5
<2>
Baud rate setup of
RS232
communication
You can set up the communication speed of RS232.
Setup value
0
1
<2>
Baud rate
2400bps
4800bps
9600bps
Setup value
3
4
5
Baud rate
19200bps
38400bps
57600bps
• Error of baud rate is ±0.5%.
PrNo. Setup
range
Title Function/Content
Standard default : < >
111
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
Parameters for Adjustment of Time Constants of Gains and Filters
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you tur n on the
control power.
• Parameters which default v alues have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referr ing to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
10 0 to 3000
A to C-frame:<63>*
D to F-frame:<32>*
1/s1st gain of
position loop You can determine the response of the positional control system.
Higher the gain of position loop you set, faster the positioning time you
can obtain. Note that too high setup may cause oscillation.
11 1 to 3500
A to C-frame:<35>*
D to F-frame:<18>*
Hz1st gain of
velocity loop You can determine the response of the velocity loop.
In order to increase the response of overall servo system by setting high
position loop gain, you need higher setup of this velocity loop gain as well.
However, too high setup may cause oscillation.
<Caution>
When the inertia ratio of Pr20 is set correctly, the setup unit of Pr11
becomes (Hz).
12 1 to 1000
A to C-frame:<16>*
D to F-frame:<31>*
ms1st time constant
of velocity loop
integration
You can set up the integration time constant of velocity loop.
Smaller the setup, faster you can dog-in deviation at stall to 0.
The integration will be maintained by setting to "999".
The integration effect will be lost by setting to "1000".
13 0 to 5
<0>* –1st filter of
speed detection You can set up the time constant of the low pass filter (LPF) after the
speed detection, in 6 steps.
Higher the setup, larger the time constant you can obtain so that you can
decrease the motor noise, however, response becomes slow. Use with a
default value of 0 in normal operation.
15 –2000
to 2000
<300>*
0.1%Velocity feed
forward You can set up the velocity feed forward volume at position control.
Higher the setup, smaller positional deviation and better response you can
obtain, however this might cause an overshoot.
16 0 to 6400
<50>* 0.01msTime constant of
feed forward filter You can set up the time constant of 1st delay filter inserted in velocity feed
forward portion.
You might expect to improve the overshoot or noise caused by larger
setup of above velocity feed forward.
14 0 – 2500
A to C-frame:<65>*
D to F-frame:<126>*
0.01ms1st time constant of
torque filter You can set up the time constant of the 1st delay filter inserted in the
torque command portion. You might expect suppression of oscillation
caused by distortion resonance.
0E
*0 to 1
<0>
Setup of front
panel lock You can limit the operation of the front panel to the
monitor mode only.
You can prevent such a misoperation as unexpec-
ted parameter change.
<Note>
You can still change parameters via communication even though this setup is 1.
To return this parameter to 0, use the console or the "PANATERM®".
Setup value
<0>
1
Content
Valid to all
Monitor mode only
0D
*0 to 5
<2>
Baud rate setup of
RS485
communication
You can set up the communication speed of RS485.
Setup value
0
1
<2>
Baud rate
2400bps
4800bps
9600bps
Setup value
3
4
5
Baud rate
19200bps
38400bps
57600bps
• Error of baud rate is ±0.5%.
PrNo. Setup
range
Title Function/Content
Standard default : < >
112
Parameter Setup
Parameters for Auto-Gain Tuning
20
0 to 10000
<250>* %Inertia ratio
You can set up the ratio of the load inertia against the rotor (of the motor) inertia.
When you execute the normal auto-gain tuning, the load inertial will be
automatically estimated after the preset action, and this result will be
reflected in this parameter.
The inertia ratio will be estimated at all time while the real-time auto-gain
tuning is valid, and its result will be saved to EEPROM every 30 min.
<Caution>
If the inertia ratio is correctly set, the setup unit of Pr11 and Pr19
becomes (Hz). When the inertia ratio of Pr20 is larger than the actual, the
setup unit of the velocity loop gain becomes larger, and when the inertia
ratio of Pr20 is smaller than the actual, the setup unit of the velocity loop
gain becomes smaller.
Pr20=(load inertia/rotor inertia) X 100 [%]
21 0 to 7
<1> –Setup of real-time
auto-gain tuning You can set up the action mode of the real-time auto-gain tuning.
With higher setup such as 3 or 6, the driver respond quickly to the change
of the inertia during operation, however it might cause an unstable
operation. Use 1 or 4 for normal operation.For the vertical axis application,
use with the setup of 4 to 6.
When vibration occurs at gain switching, set up this to "7".
Setup value
0
<1>
2
3
4
5
6
7
Real-time
auto-gain tuning
Invalid
Normal mode
Vertical axis mode
No gain switching
Varying degree of
load inertia in motion
–
Little change
Gradual change
Rapid change
Little change
Gradual change
Rapid change
Little change
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
1D
100 to 1500
<1500> Hz1st notch
frequency
You can set up the frequency of the 1st resonance suppressing notch filter.
The notch filter function will be invalidated by setting up this parameter to
"1500".
1E 0 to 4
<2> –1st notch width
selection
You can set up the notch filter width of the 1st resonance suppressing filter in 5 steps.
Higher the setup, larger the notch width you can obtain.
Use with default setup in normal operation.
18
19
1A
1B
1C
0 to 3000
A to C-frame:<73>*
D to F-frame:<38>*
1 to 3500
A to C-frame:<35>*
D to F-frame:<18>*
1 to 1000
<1000>*
0 to 5
<0>*
0 to 2500
A to C-frame:<65>*
D to F-frame:<126>*
1/s
Hz
ms
–
0.01ms
2nd gain of
position loop
2nd gain of velocity
loop
2nd time constant of
velocity loop integration
2nd filter of velocity
detection
2nd time constant
of torque filter
Position loop, velocity loop, speed detection filter and torque command
filter have their 2 pairs of gain or time constant (1st and 2nd).
For details of switching the 1st and the 2nd gain or the time constant, refer
to P.226, "Adjustment".
The function and the content of each parameter is as same as that of the
1st gain and time constant.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
113
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
<Notes>
• Parameters which default v alues have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referr ing to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
24 0 to 2
<0> –Selection of
damping filter
switching
You can select the switching method when you use the damping filter.
0 : No switching (both of 1st and 2nd are valid.)
1 : You can select either 1st or 2nd with damping control switching input
(VS-SEL).
when VS-SEL is opened, 1st damping filter selection (Pr2B, 2C)
when VS-SEL is close, 2nd damping filter selection (Pr2D, 2E)
2 : You can switch with the position command direction.
CCW : 1st damping filter selection (Pr2B, 2C).
CW : 2nd damping filter selection (Pr2D, 2E).
25 0 to 7
<0> –Setup of an action
at normal mode
auto-gain tuning
You can set up the action pattern at the normal mode auto-gain tuning.
e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2
revolutions to CW.
Setup value
<0>
1
2
3
4
5
6
7
Number of revolution
2 [revolution]
1 [revolution]
Rotational direction
CCW CW
CW CCW
CCW CCW
CW CW
CCW CW
CW CCW
CCW CCW
CW CW
27 0 to 1
<0>* –Setup of
instantaneous
speed observer
With a high stiffness machine, you can achieve both high response and
reduction of vibration at stall, by using this instantaneous speed observer.
Setup value
<0>*
1
Instantaneous speed observer setup
Invalid
Valid
You need to set up the inertia ratio of Pr20 correctly to use this function.
If you set up Pr21, real-time auto-gain tuning mode setup, to other than 0 (valid), Pr27 becomes 0 (invalid)
23 0 to 2
<1> –Setup of adaptive
filter mode You can set up the action of the adaptive filter.
0 : Invalid
1 : Valid
2 : Hold
(holds the adaptive filter frequency when this setup is changed to 2.)
<Caution>
When you set up the adaptive filter to invalid, the adaptive filter frequency
of Pr2F will be reset to 0. The adaptive filter is always invalid at the
torque control mode.
22 0 to 15
A to C-frame:
<4>
D to F-frame:
<1>
–Selection of
machine stiffness
at real-time
auto-gain tuning
You can set up the machine stiffness in 16 steps while the real-time auto-
gain tuning is valid.
<Caution>
When you change the setup value rapidly, the gain changes rapidly as
well, and this may give impact to the machine. Increase the setup
gradually watching the movement of the machine.
low machine stiffness high
low servo gain high
low response high
Pr22 0, 1- - - - - - - - - - - - 14, 15
26 0 to 1000
<10> 0.1
revolution
Setup of software
limit You can set up the movable range of the motor against the position
command input range. When the motor movement exceeds the setup
value, software limit protection of Pr34 will be triggered. This parameter is
invalid with setup value of 0.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
114
Parameter Setup
2F 0 to 64
<0> –Adaptive filter
frequency Displays the table No. corresponding to the adaptive filter frequency.
(Refer to P.234 of Adjustment.) This parameter will be automatically set
and cannot be changed while the adaptive filter is valid. (when Pr23
(Setup of adaptive filter mode) is other than 0.)
0 to 4 Filter is invalid.
5 to 48 Filter is valid.
49 to 64 Filter validity changes according to Pr22.
This parameter will be saved to EEPROM every 30 minutes while the
adaptive filter is valid, and when the adaptive filter is valid at the next
power-on, the adaptive action starts taking the saved data in EEPROM as
an initial value.
<Caution>
When you need to clear this parameter to reset the adaptive action while
the action is not normal, invalidate the adaptive filter (Pr23, "Setup of
adaptive filter mode" to 0) once, then validate again.
Refer to P.239, "Release of Automatic Gain Adjusting Function" of
Adjustment as well.
2E
–200 to 2000
<0> 0.1HzSetup of
2nd damping filter While you set up Pr2D (2nd damping frequency), set this up to smaller
value when torque saturation occurs, and to larger value when you need
faster action.
Use with the setup of 0 in normal operation. Refer to P.250, "Damping
control" of Adjustment.
<Caution>
Setup is also limited by 10.0[Hz]–Pr2D
<
=
Pr2E
<
=
Pr2D
2B 0 to 2000
<0> 0.1Hz1st damping
frequency You can set up the 1st damping frequency of the damping control which
suppress vibration at the load edge.
The driver measures vibration at load edge. Setup unit is 0.1[Hz].
The setup frequency is 10.0 to 200.0[Hz]. Setup of 0 to 99 becomes invalid.
Refer to P.250, "Damping control" as well before using this parameter.
2C
–200 to 2000
<0> 0.1HzSetup of
1st damping filter While you set up Pr2B (1st damping frequency), set this up to smaller
value when torque saturation occurs, and to larger value when you need
faster action.Use with the setup of 0 in normal operation. Refer to P.250,
"Damping control" of Adjustment.
<Caution>
Setup is also limited by 10.0[Hz]–Pr2B
<
=
Pr2C
<
=
Pr2B
2D 0 to 2000
<0> 0.1Hz2nd damping
frequency You can set up the 2nd damping frequency of the damping control which
suppress vibration at the load edge.
The driver measures vibration at the load edge. Setup unit is 0.1 [Hz].
Setup frequency is 10.0 to 200.0 [Hz]. Setup of 0-99 becomes invalid.
Refer to P.250, "Damping control" of Adjustment as well before using this
parameter.
2A 0 to 99
<0> –Selection of
2nd notch depth
You can set up the 2nd notch depth of the resonance suppressing filter. Higher
the setup, shallower the notch depth and smaller the phase delay you can obtain.
28
100 to 1500
<1500> Hz2nd notch
frequency You can set up the 2nd notch width of the resonance suppressing filter in
5 steps. The notch filter function is invalidated by setting up this parame-
ter to "1500".
29 0 to 4
<2> –Selection of
2nd notch width You can set up the notch width of 2nd resonance suppressing filter in 5
steps. Higher the setup, larger the notch width you can obtain.
Use with default setup in normal operation.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
• Parameters which default values ha ve a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
115
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
Parameters for Adjustment (2nd Gain Switching Function)
30 0
to
1
<1>* –Setup of 2nd gain
You can select the PI/P action switching of the velocity control or 1st/2nd gain switching.
*1 Switch the PI/P action with the gain switching input (GAIN CN X5, Pin-
27). PI is fixed when Pr03 (Torque limit selection) is 3.
*2 For switching condition of the 1st and the 2nd, refer to P.243, "Gain
Switching Function" of Adjustment.
Setup value
0
<1>*
Gain selection/switching
1st gain (PI/P switching enabled) *1
1st/2nd gain switching enabled *2
GAIN input
Open with COM–
Connect to COM–
Action of velocity loop
PI action
P action
32
0 to 10000
<30>* x 166µs1st delay time of
control switching You can set up the delay time when returning from the 2nd to the 1st gain,
while Pr31 is set to 3 or 5 to 10.
33
0 to 20000
<50>* –1st level of
control switching You can set up the switching (judging) level of the 1st and the 2nd gains,
while Pr31 is set to 3, 5, 6. 9 and 10.
Unit varies depending on the setup of Pr31 (1st mode of control switching)
34
0 to 20000
<33>* –1st hysteresis
of control switching You can set up hysteresis width to be
implemented above/below the
judging level which is set up with
Pr33. Unit varies depending on the
setup of Pr31 (1st control switching
mode). Definitions of Pr32 (Delay),
Pr33 (Level) and Pr34 (Hysteresis)
are explained in the fig. below.
<Caution>
The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute
values (positive/negative).
Pr33
0
Pr34
Pr32
1st gain 2nd gain 1st gain
31 0
to
10
<0>* –1st mode of
control switching You can select the switching condition of 1st gain and 2nd gain while Pr30
is set to 1.
*1 Fixed to the 1st gain regardless of GAIN input, when Pr31 is set to 2
and Pr03 (Torque limit selection) is set to 3.
*2 For the switching level and the timing, refer to P.243, "Gain Switching
Function" of Adjustment.
Setup value
<0>*
1
2
3
4
5
6
7
8
9
10
Gain switching condition
Fixed to the 1st gain.
Fixed to the 2nd gain.
2nd gain selection when the gain switching input is turned on. (Pr30 setup must be 1.)
2nd gain selection when the toque command variation is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control switching).
Fixed to the 1st gain.
2nd gain selection when the command speed is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis at control switching).
2nd gain selection when the positional deviation is larger than the setups of
Pr33 (1st control switching level) and Pr34 (1st hysteresis of control switching).
2nd gain selection when more than one command pulse exist between 166µs.
2nd gain selection when the positional deviation counter value exceeds the setup of
Pr60 (Positioning completer range).
2nd gain selection when the motor actual speed exceeds the setup of
Pr33 (1st level of control switching) and Pr34 (1at hysteresis of control switching) .
Switches to the 2nd gain while the position command exists.
Switches to the 1st gain when no-position command status lasts for the setup of Pr32 [x 166µs]
and the speed falls slower than the setups of Pr33–34[r/min].
*2
*2
*2
*2
*2
*2
*2
*2
*1
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
116
Parameter Setup
Parameters for Position Control
40
*0 to 1
<0>
Selection of com-
mand pulse input You can select either the photo-coupler input or the exclusive input for line driver as
the command pulse input.
Setup value
<0>
1
Content
Photo-coupler input (X5 PULS1:Pin-3, PULS2:Pin-4, SIGN1:Pin-5, SIGN2:Pin-6)
Exclusive input for line driver (X5 PULSH1:Pin-44, PULSH2:Pin-45, SIGNH1:Pin-46, SIGNH2:Pin-47)
41
*
42
*
0 to 1
<0>
0 to 3
<1>
Command pulse
rotational direction
setup
Setup of command
pulse input mode
You can set up the rotational direction against the command pulse input, and the
command pulse input format.
• Permissible max. input frequency, and min. necessary time width of command pulse input signal.
Pr41 setup value
(Command pulse
rotational
direction setup)
Pr42 setup value
(Command pulse
input mode
setup)
Signal
title CCW command
B-phase advances to A by 90˚. B-phase delays from A by 90˚.
CW command
Command
pulse
format
t1
A-phase
B-phase
t1 t1 t1
t1 t1t1 t1
t2 t2
t2
t3
t2
t4
“H” “L”
t5t4
t6 t6 t6 t6
t5
B-phase advances to A by 90˚.B-phase delays from A by 90˚.
t1
A-phase
B-phase
t1t1 t1
t1 t1 t1 t1
t2 t2
t2
t3
t2
t4
“L” “H”
t5t4
t6 t6 t6 t6
t5
0 or 2
<0> <1>
3
0 or 2
11
3
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
90˚ phase
difference
2-phase pulse
(A + B-phase)
CW pulse train
+
CCW pulse train
pulse train
+
Signal
90˚ phase
difference
2-phase pulse
(A + B-phase)
CW pulse train
+
CCW pulse train
pulse train
+
Signal
Line driver interface
Open collector interface
Pulse train interface exclusive to line driver
Pulse train interface
Input I/F of PULS/SIGN signal
Permissible max.
input frequency
2Mpps
500kpps
200kpps
t
1
500ns
2µs
5µs
Min. necessary time width
t
2
250ns
1µs
2.5µs
t
3
250ns
1µs
2.5µs
t
4
250ns
1µs
2.5µs
t
5
250ns
1µs
2.5µs
t
6
250ns
1µs
2.5µs
Make the rising/falling time of the command pulse input signal to 0.1µs or smaller.
PrNo. Setup
range
Title Function/Content
Standard default : < >
35
0 – 10000
<20>* (setup
value +1)
x 166µs
Switching time of
position gain You can setup the
step-by-step switching
time to the position
loop gain only at gain
switching while the 1st
and the 2nd gain
switching is valid.
<Caution>
The switching time is
only valid when switching from small position gain to large position gain.
Pr35=
Kp1(Pr10)
166
166 166
166µs
Kp2(Pr18)
1st gain
e.g.)
2nd gain
bold line
thin line
1st gain
00
1
1
22
3
3
Kp1(Pr10)>Kp2(Pr18)
3D
0 – 500
<300> r/minJOG speed setup You can setup the JOG speed.
Refer to P.75, "Trial Run"of Preparation.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
117
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
44
*
45
*
1 to 32767
<2500>
0 to 32767
<0>
Numerator of pulse
output division
Denominator of
pulse output
division
You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin-
21, 0A- : Pin-22, 0B+ : Pin-48, 0B- : Pin-49).
• Pr45=<0> (Default)
You can set up the output pulse counts per one motor revolution for each OA
and OB with the Pr44 setup. Therefore the pulse output resolution after
quadruple can be obtained from the formula below.
• Pr45≠0 :
The pulse output resolution per one revolution can be divided by any ration
according to the formula below.
<Cautions>
• The encoder resolution is 131072 [P/r] for the 17-bit absolute encoder, and
10000 [P/r] for the 5-wire 2500P/r incremental encoder.
• The pulse output resolution per one revolution cannot be greater than the
encoder resolution.
(In the above setup, the pulse output resolution equals to the encoder resolution.)
• Z-phase is fed out once per one revolution of the motor.
When the pulse output resolution obtained from the above formula is multiple of 4,
Z-phase synchronizes with A-phase. In other case, the Z-phase width equals to
output with the encoder resolution, and becomes narrower than A-phase, hence
does not synchronize with A-phase.
The pulse output resolution per one revolution
= Pr44 (Numerator of pulse output division) X4
Pr44
(Numerator of pulse output division)
Pr45
(Denominator of pulse output division)
Pulse output resolution per one revolution x Encoder resolution
A
B
ZSynchronized
A
B
ZNot-synchronized
Pr44
Pr45
when encoder resolution x is multiple of 4
Pr44
Pr45
when encoder resolution x is not multiple of 4
43 0 to 1
<1>
Invalidation of
command pulse
inhibit input
You can select either the validation or the invalidation of the command pulse inhibit
input (INH : CN X5 Pin-33).
Setup value
0
<1>
INH input
Valid
Invalid
Command pulse input will be inhibited by opening the connection of INH input to
COM–. When you do not use INH input, set up Pr43 to 1 so that you may not
need to connect INH (CN I/F Pin-33) and COM– (Pin-41) outside of the driver.
PrNo. Setup
range
Title Function/Content
Standard default : < >
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you tur n on the
control power.
118
Parameter Setup
46
*
0 to 3
<0>
Reversal of pulse
output logic You can set up the B-phase logic and the output source of the pulse output (X5 OB+
: Pin-48, OB– : Pin-49). With this parameter, you can reverse the phase relation
between the A-phase pulse and the B-phase pulse by reversing the B-phase logic.
*1 The output source of Pr46=2, 3 is valid only at full-closed control.
Setup
value
<0>, 2
1, 3
A-phase
(OA)
B-phase(OB)
non-reversal
B-phase(OB)
reversal
at motor CCW rotation at motor CW rotation
Pr46
<0>
1
2 *1
3 *1
B-phase logic
Non-reversal
Reversal
Non-reversal
Reversal
Output source
Encoder position
Encoder position
External scale position
External scale position
48
49
4A
4B
0 to 10000
<0>
0 to 10000
<0>
0 to 17
<0>
0 to 10000
<10000>
1st numerator of
electronic gear
2nd numerator of
electronic gear
Multiplier of
electronic gear
numerator
Denominator of
electronic gear
Electronic gear (Command pulse division/multiplication) function
• Purpose of this function
(1) You can set up any motor revolution and travel per input command unit.
(2) You can increase the nominal command pulse frequency when you cannot
obtain the required speed due to the limit of pulse generator of the host controller.
• Block diagram of electronic gear
• "Numerator" selection of electronic gear
*1 : Select the 1st or the 2nd with the command electronic gear input switching
(DIV : CN X5, Pin-28)
• when numerator ≠ 0 :
• when the numerator is <0> (Default) :Numerator (Pr48,49)X2
Pr4A
) is automat-
ically set equal to encoder resolution,
and you can set command pulse per
revolution with Pr4B.
The electronic gear ratio is set with the formula below.
<Caution>
In actual calculation of numerator (Pr48, Pr49) X2
Pr4A
, 4194304 (Pr4D setup value
+1) becomes the max. value.
(to be continued to next page)
Electronic gear function-related (Pr48 to 4B)
Command
pulse x 2
*1
*1
Multiplier (Pr4A) Internal
command
F
f
+
–
Feed back
pulse
(Resolution)
Deviation
counter
10000P/rev
or
2
17
P/rev
Denominator (Pr4B)
1st numerator (Pr48)
2nd numerator (Pr49)
DIV input open
DIV input connect to COM– Selection of 1st numerator (Pr48)
Selection of 2nd numerator (Pr49)
Encoder resolution
Command pulse counts per one revolution (Pr48)
Electronic gear ratio =
x 2
Denominator of command electronic gear (Pr4B)
Electronic gear ratio =
PrNo. Setup
range
Title Function/Content
Standard default : < >
Numerator of command
electronic gear (Pr48,49)
Multiplier of command
div/multiple numerator (Pr4A)
119
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
48
49
4A
4B
1st numerator of
electronic gear
2nd numerator of
electronic gear
Multiplier of
electronic gear
numerator
Denominator of
electronic gear
<Setup example when numerator ≠0>
• When division/multiplication ratio=1, it is essential to keep the relationship in which
the motor turns one revolution with the command input (f) of the encoder
resolution.
Therefore, when the encoder resolution is 10000P/r, it is required to enter the input
of f=5000Pulses in case of duplicate, f=40000Pulse in case of division of 1/4, in
order to turn the motor by one revolution.
• Set up Pr48, 4A and 4B so that the internal command (F) after division /
multiplication may equal to the encoder resolution (10000 or 217).
Electronic gear function-related (Pr48-4B) (continued from the previous page)
217 (131072) 10000 (2500P/r x 4)
F = f x Pr48 x 2Pr4A = 10000 or 217
Pr4B
F : Internal command pulse counts per motor one revolution
f : Command pulse counts per one motor revolution.
Encoder resolution
Example 1
when making the command
input (f) as 5000 per one
motor revolution
Example 2
when making the command
input (f) as 40000 per one
motor revolution
Pr4A
17
Pr48 1 x 2
Pr4B 5000
Pr4A
0
Pr48 10000 x 2
Pr4B 5000 Pr4A
0
Pr4A
15
Pr48 1 x 2
Pr4B 10000
Pr48 2500 x 2
Pr4B 10000
4D
*0 to 31
<0>
Setup of FIR
smoothing You can set up the moving average times of the FIR filter covering the command
pulse. (Setup value + 1) become average travel times.
4C 0 to 7
<1>
Setup of primary
delay smoothing Smoothing filter is the filter for primary delay which is inserted after the electronic
gear.
You can set the time constant of the smoothing filter in 8 steps with Pr4C.
Setup value
0
<1>
7
Time constant
No filter function
Time constant small
Time constant large
Purpose of smoothing filter
• Reduce the step motion of the motor while the command pulse is rough.
• Actual examples which cause rough command pulse are;
(1) when you set up a high multiplier ratio (10 times or more).
(2) when the command pulse frequency is low.
4E 0 to 2
<1>
Counter clear
input mode You can set up the clearing conditions of the counter clear input signal which clears
the deviation counter.
*1 : Min. time width of CL signal
Setup value
0
<1>
2
Clearing condition
Clears the deviation counter at level (shorting for longer than 100µs)*1
Clears the deviation counter at falling edge (open-shorting for longer than 100µs)*1
Invalid
CL(Pin-30) 100µs or longer
PrNo. Setup
range
Title Function/Content
Standard default : < >
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you tur n on the
control power.
120
Parameter Setup
Parameters for Velocity and Torque Control
Parameters for Sequence
5E
5F
0 to 500
<500>
*2
0 to 500
<500>
*2
%
%
1st torque limit
setup
2nd torque limit
setup
You can set up the limit value of the motor output torque (Pr5E : 1st
torque, Pr5F : 2nd torque). For the torque limit selection, refer to Pr03
(Torque limit selection).
<Caution>
You cannot set up a larger value to this parameter than the default setup
value of "Max. output torque setup" of System parameter (which you
cannot change through operation with PANATERM
®
or panel). Default
value varies depending on the combination of the motor and the driver.
For details, refer to P.57, "Setup of Torque Limit " of Preparation.
• Setup value is to be given in
% against the rated torque.
• Right fig. shows example of
150% setup with Pr03=1.
• Pr5E limits the max. torque for
both CCW and CW directions.
This torque limit function limits the max. motor torque inside of the
driver with parameter setup.
In normal operation, this driver permits approx. 3 times larger torque
than the rated torque instantaneously. If this 3 times bigger torque
causes any trouble to the load (machine) strength, you can use this
function to limit the max. torque.
speed
200
100
(Rated)
(Rating)
100
200
300
torque [%]
300(Max.)
(Max.)
CW
CCW
when Pr5E=150
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
60 0 to
32767
<131>
PulsePositioning com-
plete(In-position)
range
You can set up the timing to feed out the positioning complete signal
(COIN : CN X5, Pin-39).
The positioning complete signal (COIN) will be fed out when the deviation
counter pulse counts fall within ± (the setup value), after the command
pulse entry is completed.
The setup unit should be the encoder pulse counts at the position control
and the external scale pulse counts at the full-closed control.
• Basic unit of deviation pulse is encoder "resolution", and varies per
the encoder as below.
(1) 17-bit encoder : 2
17
= 131072
(2) 2500P/r encoder : 4 X 2500 = 10000
<Cautions>
1. If you set up too small value
to Pr60, the time until the
COIN signal is fed might
become longer, or cause
chattering at output.
2. The setup of "Positioning
complete range" does not
give any effect to the final
positioning accuracy.
COIN
deviation
pulses
ON Pr60
Pr60
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
<Note>
• For par ameters which default. has a suffix of "*2", value v aries depending on the combination of the driver
and the motor.
121
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
61 10 to
20000
<50>
r/minZero-speed
You can set up the timing to feed out the zero-speed detection output signal
(ZSP : CN X5, Pin-12 or TCL : CN X5, Pin-40) in rotational speed [r/min].
The zero-speed detection signal (ZSP) will be fed out when the motor
speed falls below the setup of this parameter, Pr61.
• The setup of P61 is valid for both
CCW and CW direction regardless
of the motor rotating direction.
• There is hysteresis of 10 [r/min].
speed
CW
ZSP ON
(Pr61+10)r/min
(Pr61–10)r/min
CCW
65 0 to 1
<1> –LV trip selection at
main power OFF You can select whether or not to activate Err13 (Main power under-
voltage protection) function while the main power shutoff continues for the
setup of Pr6D (Main power-OFF detection time).
<Caution>
This parameter is invalid when Pr6D (Detection time of main power
OFF)=1000. Err13 (Main power under-voltage protection) is triggered
when setup of P66D is long and P-N voltage of the main converter falls
below the specified value before detecting the main power shutoff,
regardless of the Pr65 setup. Refer to P.42, "Timing Chart-At Power-ON"
of Preparation as well.
Setup value
0
<1>
Action of main power low voltage protection
When the main power is shut off during Servo-ON, Err13 will
not be triggered and the driver turns to Servo-OFF. The driver
returns to Servo-ON again after the main power resumption.
When the main power is shut off during Servo-ON, the driver
will trip due to Err13 (Main power low voltage protection).
66
*
0 to 2
<0> –Sequence at
over-travel inhibit You can set up the running condition during deceleration or after stalling,
while over-travel inhibit input (CCWL : Connector CN X5, Pin-9 or CWL :
Connector CN X5, Pin-8) is valid
<Caution>
In case of the setup value of 2, torque limit during deceleration will be
limited by the setup value of Pr6E (Torque setup at emergency stop ).
Setup value
<0>
1
2
During deceleration
Dynamic brake
action
Torque command=0
towards inhibited direction
Emergency stop
After stalling
Torque command=0
towards inhibited direction
Torque command=0
towards inhibited direction
Torque command=0
towards inhibited direction
Deviation counter content
Hold
Hold
Clears before/
after deceleration
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
63 0 to 3
<0> –Setup of
positioning
complete
(In-position)
output
You can set up the action of the positioning complete signal (COIN : Pin-
39 of CN X5) in combination with Pr60 (Positioning complete range).
Setup value
<0>
1
2
3
Action of positioning complete signal
The signal will turn on when the positional deviation is smaller
than Pr60 (Positioning complete range)
The signal will turn on when there is no position command and the
positional deviation is smaller than Pr60 (Positioning complete range).
The signal will turn on when there is no position command, the
zero-speed detection signal is ON and the positional deviation is
smaller than Pr60 (Positioning complete range).
The signal will turn on when there is no position command and the
positional deviation is smaller than Pr60 (Positioning complete range).
Then holds "ON" status until the next position command is entered.
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you tur n on the
control power.
122
Parameter Setup
67 0 to 9
<0> –Sequence at main
power OFF When Pr65 (LV trip selection at main power OFF) is 0, you can set up,
1) the action during deceleration and after stalling
2) the clearing of deviation counter content
after the main power is shut off.
Setup
value
<0>
1
2
3
4
5
6
7
8
9
During deceleration
DB
Free-run
DB
Free-run
DB
Free-run
DB
Free-run
Emergency stop
Emergency stop
After stalling
DB
DB
Free-run
Free-run
DB
DB
Free-run
Free-run
DB
Free-run
Action Deviation counter
content
Clear
Clear
Clear
Clear
Hold
Hold
Hold
Hold
Clear
Clear
68 0 to 3
<0> –Sequence at alarm You can set up the action during deceleration or after stalling when some
error occurs while either one of the protective functions of the driver is
triggered.
(DB: Dynamic Brake action)
<Caution>
The content of the deviation counter will be cleared when clearing the
alarm. Refer to P.43, "Timing Chart (When an error (alarm) occurs (at
Servo-ON command status)" of Preparation.
Setup
value
<0>
1
2
3
During deceleration
DB
Free-run
DB
Free-run
After stalling
DB
DB
Free-run
Free-run
Action Deviation counter
content
Hold
Hold
Hold
Hold
69 0 to 9
<0> –Sequence at
Servo-Off You can set up,
1) the action during deceleration and after stalling
2) the clear treatment of deviation counter is set up.
The relation between the setup value of Pr69 and the action/deviation
counter clearance is same as that of Pr67 (Sequence at Main Power Off)
Refer to P.44, "Timing Chart"-Servo-ON/OFF action while the motor is at
stall" of Preparation as well.
(DB: Dynamic Brake action)
<Caution>
In case of the setup value of 8 or 9, torque limit during deceleration will be
limited by the setup value of Pr6E (Torque setup at emergency stop).
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
123
[Connection and Setup of Position Control Mode]
Connection and Setup of
Position Control Mode
6A 0 to 100
<0> 2msSetup of
mechanical brake
action at stalling
You can set up the time from when the brake release signal (BRK-OFF :
CN X5, Pin-10 and 11) turns off to when the motor is de-energized
(Servo-free), when the motor turns to Servo-OFF while the motor is at
stall.
Refer to P.44, "Timing Chart"-Servo-ON/OFF Action While the Motor Is at
Stall" of Preparation as well.
• Set up to prevent a micro-travel/
drop of the motor (work) due to the
action delay time (tb) of the brake
• After setting up Pr6a
>
=
tb ,
then compose the sequence so as
the driver turns to Servo-OFF after
the brake is actually activated.
ON
SRV-ON
BRK-OFF
actual brake
motor
energization
release
OFF
hold
release
energized
hold
non-
energized
Pr6A
tb
6B 0 to 100
<0> 2msSetup of
mechanical brake
action at running
You can set up time from when detecting the off of Servo-ON input signal
(SRV-ON : CN X5, Pin-29) is to when external brake release signal
(BRK-OFF : CN X5, Pin-10 and 11) turns off, while the motor turns to
servo off during the motor in motion.
Refer to P.45, "Timing Chart"-Servo-ON/OFF action while the motor is in
motion" of Preparation as well.
• Set up to prevent the brake
deterioration due to the motor
running.
• At Servo-OFF during the motor is
running, tb of the right fig. will be
a shorter one of either Pr6B
setup time, or time lapse till the
motor speed falls below 30r/min.
tb
ON
SRV-ON
BRK-OFF
motor
energization
release
OFF
hold
actual
brake energized non-
energized
30 r/min
6C
*
0 to 3
for
A, B-frame
<3>
for
C to F-frame
<0>
–Selection of
external
regenerative
resistor
With this parameter, you can select either to use the built-in regenerative
resistor of the driver, or to separate this built-in regenerative resistor and
externally install the regenerative resistor (between RB1 and RB2 of
Connector CN X2 in case of A to D-frame, between P and B2 of terminal
block in case of E, F-frame).
<Remarks>
Install an external protection such as thermal fuse when you use the
external regenerative resistor.
Otherwise, the regenerative resistor might be heated up abnormally and
result in burnout, regardless of validation or invalidation of regenerative
over-load protection.
<Caution>
When you use the built-in regenerative resistor, never to set up other
value than 0. Don't touch the external regenerative resistor.
External regenerative resistor gets very hot, and might cause burning.
Setup value
<0>
(C, D, E and
F-frame)
1
2
<3>
(A, B-frame)
Built-in resistor
External resistor
External resistor
No resistor
Regenerative processing circuit will be
activated and regenerative resistor overload
protection will be triggered according to the
built-in resistor (approx. 1% duty).
The driver trips due to regenerative overload
protection (Err18), when regenerative
processing circuit is activated and its active
ratio exceeds 10%,
Regenerative processing circuit is activated,
but no regenerative over-load protection is
triggered.
Both regenerative processing circuit and
regenerative protection are not activated, and
built-in capacitor handles all regenerative
power.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
Regenerative resistor
to be used Regenerative processing and
regenerative resistor overload
124
Parameter Setup
6D
*
35 to 1000
<35> 2msDetection time of
main power off You can set up the time to detect the shutoff while the main power is kept
shut off continuously.
The main power off detection is invalid when you set up this to 1000.
6E 0 to 500
<0> %Torque setup at
emergency stop You can set up the torque limit in case of emergency stop as below.
• During deceleration of over-travel inhibit with the setup 2 of Pr66
(Sequence at over-travel inhibit input)
• During deceleration with the setup of 8 or 9 of Pr67 (Sequence at main
power off)
• During deceleration with the setup of 8 or 9 of Pr69 (Sequence at Servo-
OFF)
Normal torque limit is used by setting this to 0.
70
0 to 32767
<25000> 256 x
resolution
Setup of position
deviation excess • You can set up the excess range of position deviation.
• Set up with the encoder pulse counts at the position control and with the
external scale pulse counts at the full-closed control.
• Err24 (Error detection of position deviation excess) becomes invalid
when you set up this to 0.
72 0 to 500
<0> %Setup of
over-load level • You can set up the over-load level. The overload level becomes 115 [%]
by setting up this to 0.
• Use this with 0 setup in normal operation. Set up other value only when
you need to lower the over-load level.
•
The setup value of this parameter is limited by 115[%] of the motor rating.
73
0 to 20000
<0> r/minSetup of
over-speed level • You can set up the over-speed level. The over-speed level becomes 1.2
times of the motor max. speed by setting up this to 0.
• Use this with 0 setup in normal operation. Set up other value only when
you need to lower the over-speed level.
• The setup value of this parameter is limited by 1.2 times of the motor
max. speed.
<Caution>
The detection error against the setup value is ±3 [r/min] in case of the 7-wire
absolute encoder, and ±36 [r/min] in case of the 5-wire incremental encoder.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
125
page
Control Block Diagram of Velocity Control Mode .......
126
Wiring to the Connector, CN X5...........................127
Wiring Example to the Connector, CN X5 ................................. 127
Interface Circuit ......................................................................... 128
Input Signal and Pin No. of the Connector, CN X5 ................... 130
Output Signal and Pin No. of the Connector, CN X5 ................ 135
Trial Run (JOG Run) at Velocity Control Mode...138
Inspection Before Trial Run....................................................... 138
Trial Run by Connecting the Connector, CN X5........................ 139
Real-Time Auto-Gain Tuning ................................140
Outline ....................................................................................... 140
Applicable Range ...................................................................... 140
How to Operate ......................................................................... 140
Adaptive Filter ........................................................................... 141
Parameters Which are Automatically Set.................................. 141
Parameter Setup....................................................142
Parameters for Functional Selection ......................................... 142
Parameters for Adjustment of Time Constant of Gains and Filters......
146
Parameters for Auto-Gain Tuning.............................................. 147
Parameters for Adjustment (2nd Gain Switching Function) ...... 149
Parameters for Position Control ................................................ 151
Parameters for Velocity/Torque Control .................................... 152
Parameters for Sequence ......................................................... 155
[
Connection and Setup of Velocity Control Mode
]
126
Control block diagram of velocity control mode
SPR
Acceleration/
Deceleration limit
Pr58Acceleration
Pr59Deceleration
Pr5ASigmoid
Input setup
Pr50Gain
Pr51Reversal
Pr52Offset
Pr57Filter
Internal velocity setup
Pr53
1st speed
Pr54
2nd speed
Pr55
3rd speed
Pr56
4th speed
Pr74
5th speed
Pr75
6th speed
Pr76
7th speed
Pr77
8th speed
Command
selection
Pr05
Selection
Torque command
Command speed monitor
Velocity control
Pr11
1st
proportion
Pr12
1st
integration
Pr19
2nd
proportion
Pr1A
2nd
integration
Pr20Inertia ratio
Notch filter
Pr1D
1st frequency
Pr1E
1st
width
Pr28
2nd frequency
Pr29
2nd
width
Pr2A
2nd
depth
Pr2FAdaptation
Torque filter
Pr14
1st time const.
Pr1C
2nd time const.
Pr5E1st limit
Pr5F2nd limit
Motor
Encoder
Feedback pulses
OA/OB/OZ
Division
Pr44Numerator
Pr45Denominator
Pr46Selection
Actual speed monitor
Velocity
detection filter
Pr131st
Pr1B2nd
Velocity detection
+
–
16bit A/D
Analog
velocity
command
Serial
communication
data
Encoder reception
process
127
Connection and Setup of
Velocity Control Mode
Wiring Example to the Connector CN X5
Wiring Example of Velocity Control Mode
Wiring to the connector, CN X5
7
4.7k
Ω
COM+
OA+
OA
-
OB+
OB
-
OZ+
OZ
-
GND
CZ
SPR/TRQR
GND
CCWTL/TRQR
GND
CWTL
SP
IM
21
22
48
24
25
19
49
23
3.83k
Ω
3.83k
Ω
20k
Ω
10k
Ω
10k
Ω
1k
Ω
1k
Ω
INTSPD1
INTSPD2
SRV-ON
GAIN
INTSPD3
ZEROSPD
C-MODE
A-CLR
CCWL
CWL
S-RDY+
S-RDY
-
ALM+
AT-SPEED
+
BRKOFF
+
BRKOFF
-
TLC
V
DC
12 to 24V
ZSP
COM
-
FG
AT-SPEED
-
ALM
-
33
30
29
27
32
31
9
8
35
34
37
36
39
38
11
10
40
12
41
50
Servo-ON input
Gain switching input
28
Divider
Alarm clear input A-phase output
B-phase output
Z-phase output
Z-phase output (open collector)
Servo-Ready output
Servo alarm output
Positioning complete
output
Brake release output
Torque in-limit output
(Select with Pr09)
(Select with Pr0A)
14
15
16
17
18
43
42
26
Speed zero clamp input
Velocity command
input
(0 to ± 10V)
CCW torque limit
input
(0 to ± 10V)
CW torque limit
input
(-10 to 0V)
Velocity monitor output
Torque monitor output
330
Ω
330
Ω
330
Ω
CN X5
Selection 1 input of
internal command speed
Selection 2 input of
internal command speed
Selection 3 input of
internal command speed
Control mode switching
input
CCW over-travel inhibition
input
CW over-travel inhibition
input
Zero speed detection output
( represents twisted pair.)
[Connection and setup of velocity control mode]
128
Wiring to the connector, CN X5
Interface Circuit
Input Circuit
• Connect to contacts of switches and relays, or open collector
output transistors.
• When you use contact inputs, use the switches and relays for
micro current to avoid contact failure.
• Make the lower limit voltage of the power supply (12 to 24V)
as 11.4V or more in order to secure the primary current for
photo-couplers.
Connection to sequence input signalsSI
Analog command inputAI
• The analog command input goes through 3 routes,
SPR/TRQR(Pin-14), CCWTL (Pin-16) and CWTL (Pin-18).
• Max. permissible input voltage to each input is ±10V.
For input impedance of each input, refer to the right Fig.
• When you compose a simple command circuit using variable
resistor(VR) and register R, connect as the right Fig. shows.
When the variable range of each input is made as –10V to
+10V, use VR with 2kΩ, B-characteristics, 1/2W or larger, R
with 200Ω, 1/2W or larger.
• A/D converter resolution of each command input is as follows.
(1)ADC1 : 16 bit (SPR/TRQR), (including 1bit for sign), ±10V
(2)ADC2 : 10 bit (CCWTL, CWTL), 0 to 3.3V
+12V
+3.3V
SPR/TRQR
CCWTL
CWTL
R14 20kΩ20kΩ
1kΩ
1kΩ
10kΩ
GND
GND
10kΩ
3.83kΩ
3.83kΩ
ADC
1
ADC
2
15
16
17
18
R
VR
–12V
+
–
+
–
+
–
+3.3V
1kΩ
1kΩ
12 to 24V 7 COM+4.7kΩ
SRV-ON etc.
Relay
7 COM+4.7kΩ
12 to 24V
SRV-ON etc.
129
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Output Circuit
• The output circuit is composed of open collector transistor
outputs in the Darlington connection, and connect to relays or
photo-couplers.
• There exists collector to emitter voltage, V
CE
(SAT) of approx.
1V at transistor-ON, due to the Darlington connection of the
output or. Note that normal TTL IC cannot be directly connec-
ted since it does not meet VIL.
• There are two types of output, one which emitter side of the
output transistor is independent and is connectable individual-
ly, and the one which is common to – side of the control pow-
er supply (COM–).
• If a recommended primary current value of the photo-coupler
is 10mA, decide the resistor value using the formula of the
right Fig.
Sequence output circuitSO1 SO2
• Feeds out the divided encoder outputs (A, B and Z-phase) in
differential through each line driver.
• At the host side, receive these in line receiver. Install a termi-
nal resistor (approx. 330Ω) between line receiver inputs with-
out fail.
• These outputs are not insulated.
Line driver (Differential output) outputPO1
• Feeds out the Z-phase signal among the encoder signals in
open collector. This output is not insulated.
• Receive this output with high-speed photo couplers at the
host side, since the pulse width of the Z-phase signal is nar-
row.
Open collector outputPO2
• There are two outputs, the speed monitor signal output (SP)
and the torque monitor signal output (IM)
• Output signal width is ±10V.
• The output impedance is 1kΩ. Pay an attention to the input
impedance of the measuring instrument or the external circuit
to be connected.
<Resolution>
(1) Speed monitor output (SP)
With a setup of 6V/3000r/min (Pr07=3), the resolution converted to speed is 8r/min/16mV.
(2) Torque monitor output (IM)
With a relation of 3V/rated torque (100%), the resolution converted to torque is 0.4%/12mV.
Analog monitor outputAO
For the recommended primary current value, refer to the data sheet of apparatus or photo-coupler to be used.
R [kΩ] =
Install toward the direction as
the fig. shows without fail.
V
DC
[V] – 2.5[V]
10
V
DC
12 to 24V
SO1
ALM+ etc.
ALM– etc.
COM–41
ZSP, TLC
SO2
Max. rating 30V,
50mA
AM26LS32 or equivalent AM26LS31 or
equivalent
A
B
Z
22
21
OA
+
OA–
OZ
+
OZ–
OB
+
OB–
48
23
25
GND
24
49
Connect signal ground of the host
and the driver without fail.
19
25
CZ
Max. rating 30V,
50mA
Measuring
instrument
or
external
circuit
GND
High speed
photo-coupler
(TLP554 by Toshiba or equivalent)
43
1kΩ
1kΩ
SP
IM
42
GND
17
represents twisted pair.
represents twisted pair.
130
Wiring to the connector, CN X5
Input Signal and Pin No. of the Connector, CN X5
Input Signals (common) and Their Functions
Title of signal
Pin No.
Symbol Function
I/F circuit
Power supply for
control signal (
+
)
7 –COM+ • Connect + of the external DC power supply (12 to 24V).
• Use the power supply voltage of 12V ± 5% – 24V ± 5%
Power supply for
control signal (
-
)
41 –COM– • Connect – of the external DC power supply (12 to 24V).
• The power capacity varies depending on a composition of I/O circuit. 0.5A
or more is recommended.
CW over-travel
inhibit input 8SI
P.128
CWL • Use this input to inhibit a CW over-travel (CWL).
• Connect this so as to make the connection to COM– open when the
moving portion of the machine over-travels the movable range toward CW.
• CWL input will be invalidated when you set up Pr04 (Setup of over-travel
inhibit input) to 1.Default is "Invalid (1)".
• You can select the action when the CWL input is validated with the setup
of up Pr66 (Sequence at over-travel inhibit). Default is "Emergency stop
with dynamic brake".(Pr66=0)
CCW over-travel
inhibit input 9SI
P.128
CCWL • Use this input to inhibit a CCW over-travel (CCWL).
•
Connect this so as to make the connection to COM- open when the moving
portion of the machine over-travels the movable range toward CCW.
• CWL input will be invalidated when you set up Pr04 (Setup of over-travel
inhibit input) to 1.Default is "Invalid (1)".
• You can select the action when the CCWL input is validated with the setup
of Pr66 (Sequence at over-travel inhibit). Default is "Emergency stop with
dynamic brake".(Pr66=0)
Speed zero clamp
input
26 SI
P.128
ZEROSPD • Function varies depending on the control mode.
• Becomes to a speed-zero clamp input (ZEROSPD).
• In case Pr06 is 2 at torque control, ZERPSPD is invalid.
•
Becomes to an input of damping control switching (VS-SEL).
• While Pr24 (Damping filter switching selection) is 1, the
1st damping filter (Pr2B, Pr2C) will be validated when you
open this input, and the 2nd damping filter (Pr2D, Pr2E)
will be validated when you connect this input to COM–.
Pr06
0
1
2
Connection to COM–
–
open
close
open
close
Content
ZEROSPD input is invalid.
Speed command is 0
Normal action
Speed command is to CCW
Speed command is to CW.
Velocity/
Torque
control
Position/
Full-closed
control
Gain switching
input
or
Torque limit
switching input
27 SI
P.128
GAIN
TL-SEL
• Function varies depending on the setups of Pr30 (2nd gain setup) and
Pr03 (Selection of torque limit).
• For details of 2nd gain switching function, refer to P.243 "Gain Switching
Function" of Adjustment.
invalid
• Input of torque limit switching (TL-SEL)
• Pr5E (Setup of 1st torque limit) will be validated when you
open this input, and Pr5F (Setup of 2nd torque limit) will
be validated when you connect this input to COM–.
Pr30
0
1
–
Pr03
0 – 2
3
Connection to COM–
open
close
open
close
Content
Velocity loop : PI (Proportion/Integration) action
Velocity loop : P (Proportion) action
1st gain selection (Pr10,11,12,13 and 14)
2nd gain selection (Pr18,19,1A,1B and 1C)
when the setups of Pr31 and Pr36 are 2
when the setups of Pr31 and Pr36 are other than 2
131
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Connector Pin No. of X5 Pr05, Internal/external switching of speed setup
3
1st speed of speed
setup (Pr53)
2nd speed of speed
setup (Pr54)
3rd speed of speed
setup (Pr55)
4th speed of speed
setup (Pr56)
5th speed of speed
setup (Pr74)
6th speed of speed
setup (P75)
7th speed of speed
setup (Pr76)
8th speed of speed
setup (Pr77)
2
1st speed of speed
setup (Pr53)
2nd speed of speed
setup (Pr54)
3rd speed of speed
setup (Pr55)
Analog speed command
(CN X5, Pin-14)
1st speed of speed
setup (Pr53)
2nd speed of speed
setup (Pr54)
3rd speed of speed
setup (Pr55)
Analog speed command
(CN X5, Pin-14)
1
1st speed of speed
setup (Pr53)
2nd speed of speed
setup (Pr54)
3rd speed of speed
setup (Pr55)
4th speed of speed
setup (Pr56)
1st speed of speed
setup (Pr53)
2nd speed of speed
setup (Pr54)
3rd speed of speed
setup (Pr55)
4th speed of speed
setup (Pr56)
0
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Pin-28
INTSPD3(DIV)
open
open
open
open
short
short
short
short
Pin-30
INTSPD2(CL)
open
open
short
short
open
open
short
short
Pin-33
INTSPD1(INH)
open
short
open
short
open
short
open
short
• Selection of Internal Speed
• You can switch the numerator of electronic gear.
• By connecting to COM–, you can switch the numerator of
electronic gear from Pr48 (1st numerator of electronic
gear) to Pr49 (2nd numerator of electronic gear)
• For the selection of command division/multiplication, refer
to the table of next page, "Numerator selection of
command scaling"
• Input of internal speed selection 3 (INTSPD3).
•
You can make up to 8-speed setups combining INH/
INTSPD1 and CL/INTSPD2 inputs. For details of setup,
refer to the table of P.131, "Selection of Internal Speed".
• This input is invalid.
Position/
Full-closed
control
Velocity
control
Torque control
Title of signal
Pin No.
Symbol Function
I/F circuit
Servo-ON input
29
SI
P.128
SRV-ON • Turns to Servo-ON status by connecting this input to COM–.
• Turns to Servo-OFF status by opening connection to COM–, and current
to the motor will be shut off.
• You can select the dynamic brake action and the deviation counter
clearing action at Servo-OFF with Pr69 (Sequence at Servo-OFF).
<Caution>
1.Servo-ON input becomes valid approx. 2 sec after power-on.
(see P.42, "Timing Chart" of Preparation.)
2.Never run/stop the motor with Servo-ON/OFF.
3.After shifting to Servo-ON, allow 100ms or longer pause before entering
the pulse command.
Internal
command speed
selection 3 input
28 SI
P.128
INTSPD3 • Function varies depending on the control mode.
132
Wiring to the connector, CN X5
Title of signal
Pin No.
Symbol Function
I/F circuit
Selection 1 input
of internal
command speed
33 SI
P.128
INTSPD1 • Function varies depending on the control mode.
• Inhibition input of command pulse input (INH)
• Ignores the position command pulse by opening the
connection to COM–
• You can invalidate this input with Pr43 (Invalidation of
command pulse inhibition input)
• Selection 1 input of internal command speed (INTSPD1)
•You can make up to 8-speed setups combining
INH/INTSPD2 and CL/INTSPD3 inputs. For details of the
setup, refer to the table of P.131,
"Selection of Internal Speed" of Velocity Control Mode.
• This input is invalid.
Position/
Full closed
control
Velocity
control
Torque control
Control mode
switching input 32 SI
P.128
C-MODE • You can switch the control mode as below by setting up Pr02 (Control
mode setup) to 3-5.
<Caution>
Depending on how the command is given at each control mode, the action
might change rapidly when switching the control mode with C-MODE. Pay
an extra attention.
Pr02 setup
3
4
5
Open (1st)
Position control
Position control
Velocity control
Connection to COM– (2nd)
Velocity control
Torque control
Torque control
Pr43
0
1(Default)
Content
INH is valid.
INH is valid.
Selection 2 input
of internal
command speed
30 SI
P.128
INTSPD2 • Function varies depending on the control mode.
• Input (CL) which clears the positional deviation counter
and full-closed deviation counter.
• You can clear the counter of positional deviation and
full-closed deviation by connecting this to COM–.
• You can select the clearing mode with Pr4E (Counter clear
input mode).
• Input of selection 2 of internal command speed (INTSPD2)
• You can make up to 8-speed setups combining INH/
INTSPD1 and CL/INTSPD3 inputs. For details of setup,
refer to the table in P.131, "Selection of Internal Speed" of
Velocity Control Mode.
• This input is invalid.
Position/
Full-closed
control
Velocity
control
Torque control
Pr4E
0
1
[Default]
2
Content
Clears the counter of positional devia-
tion and full-closed deviation while CL is
connected to COM–.
Clears the counter of positional deviation
and full-closed deviation only once by
connecting CL to COM– from open status.
CL is invalid
Alarm clear input 31 SI
P.128
A-CLR • You can release the alarm status by connecting this to COM– for more
than 120ms.
• The deviation counter will be cleared at alarm clear.
• There are some alarms which cannot be released with this input.
For details, refer to P.252, "Protective Function " of When in Trouble.
133
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Input Signals (Analog Command) and Their Functions
Title of signal
Pin No.
Symbol Function
I/F circuit
Speed command
input 14 AI
P.128
SPR • Function varies depending on control mode.
•The resolution of the A/D converter used in this input is 16 bit
(including 1 bit for sign).
± 32767 (LSB) = ± 10[V], 1[LSB]
.
=
. 0.3[mV]
Velocity
control
Position/
Velocity
Velocity/
Torque
Control mode
Velocity/
Torque
Other control
mode
Function
• Input of external speed command (SPR) when the
velocity control is selected.
• Set up the gain, polarity, offset and filter of the
Speed command with;
Pr50 (Speed command input gain)
Pr51 (Speed command input reversal)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
• Function varies depending on Pr5B (Selection of
torque command)
• This input is invalid.
Pr5B
0
1
Pr02
Others
Content
• This input becomes invalid.
• Speed limit (SPL) will be selected.
• Set up the speed limit (SPL) gain, offset
and filter with;
Pr50 (Speed command input gain)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
1
3
5
5
*Function becomes valid when the control mode with underline ( / )
is selected while the switching mode is used in the control mode in table.
<Remark>
Do not apply voltage exceeding ±10V to analog command input of SPR
134
Title of signal
Pin No.
Symbol Function
I/F circuit
CCW-Torque limit
input 16 AI
P.128
CCWTL • Function varies depending on Pr02 (Control mode setup).
• Resolution of A/D converter used in this input is 16 bit
(including 1 bit for sign).
± 511 [LSB] = ± 11.9[V], 1 [LSB]
.
=
. 23[mV]
Control mode
Torque Control
Position/Torque
Velocity/
Torque
Position/Torque
Velocity/Torque
Other
control mode
Function
• Function varies depending on Pr5B (Selection of
torque command)
Pr5B
0
1
This input becomes invalid.
• Torque command input (TRQR) will be
selected.
• Set up the gain and polarity of the com-
mand with;
Pr5C (Torque command input gain)
Pr5D (Torque command input reversal)
• Offset and filter cannot be set up.
Content
Pr02
2
4
5
4
5
Other
• Becomes to the torque command input (TRQR).
• Set up the gain and polarity of the command with;
Pr5C (Torque command input gain)
Pr5D (Torque command input reversal)
• Offset and filter cannot be set up.
• Becomes to the analog torque limit input to CCW
(CCWTL).
• Limit the CCW-torque by applying positive voltage
(0 to +10V) (Approx.+3V/rated toque)
• Invalidate this input by setting up Pr03 (Torque limit
selection) to other than 0.
CW-Torque limit
input
18 AI
P.128
CWTL • Function varies depending on Pr02 (Control mode setup).
• Resolution of A/D converter used in this input is 16 bit
(including 1 bit for sign).
± 511 [LSB] = ± 11.9[V], 1 [LSB]
.
=
. 23[mV]
Control mode
Torque control
Position/Torque
Velocity/Torque
Position/Torque
Velocity/Torque
Other
control mode
Function
• This input becomes invalid when the torque control
is selected.
• Becomes to the analog torque limit input to CW
(CWTL).
• Limit the CW-torque by applying negative voltage
(0 to –10V) (Approx.+3V/rated toque).
Invalidate this input by setting up Pr03 (Torque limit
selection) to other than 0.
Pr02
2
4
5
4
5
Other
*Function becomes valid when the control mode with underline ( / )
is selected while the switching mode is used in the control mode in table.
<Remark>
Do not apply voltage exceeding ±10V to analog command input of CWTL and CCWTL
Wiring to the connector, CN X5
135
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Output signal and Pin No. of the Connector, CN X5
Output Signals (Common) and Their Functions
0
1
2
3
4
5
6
7
8
X5 TLC : Output of Pin-40 X5 ZSP : Output of Pin-12
Title of signal
Pin No
Symbol Function
I/F circuit
External brake
release signal 11
10 SO1
P.129
BRKOFF+
BRKOFF–
•
Feeds out the timing signal which activates the electromagnetic brake of the motor.
• Turns the output transistor ON at the release timing of the electro-
magnetic brake.
• You can set up the output timing of this signal with Pr6A (Setup of
mechanical brake action at stall) and Pr6B (Setup of mechanical brake
action at motion). For details, refer to P42, "Timing Chart" of Preparation.)
Servo-Ready
output 35
34 SO1
P.129
S-RDY+
S-RDY–
• This signal shows that the driver is ready to be activated.
• Output transistor turns ON when both control and main power are ON but
not at alarm status.
Zero-speed
detection
output signal
12
(41) SO2
P.129
ZSP
(COM–) •
Content of the output signal varies depending on Pr0A (Selection of ZSP output).
• Default is 1, and feeds out the zero speed detection signal.
• For details, see the table below, "Selection of TLC,ZSP output".
Torque in-limit
signal output 40
(41) SO2
P.129
TLC
(COM–) •
Content of the output signal varies depending on Pr09 (Selection of TLC output).
• Default is 1, and feeds out the torque in-limit signal.
• For details, see the table below, "Selection of TLC,ZSP output".
Servo-Alarm
output 37
36 SO1
P.129
ALM+
ALM–
• This signal shows that the driver is in alarm status..
• Output transistor turns ON when the driver is at normal status, and turns
OFF at alarm status.
Positioning
complete
(In-position)
39
38 SO1
P.129
AT-SPEED+
AT-SPEED–
• Function varies depending on the control mode.
Position
control
Full-closed
control
Velocity/
Torque
control
• Output of positioning complete (COIN)
• The output transistor will turn ON when the absolute value
of the position deviation pulse becomes smaller than the
setup value of Pr60 (Positioning complete range).
• You can select the feeding out method with Pr63 (Setup of
positioning complete output).
• Output of full-closed positioning complete (EX-COIN)
• The output transistor will turn ON when the absolute value
of full-closed-position deviation pulse becomes smaller
than the setup value of Pr60 (Positioning complete range).
• You can select the feeding out method with Pr63 (Setup of
positioning complete output).
• Output at-speed (speed arrival) (AT-SPEED)
• The output transistor will turn ON when the actual motor
speed exceeds the setup value of Pr62 (In-speed).
• Selection of TCL and ZSP outputs
• Torque in-limit output (Default of X5 TLC Pr09)
The output transistor turns ON when the torque command is limited by the torque limit during Servo-ON.
• Zero-speed detection output (Default of X5 ZSP Pr0A)
The output transistor turns ON when the motor speed falls under the preset value with Pr61.
• Alarm signal output
The output transistor turns ON when either one of the alarms is triggered, over-regeneration alarm, overload alarm,
battery alarm, fan-lock alarm or external scale alarm.
• Over-regeneration alarm
The output transistor turns ON when the regeneration exceeds 85% of the alarm trigger level of the regenerative load protection.
• Over-load alarm
The output transistor turns ON when the load exceeds 85% of the alarm trigger level of the overload alarm.
• Battery alarm
The output transistor turns ON when the battery voltage for absolute encoder falls lower than approx. 3.2V.
• Fan-lock alarm
The output transistor turns ON when the fan stalls for longer than 1s.
• External scale alarm
The output transistor turns ON when the external scale temperature exceeds 65°, or signal intensity is not enough
(adjustment on mounting is required). Valid only at the full-closed control.
• In-speed (Speed coincidence) output
The output transistor turns ON when the difference between the actual motor speed and the speed command before
acceleration/deceleration reaches within the preset range with Pr61. Valid only at the velocity and torque control.
Value of
Pr09 or Pr0A
136
Wiring to the connector, CN X5
Output Signals (Pulse Train) and Their Functions
Title of signal
Pin No
Symbol Function
I/F circuit
PO1
P.129
A-phase output
B-phase output
Z-phase output
21
22
48
49
23
24
OA +
OA –
OB +
OB –
OZ +
OZ –
• Feeds out the divided encoder signal or external scale signal (A, B, Z-
phase) in differential. (equivalent to RS422)
• You can set up the division ratio with Pr44 (Numerator of pulse output
division) and Pr45 (Denominator of pulse output division)
• You can select the logic relation between A-phase and B-phase, and the
output source with Pr46 (Reversal of pulse output logic).
•
When the external scale is made as an output source, you can set up the
interval of Z-phase pulse output with Pr47 (Setup of external scale Z-phase).
• Ground for line driver of output circuit is connected to signal ground (GND)
and is not insulated.
• Max. output frequency is 4Mpps (after quadrupled)
Z-phase output 19 PO2
P.129
CZ • Open collector output of Z-phase signal
• The emitter side of the transistor of the output circuit is connected to the
signal ground (GND) and is not insulated.
<Note>
• When the output source is the encoder
• If the encoder resolution X is multiple of 4, Z-phase will be fed out synchronizing with A-phase.
In other case, the Z-phase width will be equal to the encoder resolution, and will not synchronize with
A-phase because of narrower width than that of A-phase.
• In case of the 5-wire, 2500P/r incremental encoder, the signal sequence might not follow the above fig.
until the first Z-phase is fed out. When you use the pulse output as the control signal, rotate the motor
one revolution or more to make sure that the Z-phase is fed out at least once before using.
Pr44
Pr45
A
B
Z
A
B
Z
synchronized not-synchronized
Pr44
Pr45
when the encoder resolution is multiple of 4,
Pr44
Pr45
when the encoder resolution is not multiple of 4,
137
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Output Signals (Analog) and Their Functions
Title of signal
Pin No
Symbol Function
I/F circuit
Torque monitor
signal output 42 AO
P.129
IM • The content of output signal varies depending on Pr08 (Torque monitor
(IM) selection).
• You can set up the scaling with Pr08 value.
Content of signal
Torque
command
Positional
deviation
Full-closed
deviation
Function
• Feeds out the voltage in proportion to the motor
torque command with polarity.
+ : generates CCW torque
– : generates CW torque
• Feeds out the voltage in proportion to the positional
deviation pulse counts with polarity.
+ : positional command to CCW of motor position
– : positional command to CW of motor position
• Feeds out the voltage in proportion to the full-
closed deviation pulse counts with polarity.
+ : positional command to CCW of
external scale position
– : positional command to CW of
external scale position
Pr08
0,
11,12
1 – 5
6 –10
Speed monitor
signal output 43 AO
P.129
SP • The content of the output signal varies depending on Pr07 (Speed monitor
(IM) selection).
• You can set up the scaling with Pr07 value.
• Feeds out the voltage in proportion to the motor
speed with polarity. + : rotates to CCW
– : rotates to CW
• Feeds out the voltage in proportion to the command
speed with polarity.
+ : rotates to CCW
– : rotates to CW
Function
Control mode
Pr07
Motor
speed
Command
speed
0 – 4
5 – 9
Output Signals (Others) and Their Functions
Title of signal
Pin No
Symbol Function
I/F circuit
Signal ground 13,15,
17,25
–
GND • Signal ground
• This output is insulated from the control signal power (COM–) inside of the
driver.
Frame ground 50 –
FG • This output is connected to the earth terminal inside of the driver.
138
Trial Run (JOG run) at Velocity Contr ol Mode
Inspection Before Trial Run
X3
X4
X5
X6
X7
Display LED
CN X6
ground
Power
supply
Motor
Machine
(1) Wiring inspection
• Miswiring
(Especially power input/motor output)
• Short/Earth
• Loose connection
(2) Check of power/voltage
• Rated voltage
(3) Fixing of the motor
• Unstable fixing
(4) Separation from
mechanical system
(5) Release of the brake
139
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Title
Setup of control mode
Invalidation of over-travel inhibit input
Selection of ZEROSPD input
Velocity command gain
Velocity command reversal
Velocity command offset
Setup of velocity command filter
COM+
SRV-ON
SPR/TRQR
GND
ZEROSPD
COM–
7
29
14
15
26
41
DC
12V – 24V Run with ZEROSPD
switch close, and
Stop with open
In case of one-directional
operation
In case of bi-directional
operation (CW/CCW),
provide a bipolar power
supply, or use with Pr06 = 3.
DC
10V
PrNo.
02
04
06
50
51
52
57
Setup value
1
1
1
Set up
as
required
Title of signal
Servo-ON
Speed zero clamp
No.
0
5
Monitor display
+A
–
Parameter
Wiring Diagram
Input signal status
Trial Run by Connecting the Connector, CN X5
1) Connect the CN X5.
2) Enter the power (DC12-24V) to control signal (COM+, COM–)
3) Enter the power to the driver.
4) Confirm the default values of parameters.
5) Connect the Servo-ON input (SRV-ON, CN X5, Pin-29) and COM– (CN X5, Pin-14) to tur n to Servo-ON
and energize the motor.
6) Close the speed zero clamp input (ZEROSPD) and apply DC voltage between velocity command input ,
SPR (CN X5, Pin-14) and GND (CN X5, Pin-15), and gradually increase from 0V to confirm the motor
runs.
7) Confirm the motor rotational speed in monitor mode.
• Whether the rotational speed is per the setup or not.
• Whether the motor stops with zero command or not.
8) If the motor does rotate at a micro speed with command voltage of 0, correct the command voltage
referring to P.74, "Automatic offset adjustment" of Preparation.
9) When you want to change the rotational speed and direction, set up the following parameters again.
Pr50 : Speed command input gain
Pr51 : Speed command input reversal
10)If the motor does not run correctly, refer to P.68, "Displa y of Factor f or No-Motor Running" of Preparation.
Refer to P.152, "Parameter Setup"
(Parameters for Velocity/Torque Control)
140
Real-Time Auto-Gain Tuning
Outline
The driver estimates the load inertia of the ma-
chine in real time, and automatically sets up the
optimum gain responding to the result. Also the
driver automatically suppress the vibration caused
by the resonance with an adaptive filter.
Applicable Range
• Real-time auto-gain tuning is applicable to all
control modes.
Caution
Real-time auto-gain tuning may not be executed
properly under the conditions described in the
right table. In these cases, use the normal mode
auto-gain tuning (refer to P.236 of Adjustment),
or e x ecute a manual gain tuning. (ref er to P.240,
of Adjustment)
Conditions which obstruct
real-time auto-gain tuning
• Load is too small or large compared to rotor inertia.
(less than 3 times or more than 20 times)
• Load inertia change too quickly. (10 [s] or less)
• Machine stiffness is extremely low.
• Chattering such as backlash exists.
•
Motor is running continuously at low speed of 100 [r/min] or lower.
•
Acceleration/deceleration is slow (2000[r/min] per 1[s] or low).
• Acceleration/deceleration torque is smaller than
unbalanced weighted/viscous friction torque.
• When speed condition of 100[r/min] or more and
acceleration/deceleration condition of 2000[r/min] per
1[s] are not maintained for 50[ms].
Load
inertia
Load
Action
pattern
Action command under
actual condition
Position/Velocity
command Position/Velocity
control
Servo driver
Real-time auto-gain tuning
Resonance frequency calculation
Load inertia calculation
Adaptive
Filter Current
control
Auto-gain
setup Auto-filter
adjustment Torque
command Motor
current
Motor
speed
Motor
Encoder
How to Operate
(1) Bring the motor to stall (Servo-OFF).
(2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 1-
7. Default is 1.
(3) Set up Pr22 (Machine stiffness at real-time auto-gain tun-
ing) to 0 or smaller value.
(4) Turn to Servo-ON to r un the machine normally.
(5) Gradually increase Pr22 (Machine stiffness at real-time
auto-gain tuning) when you want to obtain better response.
Lower the value (0 to 3) when you experience abnormal
noise or oscillation.
(6) Write to EEPROM when you want to save the result.
0
<1>,4,7
2,5
3,6
Real-time auto-gain tuning
(not in use)
normal mode
Varying degree of load inertia in motion
–
no change
slow change
rapid change
• When the varying degree of load inertia is large, set up 3 or 6.
• When resonance might give some effect, validate the setup of Pr23
(Setup of adaptive filter mode).
Setup
value
Setup of parameter, Pr21
Press .
Press .
Match to the parameter No.
to be set up with . (Here match to Pr21.)
Press .
Change the setup with .
Press .
Setup of parameter, Pr22
Match to Pr22 with .
Press .
Numeral increases with ,
and decreases with .
Press .
(default values)
Writing to EEPROM
Press .
Press .
Bars increase as the right fig. shows
by keep pressing (approx. 5sec).
Writing starts (temporary display).
Finish Writing completes Writing error
occurs
Return to SELECTION display after writing finishes, referring
to "Structure of each mode"(P.60 and 61 of Preparation).
Insert the console connector to
CN X6 of the driver, then turn
on the driver power.
141
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Adaptive Filters
The adaptive filter is validated by setting up Pr23 (Setup of adaptive filter mode) to other than 0.
The adaptive filter automatically estimates a resonance frequency out of vibration component presented in the motor speed
in motion, then removes the resonance components from the torque command by setting up the notch filter coefficient
automatically, hence reduces the resonance vibration.
The adaptive filter may not operate property under the following conditions. In these cases, use 1st notch filter (Pr1D and 1E)
and 2nd notch filter (Pr28-2A) to make measures against resonance according to the manual adjusting procedures.
For details of notch filters, refer to P.246, "Suppression of Machine Resonance" of Adjustment.
PrNo.
11
12
13
14
19
1A
1B
1C
20
2F
Title
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of velocity detection
1st time constant of torque filter
2nd gain of velocity loop
2nd time constant of velocity loop integration
2nd filter of speed detection
2nd time constant of torque filter
Inertia ratio
Adaptive filter frequency
PrNo.
27
30
31
32
33
34
36
0
1
0
30
50
33
0
Title Setup value
Setup of instantaneous speed observer
2nd gain setup
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
2nd mode of control switching
Parameters Which Are Automatically Set Up.
Following parameters are automatically adjusted.
Also following parameters are automatically set up.
Resonance point
Command pattern
Load
Conditions which obstruct adaptive filter action
• When resonance frequency is lower than 300[Hz].
• While resonance peak is low or control gain is small and when no affect from these condition is
given to the motor speed.
• When multiple resonance points exist.
•
When the motor speed variation with high frequency factor is generated due to non-linear factor such as backlash.
• When acceleration/deceleration is very extreme such as more than 30000 [r/min] per 1 [s].
<Notes>
• When the real-time auto-gain tuning is valid, you cannot change parameters which are automatically adjusted.
• Pr31 becomes 10 at position or full closed control and when Pr21 (Setup of Real-Time Auto-Gain
Tuning Mode) is 1 to 6, and becomes 0 in other cases.
<Note>
Even though Pr23 is set up to other than 0, there are other cases when adaptive filter is automatically
invalidated. Refer to P.235, "Invalidation of adaptive filter" of Adjustment.
Cautions
(1) After the start-up, you may experience abnormal noise and oscillation right after the first Servo-ON, or when you increase the
setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning), until load inertia is identified (estimated) or adaptive
filter is stabilized, however, these are not failures as long as they disappear immediately. If they persist over 3 reciprocating
operations , take the f ollo wing measures in possib le order .
1) Write the parameters which hav e giv en the normal operation into EEPR OM.
2) Lower the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning).
3) Set up both Pr21 (Setup of real-time auto-gain tuning) and Pr23 (Setup of adaptive filter mode) to 0, then set up other value
than 0. (Reset of inertia estimation and adaptive action)
4) Inv alidate the adaptiv e filter b y setting up Pr23 (Setup of adaptive filter mode setup) to 0, and set up notch filter man ually.
(2) When abnormal noise and oscillation occur, Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) might have changed to
extreme values . Take the same measures as the abo v e in these cases.
(3) Among the results of real-time auto-gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) will be written to EEPROM
every 30 minutes. When you turn on the power again, auto-gain tuning will be executed using the latest data as initial values.
(4)
When you v alidate the real-time auto-gain tuning, Pr27 (Setup of instantaneous speed observer) will be in v alidated automatically.
(5) The adaptiv e filter is normally invalidated at torque control, however, when you select torque control while you set up Pr02
(Control mode setup) to 4 and 5, the adaptive filter frequency before mode switching will be held.
(6) During the trial run and frequency characteristics measurement of "PANATERM
®
", the load inertia estimation will be inv alidated.
142
Parameter Setup
Parameters for Functional Selection
PrNo. Setup
range
Title Function/Content
Standard default : < >
01
*
0 to 17
<1>
LED initial status You can select the type of data to be displayed on the front panel LED (7 segment)
at the initial status after power-on.
Power -ON
Setup value of Pr01
Flashes (for approx. 2 sec)
during initialization
Setup value
Content
0
<1>
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Positional deviation
Motor rotational speed
Torque output
Control mode
I/O signal status
Error factor/history
Software version
Alarm
Regenerative load factor
Over-load factor
Inertia ratio
Sum of feedback pulses
Sum of command pulses
External scale deviation
Sum of external scale feedback pulses
Motor automatic recognizing function
Analog input value
Factor of "No-Motor Running"
For details of display, refer to P.51 "Setup of
Parameter and Mode" of Preparation.
02
*
0 to 6
<1>
Setup of
control mode You can set up the control mode to be used.
Setup
value
0
<1>
2
3
4
5
6
Control mode
1st mode
2nd mode
Position
Velocity
Torque
Position
Position
Velocity
Full-closed
–
–
–
Velocity
Torque
Torque
– 1st 2nd
close
open
C-MODE
10ms or longer 10ms or longer
open
1st
**1) When you set up the combination mode of 3, 4 or
5, you can select either the 1st or the 2nd with
control mode switching input (C-MODE).
When C-MODE is open, the 1st mode will be
selected.
When C-MODE is shorted, the 2nd mode will be
selected.
Don't enter commands 10ms before/after switching.
**1
**1
**1
00
*
0 to 15
<1>
Address In the communication with the host via RS232/485 for multi-axes application, it is
necessary to identify which axis the host is communicating. Use this parameter to
confirm the address of the axis in numbers.
• The address is determined by the setup value of rotary switch (0 to F) of the
front panel at power-on.
• This value becomes the axis number at serial communication.
• The setup value of this parameter has no effect to the servo action.
• You cannot change the setup of Pr00 with other means than rotary switch.
143
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
03 0 to 3
<1>
Selection of
torque limit You can set up the torque limiting method for CCW/CW direction.
When the setup value is 0, CCWTL and CWTL will be limited by Pr5E (1st torque
limit setup). At the torque control, Pr5E becomes the limiting value for CCW/CW
direction regardless of the setup of this parameter.
Setup value
0
<1>
2
3
CCW
X5 CCWTL : Pin-16
Set with Pr5E
When GAIN/TL-SEL input is open, set with Pr5E
When GAIN/TL-SEL input is shorted, set with Pr5F
Pr5E is a limit value for both CCW and CW direction
CW
X5 CWTL : Pin-18
Set with Pr5F
04
*
0 to 2
<1>
Setup of
over-travel
inhibit input
In linear drive application, you can use this over-travel inhibiting function to inhibit the
motor to run to the direction specified by limit switches which are installed at both ends
of the axis, so that you can prevent the work load from damaging the machine due to
the over-travel. With this input, you can set up the action of over-travel inhibit input.
<Cautions>
1. When Pr04 is set to 0 and over-travel inhibit input is entered, the motor deceler-
ates and stops according to the preset sequence with Pr66 (Sequence at over-
travel inhibition). For details, refer to the explanation of Pr66.
2. When both of CCWL and CWL inputs are opened while Pr04 is set to 0, the driver
trips with Err38 (Overtravel inhibit input error) judging that this is an error.
3. When you turn off the limit switch on upper side of the work at vertical axis applica-
tion, the work may repeat up/down movement because of the loosing of upward
torque. In this case, set up Pr66 to 2, or limit with the host controller instead of us-
ing this function.
CW direction CCW direction
CCWL
CWL
Work
Servo motor Limit
switch Limit
switch
Driver
Setup
value
0
<1>
2
Action
CCWL/CWL
input
Valid
Invalid
Valid
Input
CCWL
(CN X5,Pin-9)
CWL
(CN X5,Pin-9)
Connection to COM–
Close
Open
Close
Open
Normal status while CCW-side limit switch is not activated.
Inhibits CCW direction, permits CW direction.
Normal status while CW-side limit switch is not activated.
Inhibits CW direction, CCW direction permitted.
Both CCWL and CWL inputs will be ignored, and over-travel inhibit function will be
invalidated.
Err38 (Over-travel inhibit input protection) is triggered when either one
of the connection of CW or CCW inhibit input to COM– become open.
PrNo. Setup
range
Title Function/Content
Standard default : < >
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you tur n on the
control power.
144
Parameter Setup
05 0 to 3
<0>
Speed setup,
Internal/External
switching
This driver is equipped with internal speed setup function so that you can control the
speed with contact inputs only.
Setup value
<0>
1
2
3
Speed setup method
External speed command (SPR:CN X5, Pin-14)
Internal speed command 1st to 4th speed (Pr53 to Pr56)
Internal speed command 1st to 3rd speed (Pr53-Pr55), External speed command (SPR)
Internal speed command 1st to 8th speed (Pr53 to Pr56, Pr74 to Pr77)
• You can select a speed command at velocity control.
•
When the setup value is 1 or 2, switch 4 kinds of in-
ternal speed command with 2 kinds of contact input.
(1) INH (CN X5, Pin-33) :
Selection 1 input of internal command speed
(2) INH (CN X5, Pin-30) :
Selection 2 input of internal command speed
DIV input is ignored.
• When the setup value is 3, switch 8 kinds of internal
speed command with 3 kinds of contact input.
(1) INH (CN X5, Pin-33) :
Selection 1 input of internal command speed
(2) INH (CN X5, Pin-30) :
Selection 2 input of internal command speed
(3) INH (CN X5, Pin-28) :
Selection 3 input of internal command speed
• Example of 4-speed run with internal
speed command.
In addition to CL/INH inputs, use the
speed zero clamp input (ZEROSPD)
and Servo-ON input (SRV-ON) to
control the motor stop and start.
<Caution>
You can individually set up acceleration time,
deceleration time, and sigmoid acceleration/
deceleration time with parameter. Refer to
Pr58 : Acceleration time setup
Pr59 : Deceleration time setup
Pr5A : Sigmoid acceleration/
deceleration time setup in this Chapter.
SRV-ON input Servo-ON
Run
Stop
speed
Open
Open
1st
speed
2nd
speed 3rd
speed 4th
speed
time
Open
Close Close
Close Close
Open
ZROSPD input
INH input
CL input
06 0 to 2
<0>
Selection of
ZEROSPD input
You can set up the function of the speed zero clamp input (ZEROSPD : CN X5, Pin-26)
Setup value
<0>
1
2
Function of ZEROSPD (Pin-26)
ZEROSPD input is ignored and the driver judge that it Is not in
speed zero clamp status.
ZEROSPD input becomes valid. Speed command is taken as 0 by
opening the connection to COM–.
Becomes speed command sign. You can set command direction to
CCW by opening the connection to COM–, and CW by closing.
• Selection of internal speed
Connector Pin No. of X5 Pr05, Internal/external switching of speed setup
3
1st speed of speed
setup (Pr53)
2nd speed of speed
setup (Pr54)
3rd speed of speed
setup (Pr55)
4th speed of speed
setup (Pr56)
5th speed of speed
setup (Pr74)
6th speed of speed
setup (P75)
7th speed of speed
setup (Pr76)
8th speed of speed
setup (Pr77)
2
1st speed of speed
setup (Pr53)
2nd speed of speed
setup (Pr54)
3rd speed of speed
setup (Pr55)
Analog speed command
(CN X5, Pin-14)
1st speed of speed
setup (Pr53)
2nd speed of speed
setup (Pr54)
3rd speed of speed
setup (Pr55)
Analog speed command
(CN X5, Pin-14)
1
1st speed of speed
setup (Pr53)
2nd speed of speed
setup (Pr54)
3rd speed of speed
setup (Pr55)
4th speed of speed
setup (Pr56)
1st speed of speed
setup (Pr53)
2nd speed of speed
setup (Pr54)
3rd speed of speed
setup (Pr55)
4th speed of speed
setup (Pr56)
0
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Analog speed command
(CN X5, Pin-14)
Pin-28
INTSPD3(DIV)
open
open
open
open
short
short
short
short
Pin-30
INTSPD2(CL)
open
open
short
short
open
open
short
short
Pin-33
INTSPD1(INH)
open
short
open
short
open
short
open
short
PrNo. Setup
range
Title Function/Content
Standard default : < >
145
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
08 0 to 12
<0>
Selection of torque
monitor (IM)
You can set up the content of the analog torque monitor of the signal output (IM : CN X5, Pin-
42), and the relation between the output voltage level and torque or deviation pulse counts.
Setup value
<0>
1
2
3
4
5
6
7
8
9
10
11
12
Signal of IM
Torque command
Position
deviation
Full-closed
deviation
Torque
command
Relation between the output voltage level and torque or deviation pulse counts
3V/rated (100%) torque
3V / 31Pulse
3V / 125Pulse
3V / 500Pulse
3V / 2000Pulse
3V / 8000Pulse
3V / 31Pulse
3V / 125Pulse
3V / 500Pulse
3V / 2000Pulse
3V / 8000Pulse
3V / 200% torque
3V / 400% torque
09 0 to 8
<0>
Selection of
TLC output You can assign the function of the torque in-limit output (TLC : CN X5 Pin-40).
Setup value
<0>
1
2
3
4
5
6
7
8
Note
For details of
function of each
output of the
left, refer to the
table of P135,
"Selection of
TCL and ZSP
outputs".
Function
Torque in-limit output
Zero speed detection output
Alarm output of either one of Over-regeneration
/Over-load/Absolute battery/Fan lock/External scale
Over-regeneration alarm trigger output
Overload alarm output
Absolute battery alarm output
Fan lock alarm output
External scale alarm output
In-speed (Speed coincidence) output
0A 0 to 8
<1>
Selection of
ZSP output
You can assign the function of the zero speed detection output (ZSP: CN X5 Pin-12).
Setup value
0
<1>
2
3
4
5
6
7
8
Note
For details of
function of each
output of the
left, refer to the
table of P.135,
"Selection of
TCL and ZSP
outputs".
Function
Torque in-limit output
Zero speed detection output
Alarm output of either one of Over-regeneration
/Over-load/Absolute battery/Fan lock/External scale
Over-regeneration alarm trigger output
Overload alarm output
Absolute battery alarm output
Fan lock alarm output
External scale alarm output
In-speed (Speed coincidence) output
07 0 to 9
<3>
Selection of speed
monitor (SP) You can set up the content of analog speed monitor signal output (SP : CN X5,
Pin43) and the relation between the output voltage level and the speed.
Setup value
0
1
2
<3>
4
5
6
7
8
9
Signal of SP
Motor actual
speed
Command
speed
Relation between the output voltage level and the speed
6V / 47 r/min
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
6V / 47 r/min
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
PrNo. Setup
range
Title Function/Content
Standard default : < >
146
Parameter Setup
0B
*0 to 2
<1>
Setup of
absolute encoder You can set up the using method of 17-bit absolute encoder.
<Caution>
This parameter will be invalidated when 5-wire, 2500P/r incremental encoder is used.
Setup value
0
<1>
2
Content
Use as an absolute encoder.
Use as an incremental encoder.
Use as an absolute encoder, but ignore the multi-turn counter over.
0C
*0 to 5
<2>
Baud rate setup of
RS232
communication
You can set up the communication speed of RS232.
Setup value
0
1
<2>
Baud rate
2400bps
4800bps
9600bps
Setup value
3
4
5
Baud rate
19200bps
38400bps
57600bps
• Error of baud rate is ±0.5%.
0E
*0 to 1
<0>
Setup of front
panel lock You can limit the operation of the front panel to the
monitor mode only.
You can prevent such a misoperation as unexpec-
ted parameter change.
<Note>
You can still change parameters via communication even though this setup is 1.
To return this parameter to 0, use the console or the "PANATERM
®
".
Setup value
<0>
1
Content
Valid to all
Monitor mode only
0D
*0 to 5
<2>
Baud rate setup of
RS485
communication
You can set up the communication speed of RS485.
Setup value
0
1
<2>
Baud rate
2400bps
4800bps
9600bps
Setup value
3
4
5
Baud rate
19200bps
38400bps
57600bps
• Error of baud rate is ±0.5%.
PrNo. Setup
range
Title Function/Content
Standard default : < >
Parameters for Adjustment of Time Constants of Gains and Filters
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
11 1 to 3500
A to C-frame:<35>*
D to F-frame:<18>*
Hz1st gain of
velocity loop You can determine the response of the velocity loop.
In order to increase the response of overall servo system by setting high
position loop gain, you need higher setup of this velocity loop gain as well.
However, too high setup may cause oscillation.
<Caution>
When the inertia ratio of Pr20 is set correctly, the setup unit of Pr11
becomes (Hz).
12 1 to 1000
A to C-frame:<16>*
D to F-frame:<31>*
ms1st time constant
of velocity loop
integration
You can set up the integration time constant of velocity loop.
Smaller the setup, faster you can dog-in deviation at stall to 0.
The integration will be maintained by setting to "999".
The integration effect will be lost by setting to "1000".
13 0 to 5
<0>* –1st filter of
speed detection You can set up the time constant of the low pass filter (LPF) after the
speed detection, in 6 steps.
Higher the setup, larger the time constant you can obtain so that you can
decrease the motor noise, however, response becomes slow. Use with a
default value of 0 in normal operation.
14 0 to 2500
A to C-frame:<65>*
D to F-frame:<126>*
0.01ms1st time constant of
torque filter You can set up the time constant of the 1st delay filter inserted in the
torque command portion. You might expect suppression of oscillation
caused by distortion resonance.
147
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
19
1A
1B
1C
1 to 3500
A to C-frame:<35>*
D to F-frame:<18>*
1 to 1000
<1000>*
0 to 5
<0>*
0 to 2500
A to C-frame:<65>*
D to F-frame:<126>*
Hz
ms
–
0.01ms
2nd gain of velocity
loop
2nd time constant of
velocity loop integration
2nd filter of velocity
detection
2nd time constant
of torque filter
Position loop, velocity loop, speed detection filter and torque command
filter have their 2 pairs of gain or time constant (1st and 2nd).
For details of switching the 1st and the 2nd gain or the time constant, refer
to P.226, "Adjustment".
The function and the content of each parameter is as same as that of the
1st gain and time constant.
1D
100 to 1500
<1500> Hz1st notch
frequency
You can set up the frequency of the 1st resonance suppressing notch filter.
The notch filter function will be invalidated by setting up this parameter to
"1500".
1E 0 to 4
<2> –1st notch width
selection
You can set up the notch filter width of the 1st resonance suppressing filter in 5 steps.
Higher the setup, larger the notch width you can obtain.
Use with default setup in normal operation.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
Parameters for Auto-Gain Tuning
20
0 to 10000
<250>* %Inertia ratio
You can set up the ratio of the load inertia against the rotor (of the motor) inertia.
When you execute the normal auto-gain tuning, the load inertial will be
automatically estimated after the preset action, and this result will be
reflected in this parameter.
The inertia ratio will be estimated at all time while the real-time auto-gain
tuning is valid, and its result will be saved to EEPROM every 30 min.
<Caution>
If the inertia ratio is correctly set, the setup unit of Pr11 and Pr19
becomes (Hz). When the inertia ratio of Pr20 is larger than the actual, the
setup unit of the velocity loop gain becomes larger, and when the inertia
ratio of Pr20 is smaller than the actual, the setup unit of the velocity loop
gain becomes smaller.
Pr20=(load inertia/rotor inertia) X 100 [%]
21 0 to 7
<1> –Setup of real-time
auto-gain tuning You can set up the action mode of the real-time auto-gain tuning.
With higher setup such as 3, the driver respond quickly to the change of
the inertia during operation, however it might cause an unstable operation.
Use 1for normal operation.
Setup value
0
<1>, 4, 7
2, 5
3, 6
Real-time
auto-gain tuning
Invalid
Normal mode
Varying degree of
load inertia in motion
–
Little change
Gradual change
Rapid change
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you tur n on the
control power.
• Parameters which default v alues have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referr ing to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
148
Parameter Setup
25 0 to 7
<0> –Setup of an action
at normal mode
auto-gain tuning
You can set up the action pattern at the normal mode auto-gain tuning.
e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2
revolutions to CW.
Setup value
<0>
1
2
3
4
5
6
7
Number of revolution
2 [revolution]
1 [revolution]
Rotational direction
CCW CW
CW CCW
CCW CCW
CW CW
CCW CW
CW CCW
CCW CCW
CW CW
27 0 to 1
<0>* –Setup of
instantaneous
speed observer
With a high stiffness machine, you can achieve both high response and
reduction of vibration at stall, by using this instantaneous speed observer.
Setup value
<0>*
1
Instantaneous speed observer setup
Invalid
Valid
You need to set up the inertia ratio of Pr20 correctly to use this function.
If you set up Pr21, real-time auto-gain tuning mode setup, to other than 0 (valid), Pr27 becomes 0 (invalid)
23 0 to 2
<1> –Setup of adaptive
filter mode You can set up the action of the adaptive filter.
0 : Invalid
1 : Valid
2 : Hold
(holds the adaptive filter frequency when this setup is changed to 2.)
<Caution>
When you set up the adaptive filter to invalid, the adaptive filter frequency
of Pr2F will be reset to 0. The adaptive filter is always invalid at the
torque control mode.
22 0 to 15
A to C-frame:
<4>
D to F-frame:
<1>
–Selection of
machine stiffness
at real-time
auto-gain tuning
You can set up the machine stiffness in 16 steps while the real-time auto-
gain tuning is valid.
<Caution>
When you change the setup value rapidly, the gain changes rapidly as
well, and this may give impact to the machine. Increase the setup
gradually watching the movement of the machine.
low machine stiffness high
low servo gain high
low response high
Pr22 0, 1- - - - - - - - - - - - 14, 15
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
2A 0 to 99
<0> –Selection of
2nd notch depth
You can set up the 2nd notch depth of the resonance suppressing filter. Higher
the setup, shallower the notch depth and smaller the phase delay you can obtain.
28
100 to 1500
<1500> Hz2nd notch
frequency You can set up the 2nd notch width of the resonance suppressing filter in
5 steps. The notch filter function is invalidated by setting up this parame-
ter to "1500".
29 0 to 4
<2> –Selection of
2nd notch width You can set up the notch width of 2nd resonance suppressing filter in 5
steps. Higher the setup, larger the notch width you can obtain.
Use with default setup in normal operation.
<Notes>
• Parameters which default values ha ve a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
149
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Parameters for Adjustment (2nd Gain Switching Function)
30 0 to 1
<1>* –Setup of 2nd gain
You can select the PI/P action switching of the velocity control or 1st/2nd gain switching.
*1 Switch the PI/P action with the gain switching input (GAIN CN X5, Pin-
27). PI is fixed when Pr03 (Torque limit selection) is 3.
*2 For switching condition of the 1st and the 2nd, refer to P.243, "Gain
Switching Function" of Adjustment.
Setup value
0
<1>*
Gain selection/switching
1st gain (PI/P switching enabled) *1
1st/2nd gain switching enabled *2
GAIN input
Open with COM–
Connect to COM–
Action of velocity loop
PI action
P action
31 0 to 10
<0>* –1st mode of
control switching You can select the switching condition of 1st gain and 2nd gain while Pr30
is set to 1.
*1 Fixed to the 1st gain regardless of GAIN input, when Pr31 is set to 2
and Pr03 (Torque limit selection) is set to 3.
*2 For the switching level and the timing, refer to P.243, "Gain Switching
Function" of Adjustment.
Setup value
<0>*, 6 to 10
1
2
3
4
5
Gain switching condition
Fixed to the 1st gain.
Fixed to the 2nd gain.
2nd gain selection when the gain switching input is turned on. (Pr30 setup must be 1.)
2nd gain selection when the toque command variation is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control switching).
Fixed to the 1st gain.
2nd gain selection when the command speed is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis at control switching).
*2
*2
*2
*1
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
2F 0 to 64
<0> –Adaptive filter
frequency Displays the table No. corresponding to the adaptive filter frequency.
(Refer to P.234 of Adjustment.) This parameter will be automatically set
and cannot be changed while the adaptive filter is valid. (when Pr23
(Setup of adaptive filter mode) is other than 0.)
0 to 4 Filter is invalid.
5 to 48 Filter is valid.
49 to 64 Filter validity changes according to Pr22.
This parameter will be saved to EEPROM every 30 minutes while the
adaptive filter is valid, and when the adaptive filter is valid at the next
power-on, the adaptive action starts taking the saved data in EEPROM as
an initial value.
<Caution>
When you need to clear this parameter to reset the adaptive action while
the action is not normal, invalidate the adaptive filter (Pr23, "Setup of
adaptive filter mode" to 0) once, then validate again.
Refer to P.239, "Release of Automatic Gain Adjusting Function" of
Adjustment as well.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
150
Parameter Setup
37
0 to 10000
<0> x 166µs2nd delay time of
control switching You can set up the delay time when returning from 2nd to 1st gain, while
Pr36 is set to 3 to 5.
38
0 to 20000
<0> –2nd level of control
switching You can set up the switching (judging) level of the 1st and the 2nd gains,
while Pr36 is set to 3 to 5
Unit varies depending on the setup of Pr36 (2nd mode of control
switching).
39
0 to 20000
<0> –2nd hysteresis of
control switching You can set up the hysteresis width
to be implemented above/below the
judging level which is set up with
Pr38.
Unit varies depending on the setup
of Pr36 (2nd mode of control
switching).Definition of Pr37 (Delay),
Pr38 (Level) and Pr39 (Hysteresis)
are explained in the fig. below.
<Caution>
Setup of Pr38 (Level) and Pr39 (Hysteresis) are valid as absolute value
(positive/negative).
36 0 to 5
<0>* –2nd mode of
control switching You can select the switching condition of the 1st and 2nd gain while Pr30
is set to 1 and when the 2nd control mode is velocity control.
*1 Fixed to the 1st gain regardless of the GAIN input, when Pr31 is set to
2 and Pr03 (Torque limit selection) is set to 3.
*2 For the switching level and timing, refer to P.244, "Setup of Gain
Switching Condition" of Adjustment.
Setup value
<0>*
1
2
3
4
5
Gain switching condition
Fixed to the 1st gain
Fixed to the 2nd gain
2nd gain selection when gain switching input is turned on
(GAIN : CN X5, Pin-27) (Pr30 setup must be 1.)
2nd gain selection when the torque command variation is larger.
2nd gain selection when the speed command variation
(acceleration) is larger.
2nd gain selection when the command speed is larger.
32 0 to
10000
<30>*
x 166µs1st delay time of
control switching You can set up the delay time when returning from the 2nd to the 1st gain,
while Pr31 is set to 3 or 5 to 10.
33
0 to 20000
<50>* –1st level of
control switching You can set up the switching (judging) level of the 1st and the 2nd gains,
while Pr31 is set to 3, 5, 6. 9 and 10.
Unit varies depending on the setup of Pr31 (1st mode of control switching)
34
0 to 20000
<33>* –1st hysteresis
of control switching You can set up hysteresis width to be
implemented above/below the
judging level which is set up with
Pr33. Unit varies depending on the
setup of Pr31 (1st control switching
mode). Definitions of Pr32 (Delay),
Pr33 (Level) and Pr34 (Hysteresis)
are explained in the fig. below.
<Caution>
The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute
values (positive/negative).
Pr33
0
Pr34
Pr32
1st gain 2nd gain 1st gain
3D
0 to 500
<300> r/minJOG speed setup You can setup the JOG speed.
Refer to P.75, "Trial Run"of Preparation.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
*1
*2
*2
*2
Pr38
0
Pr39
Pr37
1st gain 2nd gain 1st gain
<Notes>
• Parameters which default values ha ve a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referring to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
151
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Parameters for Position Control
44
*
45
*
1 to 32767
<2500>
0 to 32767
<0>
Numerator of pulse
output division
Denominator of
pulse output
division
You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin-
21, 0A- : Pin-22, 0B+ : Pin-48, 0B- : Pin-49).
• Pr45=<0> (Default)
You can set up the output pulse counts per one motor revolution for each OA
and OB with the Pr44 setup. Therefore the pulse output resolution after
quadruple can be obtained from the formula below.
• Pr45≠0 :
The pulse output resolution per one revolution can be divided by any ration
according to the formula below.
<Cautions>
• The encoder resolution is 131072 [P/r] for the 17-bit absolute encoder, and
10000 [P/r] for the 5-wire 2500P/r incremental encoder.
• The pulse output resolution per one revolution cannot be greater than the
encoder resolution.
(In the above setup, the pulse output resolution equals to the encoder resolution.)
• Z-phase is fed out once per one revolution of the motor.
When the pulse output resolution obtained from the above formula is multiple of 4,
Z-phase synchronizes with A-phase. In other case, the Z-phase width equals to
output with the encoder resolution, and becomes narrower than A-phase, hence
does not synchronize with A-phase.
The pulse output resolution per one revolution
= Pr44 (Numerator of pulse output division) X4
Pr44
(Numerator of pulse output division)
Pr45
(Denominator of pulse output division)
Pulse output resolution per one revolution x Encoder resolution
A
B
ZSynchronized
A
B
ZNot-synchronized
Pr44
Pr45
when encoder resolution x is multiple of 4
Pr44
Pr45
when encoder resolution x is not multiple of 4
PrNo. Setup
range
Title Function/Content
Standard default : < >
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you tur n on the
control power.
152
Parameter Setup
46
*0 to 3
<0>
Reversal of pulse
output logic You can set up the B-phase logic and the output source of the pulse output (X5 OB+
: Pin-48, OB– : Pin-49). With this parameter, you can reverse the phase relation
between the A-phase pulse and the B-phase pulse by reversing the B-phase logic.
*1 The output source of Pr46=2, 3 is valid only at full-closed control.
Setup
value
<0>, 2
1, 3
A-phase
(OA)
B-phase(OB)
non-reversal
B-phase(OB)
reversal
at motor CCW rotation at motor CW rotation
Pr46
<0>
1
2 *1
3 *1
B-phase logic
Non-reversal
Reversal
Non-reversal
Reversal
Output source
Encoder position
Encoder position
External scale position
External scale position
PrNo. Setup
range
Title Function/Content
Standard default : < >
Parameters for Velocity and Torque Control
50
10 to 2000
<500> (r/min)/VInput gain of
speed command You can set up the relation between the voltage applied to the speed
command input (SPR : CN X5, Pin-14) and the motor speed.
• You can set up a "slope" of the relation
between the command input voltage
and the motor speed, with Pr50.
• Default is set to Pr50=500 [r/min],
hence input of 6V becomes 3000r/min.
<Cautions>
1. Do not apply more than ±10V to the
speed command input (SPR).
2. When you compose a position loop
outside of the driver while you use the
driver in velocity control mode, the
setup of Pr50 gives larger variance to
the overall servo system.
Pay an extra attention to oscillation caused by larger setup of Pr50.
3000
Speed (r/min)
–3000
Slope at
ex-factory
Command input
voltage (V)
–10 –6
CW
246810
CCW
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
153
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Setup value
0
<1>
Motor rotating direction
CCW direction with (+) command (viewed from the motor shaft end
CW direction with (+) command (viewed from the motor shaft end
51 0 to 1
<1> –Reversal of speed
command input You can reverse the polarity of the speed command input signal (SPR:CN
X5, Pin-14). Use this function when you want to change the motor
rotational direction without changing the polarity of the command signal
from the host.
<Notes>
• Default of this parameter is 1, and the motor turns to CW with (+) signal,
this has compatibility to existing MINAS series driver.
• When Pr06 (ZEROSPD) is set to 2, this parameter becomes invalid.
<Caution>
When you compose the servo drive system with this driver set to
velocity control mode and external positioning unit, the motor might
perform an abnormal action if the polarity of the speed command signal
from the unit and the polarity of this parameter setup does not match.
52 –2047 to
2047
<0>
0.3mVSpeed command
offset • You can make an offset adjustment of analog speed command (SPR :
CN X5, Pin-14) with this parameter.
• The offset volume is 0.3mV per setup value of "1".
• There are 2 offset methods, (1) Manual adjustment and (2) Automatic
adjustment.
1) Manual adjustment
• When you make an offset adjustment with the driver alone,
Enter 0 V exactly to the speed command input (SPR/TRQR), (or
connect to the signal ground), then set this parameter up so that
the motor may not turn.
• when you compose a position loop with the host,
• Set this parameter up so that the deviation pulse may be reduced
to 0 at the Servo-Lock status.
2) Automatic adjustment
• For the details of operation method at automatic offset adjustment
mode, refer to P.73, "Auxiliary Function Mode" of Preparation.
• Result after the execution of the automatic offset function will be
reflected in this parameter, Pr52.
57 0 to 6400
<0> 0.01msSetup of speed
command filter You can set up the time constant of the primary delay filter to the analog
speed command/analog torque command/analog velocity control (SPR :
CN X5, Pin-14)
53
54
55
56
74
75
76
77
–20000 to
20000
<0>
–20000 to
20000
<0>
r/min
r/min
1st speed of
speed setup
2nd speed of
speed setup
3rd speed of
speed setup
4th speed of
speed setup
5th speed of
speed setup
6th speed of
speed setup
7th speed of
speed setup
8th speed of
speed setup
When the internal speed setup is validated with parameter Pr05, "Switching
of internal or external speed setup", you can set up 1st to 4th speed into
Pr53 to 56, 5th to 8th speed into Pr74 to 77 in direct unit of [r/min].
<Caution>
• The polarity of the setup value represents that of the internal command
speed.
• The absolute value of the parameter setup is limited with Pr73 (Setup of
over-speed level)
+
– Command to CCW (viewed from the motor shaft end)
Command to CW (viewed from the motor shaft end)
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
154
Parameter Setup
ta td
Speed
Speed
command
58
59
0 to 5000
<0>
0 to 5000
<0>
2ms/
(1000r/min)
2ms/
(1000r/min)
Acceleration time
setup
Deceleration time
setup
You can make the velocity control while adding acceleration and
deceleration command to the speed command inside of the driver. With
this function, you can make a soft-start when you enter the step-speed
command and when you use with the internal speed setup.
<Caution>
Do not use these acceleration/deceleration time setup when you use the
external position loop. (Set up both Pr58 and Pr59 to 0.)
Pr58 x 2ms/(1000r/min)
Pr59 x 2ms/(1000r/min)
ta
td
5A 0 to 500
<0> 2msSigmoid
acceleration/
deceleration time
setup
In order to obtain a smooth operation, you can set up the quasi sigmoid
acceleration/deceleration in such application as linear acceleration/
deceleration where acceleration variation is large at starting/stopping to
cause a strong shock.
ta td
speed
ts ts ts ts
1. Set up acceleration/deceleration
for basic linear portion with Pr58
and Pr59
2.Set up sigmoid time with time width
centering the inflection point of
linear acceleration/deceleration
with Pr5A. (unit : 2ms)
ta : Pr58
td : Pr59
ts : Pr5A ta
2td
2
> ts, ts, and > ts
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
5E
5F
0 to 500
<500>
*2
0 to 500
<500>
*2
%
%
1st torque limit
setup
2nd torque limit
setup
You can set up the limit value of the motor output torque (Pr5E : 1st
torque, Pr5F : 2nd torque). For the torque limit selection, refer to Pr03
(Torque limit selection).
<Caution>
You cannot set up a larger value to this parameter than the default setup
value of "Max. output torque setup" of System parameter (which you
cannot change through operation with PANATERM
®
or panel). Default
value varies depending on the combination of the motor and the driver.
For details, refer to P.57, "Setup of Torque Limit " of Preparation.
• Setup value is to be given in
% against the rated torque.
• Right fig. shows example of
150% setup with Pr03=1.
• Pr5E limits the max. torque for
both CCW and CW directions.
This torque limit function limits the max. motor torque inside of the
driver with parameter setup.
In normal operation, this driver permits approx. 3 times larger torque
than the rated torque instantaneously. If this 3 times bigger torque
causes any trouble to the load (machine) strength, you can use this
function to limit the max. torque.
speed
200
100
(Rated)
(Rating)
100
200
300
torque [%]
300(Max.)
(Max.)
CW
CCW
when Pr5E=150
Use with the setup of
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
• For par ameters which default. has a suffix of "*2", value v aries depending on the combination of the driver
and the motor.
155
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Parameters for Sequence
62 10 to
20000
<50>
r/minAt-speed
(Speed arrival) You can set up the timing to feed out the At-speed signal (COIN+ : CN
X5, Pin-39, COIN- : CN X5, Pin-38)
At-speed (Speed arrival) (COIN) will be fed out when the motor speed
exceeds the setup speed of this parameter, Pr62
• The setup of P62 is valid for both
CCW and CW direction regardless
of the motor rotational direction.
• There is hysteresis of 10 [r/min].
speed
CW
AT-SPEED OFF ON
CCW
(Pr62+10)r/min
(Pr62–10)r/min
65 0 to 1
<1> –LV trip selection at
main power OFF You can select whether or not to activate Err13 (Main power under-
voltage protection) function while the main power shutoff continues for the
setup of Pr6D (Main power-OFF detection time).
<Caution>
This parameter is invalid when Pr6D (Detection time of main power
OFF)=1000. Err13 (Main power under-voltage protection) is triggered
when setup of P66D is long and P-N voltage of the main converter falls
below the specified value before detecting the main power shutoff,
regardless of the Pr65 setup. Refer to P.42, "Timing Chart-At Power-ON"
of Preparation as well.
Setup value
0
<1>
Action of main power low voltage protection
When the main power is shut off during Servo-ON, Err13 will
not be triggered and the driver turns to Servo-OFF. The driver
returns to Servo-ON again after the main power resumption.
When the main power is shut off during Servo-ON, the driver
will trip due to Err13 (Main power low voltage protection).
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
61 10 to
20000
<50>
r/minZero-speed
You can set up the timing to feed out the zero-speed detection output signal
(ZSP : CN X5, Pin-12 or TCL : CN X5, Pin-40) in rotational speed [r/min].
The zero-speed detection signal (ZSP) will be fed out when the motor
speed falls below the setup of this parameter, Pr61.
In-speed (Speed coincidence) signal (V-COIN) will be fed out when the
difference between the speed
command and the motor speed falls
below the setup of this parameter,
Pr61.
• The setup of P61 is valid for both
CCW and CW direction regardless
of the motor rotating direction.
• There is hysteresis of 10 [r/min].
speed
CW
ZSP ON
(Pr61+10)r/min
(Pr61–10)r/min
CCW
156
Parameter Setup
66
*
0 to 2
<0> –Sequence at
over-travel inhibit You can set up the running condition during deceleration or after stalling,
while over-travel inhibit input (CCWL : Connector CN X5, Pin-9 or CWL :
Connector CN X5, Pin-8) is valid
<Caution>
In case of the setup value of 2, torque limit during deceleration will be
limited by the setup value of Pr6E (Torque setup at emergency stop ).
Setup value
<0>
1
2
During deceleration
Dynamic brake
action
Torque command=0
towards inhibited direction
Emergency stop
After stalling
Torque command=0
towards inhibited direction
Torque command=0
towards inhibited direction
Torque command=0
towards inhibited direction
Deviation counter content
Hold
Hold
Clears before/
after deceleration
67 0 to 9
<0> –Sequence at main
power OFF When Pr65 (LV trip selection at main power OFF) is 0, you can set up,
1) the action during deceleration and after stalling
2) the clearing of deviation counter content
after the main power is shut off.
Setup
value
<0>
1
2
3
4
5
6
7
8
9
During deceleration
DB
Free-run
DB
Free-run
DB
Free-run
DB
Free-run
Emergency stop
Emergency stop
After stalling
DB
DB
Free-run
Free-run
DB
DB
Free-run
Free-run
DB
Free-run
Action Deviation counter
content
Clear
Clear
Clear
Clear
Hold
Hold
Hold
Hold
Clear
Clear
68 0 to 3
<0> –Sequence at alarm You can set up the action during deceleration or after stalling when some
error occurs while either one of the protective functions of the driver is
triggered.
(DB: Dynamic Brake action)
<Caution>
The content of the deviation counter will be cleared when clearing the
alarm. Refer to P.43, "Timing Chart (When an error (alarm) occurs (at
Servo-ON command status)" of Preparation.
Setup
value
<0>
1
2
3
During deceleration
DB
Free-run
DB
Free-run
After stalling
DB
DB
Free-run
Free-run
Action Deviation counter
content
Hold
Hold
Hold
Hold
(DB: Dynamic Brake action)
<Caution>
In case of the setup value of 8 or 9, torque limit during deceleration will be
limited by the setup value of Pr6E (Torque setup at emergency stop).
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
157
[Connection and setup of velocity control mode]
Connection and Setup of
Velocity Control Mode
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
6A 0 to 100
<0> 2msSetup of
mechanical brake
action at stalling
You can set up the time from when the brake release signal (BRK-OFF :
CN X5, Pin-10 and 11) turns off to when the motor is de-energized
(Servo-free), when the motor turns to Servo-OFF while the motor is at
stall.
Refer to P.44, "Timing Chart"-Servo-ON/OFF Action While the Motor Is at
Stall" of Preparation as well.
• Set up to prevent a micro-travel/
drop of the motor (work) due to the
action delay time (tb) of the brake
• After setting up Pr6a
>
=
tb ,
then compose the sequence so as
the driver turns to Servo-OFF after
the brake is actually activated.
ON
SRV-ON
BRK-OFF
actual brake
motor
energization
release
OFF
hold
release
energized
hold
non-
energized
Pr6A
tb
6B 0 to 100
<0> 2msSetup of
mechanical brake
action at running
You can set up time from when detecting the off of Servo-ON input signal
(SRV-ON : CN X5, Pin-29) is to when external brake release signal
(BRK-OFF : CN X5, Pin-10 and 11) turns off, while the motor turns to
servo off during the motor in motion.
Refer to P.45, "Timing Chart"-Servo-ON/OFF action while the motor is in
motion" of Preparation as well.
• Set up to prevent the brake
deterioration due to the motor
running.
• At Servo-OFF during the motor is
running, tb of the right fig. will be
a shorter one of either Pr6B
setup time, or time lapse till the
motor speed falls below 30r/min.
tb
ON
SRV-ON
BRK-OFF
motor
energization
release
OFF
hold
actual
brake energized non-
energized
30 r/min
69 0 to 9
<0> –Sequence at
Servo-Off You can set up,
1) the action during deceleration and after stalling
2) the clear treatment of deviation counter is set up.
The relation between the setup value of Pr69 and the action/deviation
counter clearance is same as that of Pr67 (Sequence at Main Power Off)
Refer to P.44, "Timing Chart"-Servo-ON/OFF action while the motor is at
stall" of Preparation as well.
158
Parameter Setup
6C
*
0 to 3
for
A, B-frame
<3>
for
C to F-frame
<0>
–Selection of
external
regenerative
resistor
With this parameter, you can select either to use the built-in regenerative
resistor of the driver, or to separate this built-in regenerative resistor and
externally install the regenerative resistor (between RB1 and RB2 of
Connector CN X2 in case of A to D-frame, between P and B2 of terminal
block in case of E, F-frame).
<Remarks>
Install an external protection such as thermal fuse when you use the
external regenerative resistor.
Otherwise, the regenerative resistor might be heated up abnormally and
result in burnout, regardless of validation or invalidation of regenerative
over-load protection.
<Caution>
When you use the built-in regenerative resistor, never to set up other
value than 0. Don't touch the external regenerative resistor.
External regenerative resistor gets very hot, and might cause burning.
Setup value
<0>
(C, D, E and
F-frame)
1
2
<3>
(A, B-frame)
Built-in resistor
External resistor
External resistor
No resistor
Regenerative processing circuit will be
activated and regenerative resistor overload
protection will be triggered according to the
built-in resistor (approx. 1% duty).
The driver trips due to regenerative overload
protection (Err18), when regenerative
processing circuit is activated and its active
ratio exceeds 10%,
Regenerative processing circuit is activated,
but no regenerative over-load protection is
triggered.
Both regenerative processing circuit and
regenerative protection are not activated, and
built-in capacitor handles all regenerative
power.
Regenerative resistor
to be used Regenerative processing and
regenerative resistor overload
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
6D
*
35 to 1000
<35> 2msDetection time of
main power off You can set up the time to detect the shutoff while the main power is kept
shut off continuously.
The main power off detection is invalid when you set up this to 1000.
6E 0 to 500
<0> %Torque setup at
emergency stop You can set up the torque limit in case of emergency stop as below.
• During deceleration of over-travel inhibit with the setup 2 of Pr66
(Sequence at over-travel inhibit input)
• During deceleration with the setup of 8 or 9 of Pr67 (Sequence at main
power off)
•
During deceleration with the setup of 8 or 9 of Pr69 (Sequence at Servo-OFF)
Normal torque limit is used by setting this to 0.
70
0 to 32767
<25000> 256 x
resolution
Setup of position
deviation excess • You can set up the excess range of position deviation.
• Set up with the encoder pulse counts at the position control and with the
external scale pulse counts at the full-closed control.
• Err24 (Error detection of position deviation excess) becomes invalid
when you set up this to 0.
72 0 to 500
<0> %Setup of
over-load level • You can set up the over-load level. The overload level becomes 115 [%]
by setting up this to 0.
• Use this with 0 setup in normal operation. Set up other value only when
you need to lower the over-load level.
•
The setup value of this parameter is limited by 115[%] of the motor rating.
73
0 to 20000
<0> r/minSetup of
over-speed level • You can set up the over-speed level. The over-speed level becomes 1.2
times of the motor max. speed by setting up this to 0.
• Use this with 0 setup in normal operation. Set up other value only when
you need to lower the over-speed level.
• The setup value of this parameter is limited by 1.2 times of the motor
max. speed.
<Caution>
The detection error against the setup value is ±3 [r/min] in case of the 7-wire
absolute encoder, and ±36 [r/min] in case of the 5-wire incremental encoder.
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
159
page
Control Block Diagram of Torque Control Mode....
160
Wiring to the Connector, CN X5...........................161
Wiring Example to the Connector, CN X5 ................................. 161
Interface Circuit ......................................................................... 162
Input Signal and Pin No. of the Connector, CN X5 ................... 164
Output Signal and Pin No. of the Connector, CN X5 ................ 168
Trial Run (JOG Run) at Torque Control Mode.....171
Inspection Before Trial Run....................................................... 171
Trial Run by Connecting the Connector, CN X5........................ 171
Real-Time Auto-Gain Tuning ................................172
Outline ....................................................................................... 172
Applicable Range ...................................................................... 172
How to Operate ......................................................................... 172
Parameters Which are Automatically Set up............................. 173
Parameter Setup....................................................174
Parameters for Functional Selection ......................................... 174
Parameters for Adjustment of Time Constant of Gains and Filters......
177
Parameters for Auto-Gain Tuning.............................................. 178
Parameters for Adjustment (2nd Gain Switching Function) ...... 179
Parameters for Position Control ................................................ 181
Parameters for Velocity/Torque Control .................................... 183
Parameters for Sequence ......................................................... 185
[
Connection and Setup of Torque Control Mode
]
160
Contr ol Block Diagram of Tor que Control Mode
SPR/
TRQR
Torque command monitor
Command speed monitor
Velocity control
Pr11
Pr12
Pr19
Pr1A
Pr20
Torque filter
Pr14
Pr1C
Pr5E
Pr5F
Motor
Encoder
Feedback pulses
OA/OB/OZ
Division
Pr44
Pr45
Pr46
Monitor of actual speed
Velocity
detectionfilter
Multiplication
Pr131st
Internal velocity limit
Pr564th speed
Pr1B2nd
Speed detection
+
–
Input setup
Pr5CGain
Pr5DReversal
Pr52Offset
Pr57Filter
16bitA/D Sign(±)
Absolute value(magnitude)
Torque
limit
+
Notch filter
Pr1D
Pr1E
Pr28
Pr29
Pr2A
Analog
torque
command
Encoder reception
processing
Serial
communication
data
1st
proportion
1st
integration
2nd
proportion
2nd
integration
Inertia ratio
1st frequency
1st
width
2nd frequency
2nd
width
2nd
depth
1st time const.
2nd time const.
1st limit
2nd limit
Numerator
Denominator
Selection
• when Pr5B (Torque command selection) is 0
• when Pr5B (Torque command selection) is 1
CCWTL/
TRQR
Command speed monitor
Feedback pulses
OA/OB/OZ
Division
Pr44Numerator
Pr45Denominator
Pr46Selection
Monitor of actual speed
Velocity
detectionfilter
Multiplication
Pr131st
Pr1B2nd
Speed detection
+
–
Input setup
Pr5CGain
Pr5DReversal
16bitA/D
SPR/SPL
Input setup
Pr50Gain
Pr52Offset
Pr57Filter
16bitA/D
Sign(±)
Absolute value
(magnitude)
+
Absolute value
(magnitude)
Analog
torque
command
Analog
velocity
command
Encoder reception
processing
Serial
communication
data
Torque command monitor
Motor
Encoder
Torque
limit
Torque filter
Pr14
Pr1C
Pr5E
Pr5F
Notch filter
Pr1D
Pr1E
Pr28
Pr29
Pr2A
1st frequency
1st
width
2nd frequency
2nd
width
2nd
depth
1st time const.
2nd time const.
1st limit
2nd limit
Velocity control
Pr11
Pr12
Pr19
Pr1A
Pr20
1st
proportion
1st
integration
2nd
proportion
2nd
integration
Inertia ratio
161
Connection and Setup of
Torque Control Mode
Wiring Example to the Connector CN X5
Wiring Example of Torque Control Mode
Wiring to the connector, CN X5
7
4.7kΩ
COM+
OA+
OA
-
OB+
OB
-
OZ+
OZ
-
GND
CZ
SPR/TRQR
GND
CCWTL/TRQR
GND
CWTL
SP
IM
21
22
48
24
25
19
14
15
16
17
43
18
42
49
23
3.83kΩ
3.83kΩ
20kΩ
10kΩ
10kΩ
1kΩ
1kΩ
INH
CL
SRV-ON
GAIN
DIV
ZEROSPD
C-MODE
A-CLR
CCWL
CWL
S-RDY+
S-RDY
-
ALM+
AT-SPEED
+
BRKOFF
+
BRKOFF
-
TLC
ZSP
COM
-
FG
AT-SPEED
-
ALM
-
33
30
29
27
28
26
32
31
9
8
35
34
37
36
39
38
11
10
40
12
41
50
Servo-ON input
Gain switching input
Divider
Alarm clear input
Torque command input or
velocity limit input (0 to ±10V)
Velocity monitor output
Torque monitor output
Z-phase output (open collector)
Servo-Ready output
Servo-Alarm output
At-speed signal output
Brake release output
Torque in-limit output
(Select with Pr09)
Zero speed detection output
(Select with Pr0A)
Wiring example when control mode Pr02=0 or Pr5B=1,
CCWTL/TRQR
GND
16
17
CW torque limit input
(0 to ±10V)
330Ω
330Ω
330Ω
Speed zero clamp
input
CN X5
<Remarks>
In case Pr5B=0,
enter a speed limit value to
4th speed of speed setup (Pr56).
Control mode
switching input
CCW over-travel
inhibition input
CW over-travel
inhibition input
V
DC
12
to
24V
A-phase
output
B-phase
output
Z-phase
output
( represents twisted pair.)
Select with Pr5B.
[Connection and Setup of Torque Control Mode]
162
Interface Circuit
Input Circuit
Wiring to the connector, CN X5
• Connect to contacts of switches and relays, or open collector
output transistors.
• When you use contact inputs, use the switches and relays for
micro current to avoid contact failure.
• Make the lower limit voltage of the power supply (12 to 24V)
as 11.4V or more in order to secure the primary current for
photo-couplers.
Connection to sequence input signalsSI
Analog command inputAI
• The analog command input goes through 3 routes,
SPR/TRQR(Pin-14), CCWTL (Pin-16) and CWTL (Pin-18).
• Max. permissible input voltage to each input is ±10V.
For input impedance of each input, refer to the right Fig.
• When you compose a simple command circuit using variable
resistor(VR) and register R, connect as the right Fig. shows.
When the variable range of each input is made as –10V to
+10V, use VR with 2kΩ, B-characteristics, 1/2W or larger, R
with 200Ω, 1/2W or larger.
• A/D converter resolution of each command input is as follows.
(1)ADC1 : 16 bit (SPR/TRQR), (including 1bit for sign), ±10V
(2)ADC2 : 10 bit (CCWTL, CWTL), 0 to 3.3V
+12V
+3.3V
SPR/TRQR
CCWTL
CWTL
R14 20kΩ20kΩ
1kΩ
1kΩ
10kΩ
GND
GND
10kΩ
3.83kΩ
3.83kΩ
ADC
1
ADC
2
15
16
17
18
R
VR
–12V
+
–
+
–
+
–
+3.3V
1kΩ
1kΩ
12 to 24V 7 COM+4.7kΩ
SRV-ON etc.
Relay
7 COM+4.7kΩ
12 to 24V
SRV-ON etc.
163
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
Output Circuit
• The output circuit is composed of open collector transistor
outputs in the Darlington connection, and connect to relays or
photo-couplers.
• There exists collector to emitter voltage, V
CE
(SAT) of approx.
1V at transistor-ON, due to the Darlington connection of the
output or. Note that normal TTL IC cannot be directly connec-
ted since it does not meet VIL.
• There are two types of output, one which emitter side of the
output transistor is independent and is connectable individual-
ly, and the one which is common to – side of the control pow-
er supply (COM–).
• If a recommended primary current value of the photo-coupler
is 10mA, decide the resistor value using the formula of the
right Fig.
Sequence output circuitSO1 SO2
• Feeds out the divided encoder outputs (A, B and Z-phase) in
differential through each line driver.
• At the host side, receive these in line receiver. Install a termi-
nal resistor (approx. 330Ω) between line receiver inputs with-
out fail.
• These outputs are not insulated.
Line driver (Differential output) outputPO1
• Feeds out the Z-phase signal among the encoder signals in
open collector. This output is not insulated.
• Receive this output with high-speed photo couplers at the
host side, since the pulse width of the Z-phase signal is nar-
row.
Open collector outputPO2
• There are two outputs, the speed monitor signal output (SP)
and the torque monitor signal output (IM)
• Output signal width is ±10V.
• The output impedance is 1kΩ. Pay an attention to the input
impedance of the measuring instrument or the external circuit
to be connected.
<Resolution>
(1) Speed monitor output (SP)
With a setup of 6V/3000r/min (Pr07=3), the resolution converted to speed is 8r/min/16mV.
(2) Torque monitor output (IM)
With a relation of 3V/rated torque (100%), the resolution converted to torque is 0.4%/12mV.
Analog monitor outputAO
For the recommended primary current value, refer to the data sheet of apparatus or photo-coupler to be used.
R [kΩ] =
Install toward the direction as
the fig. shows without fail.
V
DC
[V] – 2.5[V]
10
V
DC
12 to 24V
SO1
ALM+ etc.
ALM– etc.
COM–41
ZSP, TLC
SO2
Max. rating 30V,
50mA
AM26LS32 or equivalent AM26LS31 or
equivalent
A
B
Z
22
21
OA
+
OA–
OZ
+
OZ–
OB
+
OB–
48
23
25
GND
24
49
Connect signal ground of the host
and the driver without fail.
19
25
CZ
Max. rating 30V,
50mA
Measuring
instrument
or
external
circuit
GND
High speed
photo-coupler
(TLP554 by Toshiba or equivalent)
43
1kΩ
1kΩ
SP
IM
42
GND
17
represents twisted pair.
represents twisted pair.
164
Input Signal and Pin No. of the Connector, CN X5
Input Signals (common) and Their Functions
Wiring to the connector, CN X5
Title of signal
Pin No.
Symbol Function
I/F circuit
Power supply for
control signal (
+
)
7 –COM+ • Connect + of the external DC power supply (12 to 24V).
• Use the power supply voltage of 12V ± 5% – 24V ± 5%
Power supply for
control signal (
-
)
41 –COM– • Connect – of the external DC power supply (12 to 24V).
• The power capacity varies depending on a composition of I/O circuit. 0.5A
or more is recommended.
CW over-travel
inhibit input 8SI
P.162
CWL • Use this input to inhibit a CW over-travel (CWL).
• Connect this so as to make the connection to COM– open when the
moving portion of the machine over-travels the movable range toward CW.
• CWL input will be invalidated when you set up Pr04 (Setup of over-travel
inhibit input) to 1.Default is "Invalid (1)".
• You can select the action when the CWL input is validated with the setup
of up Pr66 (Sequence at over-travel inhibit). Default is "Emergency stop
with dynamic brake".(Pr66=0)
CCW over-travel
inhibit input 9SI
P.162
CCWL • Use this input to inhibit a CCW over-travel (CCWL).
•
Connect this so as to make the connection to COM- open when the moving
portion of the machine over-travels the movable range toward CCW.
• CWL input will be invalidated when you set up Pr04 (Setup of over-travel
inhibit input) to 1.Default is "Invalid (1)".
• You can select the action when the CCWL input is validated with the setup
of Pr66 (Sequence at over-travel inhibit). Default is "Emergency stop with
dynamic brake".(Pr66=0)
Speed zero clamp
input
26 SI
P.162
ZEROSPD • Function varies depending on the control mode.
• Becomes to a speed-zero clamp input (ZEROSPD).
• In case Pr06 is 2 at torque control, ZERPSPD is invalid.
•
Becomes to an input of damping control switching (VS-SEL).
• While Pr24 (Damping filter switching selection) is 1, the
1st damping filter (Pr2B, Pr2C) will be validated when you
open this input, and the 2nd damping filter (Pr2D, Pr2E)
will be validated when you connect this input to COM–.
Pr06
0
1
2
Connection to COM–
–
open
close
open
close
Content
ZEROSPD input is invalid.
Speed command is 0
Normal action
Speed command is to CCW
Speed command is to CW.
Velocity/
Torque
control
Position/
Full-closed
control
Gain switching
input
or
Torque limit
switching input
27 SI
P.162
GAIN
TL-SEL
• Function varies depending on the setups of Pr30 (2nd gain setup) and
Pr03 (Selection of torque limit).
• For details of 2nd gain switching function, refer to P.243 "Gain Switching
Function" of Adjustment.
invalid
• Input of torque limit switching (TL-SEL)
• Pr5E (Setup of 1st torque limit) will be validated when you
open this input, and Pr5F (Setup of 2nd torque limit) will
be validated when you connect this input to COM–.
Pr30
0
1
–
Pr03
0 – 2
3
Connection to COM–
open
close
open
close
Content
Velocity loop : PI (Proportion/Integration) action
Velocity loop : P (Proportion) action
1st gain selection (Pr10,11,12,13 and 14)
2nd gain selection (Pr18,19,1A,1B and 1C)
when the setups of Pr31 and Pr36 are 2
when the setups of Pr31 and Pr36 are other than 2
165
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
Title of signal
Pin No.
Symbol Function
I/F circuit
Servo-ON input
29
SI
P.162
SRV-ON • Turns to Servo-ON status by connecting this input to COM–.
• Turns to Servo-OFF status by opening connection to COM–, and current
to the motor will be shut off.
• You can select the dynamic brake action and the deviation counter
clearing action at Servo-OFF with Pr69 (Sequence at Servo-OFF).
<Caution>
1.Servo-ON input becomes valid approx. 2 sec after power-on.
(see P.42, "Timing Chart" of Preparation.)
2.Never run/stop the motor with Servo-ON/OFF.
3.After shifting to Servo-ON, allow 100ms or longer pause before entering
the pulse command.
Control mode
switching input 32 SI
P.162
C-MODE • You can switch the control mode as below by setting up Pr02 (Control
mode setup) to 3-5.
<Caution>
Depending on how the command is given at each control mode, the action
might change rapidly when switching the control mode with C-MODE. Pay
an extra attention.
Pr02 setup
3
4
5
Open (1st)
Position control
Position control
Velocity control
Connection to COM– (2nd)
Velocity control
Torque control
Torque control
Alarm clear input 31 SI
P.162
A-CLR • You can release the alarm status by connecting this to COM– for more
than 120ms.
• The deviation counter will be cleared at alarm clear.
• There are some alarms which cannot be released with this input.
For details, refer to P.252, "Protective Function " of When in Trouble.
166
Input Signals (Analog Command) and Their Functions
Wiring to the connector, CN X5
Title of signal
Pin No.
Symbol Function
I/F circuit
Torque command
input,
or
Speed limit input
14 AI
P.162
TRQR
SPL
• Function varies depending on control mode.
•The resolution of the A/D converter used in this input is 16 bit
(including 1 bit for sign).
± 32767 (LSB) = ± 10[V], 1[LSB]
.
=
. 0.3[mV]
Control mode
Function
• Function varies depending on Pr5B (Selection of
torque command)
• Function varies depending on Pr5B (Selection of
torque command)
• This input is invalid.
Pr5B
0
1
Pr02
Content
• Torque command (TRQR) will be
selected.
• Set up the torque (TRQR) gain,
polarity offset and filter with;
Pr5C (Torque command input gain)
Pr5D (Torque command input reversal)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
• Speed limit (SPL) will be selected.
• Set up the speed limit (SPL) gain,
offset and filter with;
Pr50 (Speed command input gain)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
*Function becomes valid when the control mode with underline ( / )
is selected while the switching mode is used in the control mode in table.
Pr5B
0
1
Content
• This input becomes invalid.
• Speed limit (SPL) will be selected.
• Set up the speed limit (SPL) gain, offset
and filter with;
Pr50 (Speed command input gain)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
Torque
control
Position/
Torque
Velocity/
Torque
Other control
mode
2
4
5
Others
167
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
Title of signal
Pin No.
Symbol Function
I/F circuit
Torque command
input
16 AI
P.162
TRQR • Function varies depending on Pr02 (Control mode setup).
• Resolution of A/D converter used in this input is 16 bit
(including 1 bit for sign).
± 511 [LSB] = ± 11.9[V], 1 [LSB]
.
=
. 23[mV]
Control mode
Torque Control
Position/Torque
Velocity/
Torque
Position/Torque
Velocity/Torque
Other
control mode
Function
• Function varies depending on Pr5B (Selection of
torque command)
Pr5B
0
1
This input becomes invalid.
• Torque command input (TRQR) will be
selected.
• Set up the gain and polarity of the com-
mand with;
Pr5C (Torque command input gain)
Pr5D (Torque command input reversal)
• Offset and filter cannot be set up.
Content
Pr02
2
4
5
4
5
Other
• Becomes to the torque command input (TRQR).
• Set up the gain and polarity of the command with;
Pr5C (Torque command input gain)
Pr5D (Torque command input reversal)
• Offset and filter cannot be set up.
• Becomes to the analog torque limit input to CCW
(CCWTL).
• Limit the CCW-torque by applying positive voltage
(0 to +10V) (Approx.+3V/rated torque)
• Invalidate this input by setting up Pr03 (Torque limit
selection) to other than 0.
*Function becomes valid when the control mode with underline ( / )
is selected while the switching mode is used in the control mode in table.
<Remark>
Do not apply more than ±10V to analog command inputs of SPR/TRQR/SPL
Do not apply more than ±10V to analog command input of TRQR.
168
Output signal and Pin No. of the Connector, CN X5
Output Signals (Common) and Their Functions
Wiring to the connector, CN X5
0
1
2
3
4
5
6
7
8
X5 TLC : Output of Pin-40 X5 ZSP : Output of Pin-12
Title of signal
Pin No
Symbol Function
I/F circuit
External brake
release signal 11
10 SO1
P.163
BRKOFF+
BRKOFF–
•
Feeds out the timing signal which activates the electromagnetic brake of the motor.
• Turns the output transistor ON at the release timing of the electro-
magnetic brake.
• You can set up the output timing of this signal with Pr6A (Setup of
mechanical brake action at stall) and Pr6B (Setup of mechanical brake
action at motion). For details, refer to P42, "Timing Chart" of Preparation.)
Servo-Ready
output 35
34 SO1
P.163
S-RDY+
S-RDY–
• This signal shows that the driver is ready to be activated.
• Output transistor turns ON when both control and main power are ON but
not at alarm status.
Zero-speed
detection
output signal
12
(41) SO2
P.163
ZSP
(COM–) •
Content of the output signal varies depending on Pr0A (Selection of ZSP output).
• Default is 1, and feeds out the zero speed detection signal.
• For details, see the table below, "Selection of TLC,ZSP output".
Torque in-limit
signal output 40
(41) SO2
P.163
TLC
(COM–) •
Content of the output signal varies depending on Pr09 (Selection of TLC output).
• Default is 1, and feeds out the torque in-limit signal.
• For details, see the table below, "Selection of TLC,ZSP output".
Servo-Alarm
output 37
36 SO1
P.163
ALM+
ALM–
• This signal shows that the driver is in alarm status..
• Output transistor turns ON when the driver is at normal status, and turns
OFF at alarm status.
Speed arrival
output 39
38 SO1
P.163
AT-SPEED+
AT-SPEED–
• Function varies depending on the control mode.
Position
control
Full-closed
control
Velocity/
Torque
control
• Output of positioning complete (COIN)
• The output transistor will turn ON when the absolute value
of the position deviation pulse becomes smaller than the
setup value of Pr60 (Positioning complete range).
• You can select the feeding out method with Pr63 (Setup of
positioning complete output).
• Output of full-closed positioning complete (EX-COIN)
• The output transistor will turn ON when the absolute value
of full-closed-position deviation pulse becomes smaller
than the setup value of Pr60 (Positioning complete range).
• You can select the feeding out method with Pr63 (Setup of
positioning complete output).
• Output at-speed (speed arrival) (AT-SPEED)
• The output transistor will turn ON when the actual motor
speed exceeds the setup value of Pr62 (In-speed).
• Selection of TCL and ZSP outputs
• Torque in-limit output (Default of X5 TLC Pr09)
The output transistor turns ON when the torque command is limited by the torque limit during Servo-ON.
• Zero-speed detection output (Default of X5 ZSP Pr0A)
The output transistor turns ON when the motor speed falls under the preset value with Pr61.
• Alarm signal output
The output transistor turns ON when either one of the alarms is triggered, over-regeneration alarm, overload alarm,
battery alarm, fan-lock alarm or external scale alarm.
• Over-regeneration alarm
The output transistor turns ON when the regeneration exceeds 85% of the alarm trigger level of the regenerative load protection.
• Over-load alarm
The output transistor turns ON when the load exceeds 85% of the alarm trigger level of the overload alarm.
• Battery alarm
The output transistor turns ON when the battery voltage for absolute encoder falls lower than approx. 3.2V.
• Fan-lock alarm
The output transistor turns ON when the fan stalls for longer than 1s.
• External scale alarm
The output transistor turns ON when the external scale temperature exceeds 65°, or signal intensity is not enough
(adjustment on mounting is required). Valid only at the full-closed control.
• In-speed (Speed coincidence) output
The output transistor turns ON when the difference between the actual motor speed and the speed command before
acceleration/deceleration reaches within the preset range with Pr61. Valid only at the velocity and torque control.
Value of
Pr09 or Pr0A
169
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
Output Signals (Pulse Train) and Their Functions
Title of signal
Pin No
Symbol Function
I/F circuit
PO1
P.163
A-phase output
B-phase output
Z-phase output
21
22
48
49
23
24
OA +
OA –
OB +
OB –
OZ +
OZ –
• Feeds out the divided encoder signal or external scale signal (A, B, Z-
phase) in differential. (equivalent to RS422)
• You can set up the division ratio with Pr44 (Numerator of pulse output
division) and Pr45 (Denominator of pulse output division)
• You can select the logic relation between A-phase and B-phase, and the
output source with Pr46 (Reversal of pulse output logic).
•
When the external scale is made as an output source, you can set up the
interval of Z-phase pulse output with Pr47 (Setup of external scale Z-phase).
• Ground for line driver of output circuit is connected to signal ground (GND)
and is not insulated.
• Max. output frequency is 4Mpps (after quadrupled)
Z-phase output 19 PO2
P.163
CZ • Open collector output of Z-phase signal
• The emitter side of the transistor of the output circuit is connected to the
signal ground (GND) and is not insulated.
<Note>
• When the output source is the encoder
• If the encoder resolution X is multiple of 4, Z-phase will be fed out synchronizing with A-phase.
In other case, the Z-phase width will be equal to the encoder resolution, and will not synchronize with
A-phase because of narrower width than that of A-phase.
• In case of the 5-wire, 2500P/r incremental encoder, the signal sequence might not follow the above fig.
until the first Z-phase is fed out. When you use the pulse output as the control signal, rotate the motor
one revolution or more to make sure that the Z-phase is fed out at least once before using.
Pr44
Pr45
A
B
Z
A
B
Z
synchronized not-synchronized
Pr44
Pr45
when the encoder resolution is multiple of 4,
Pr44
Pr45
when the encoder resolution is not multiple of 4,
170
Output Signals (Analog) and Their Functions
Wiring to the connector, CN X5
Title of signal
Pin No
Symbol Function
I/F circuit
Torque monitor
signal output 42 AO
P.163
IM • The content of output signal varies depending on Pr08 (Torque monitor
(IM) selection).
• You can set up the scaling with Pr08 value.
Content of signal
Torque
command
Positional
deviation
Full-closed
deviation
Function
• Feeds out the voltage in proportion to the motor
torque command with polarity.
+ : generates CCW torque
– : generates CW torque
• Feeds out the voltage in proportion to the positional
deviation pulse counts with polarity.
+ : positional command to CCW of motor position
– : positional command to CW of motor position
• Feeds out the voltage in proportion to the full-
closed deviation pulse counts with polarity.
+ : positional command to CCW of
external scale position
– : positional command to CW of
external scale position
Pr08
0,
11,12
1 – 5
6 –10
Speed monitor
signal output 43 AO
P.163
SP • The content of the output signal varies depending on Pr07 (Speed monitor
(IM) selection).
• You can set up the scaling with Pr07 value.
• Feeds out the voltage in proportion to the motor
speed with polarity. + : rotates to CCW
– : rotates to CW
• Feeds out the voltage in proportion to the command
speed with polarity.
+ : rotates to CCW
– : rotates to CW
Function
Control mode
Pr07
Motor
speed
Command
speed
0 – 4
5 – 9
Output Signals (Others) and Their Functions
Title of signal
Pin No
Symbol Function
I/F circuit
Signal ground 13,15,
17,25
–
GND • Signal ground
• This output is insulated from the control signal power (COM–) inside of the
driver.
Frame ground 50 –
FG • This output is connected to the earth terminal inside of the driver.
171
Connection and Setup of
Torque Control Mode
Trial Run (JOG run) at Velocity Control Mode
Trial Run by Connecting the Connector, CN X5
1) Connect the CN X5.
2) Enter the power (DC12-24V) to control signal (COM+, COM–)
3) Enter the power to the driver.
4) Confirm the default values of parameters.
5) Set a lower value to Pr56 (4th speed of speed setup).
6) Energize the motor by connecting the Ser vo-ON input (SRV-ON, CN X5, Pin-29) and COM– (Pin-41 of
CN X5) to turn to Servo-ON status.
7) Confirm that the motor runs as per the setup of Pr56 by applying DC voltage (positive/negative) between
the torque command input (Pin-14 of CN X5) and GND (Pin-41 of CN X5).
8) If you want to change the torque magnitude, direction and velocity limit value against the command
voltage, set up the following parameters.
Pr56 : 4th speed of speed setup
Pr5C : Torque command input gain
Pr5D : Torque command input reversal
9) If the motor does not run correctly, refer to P.68, "Display of factor for No-motor running" of Preparation.
Refer to P.183, "Parameter Setup-Parameters
for Velocity and Torque Control".
COM+
SRV-ON
SPR/TRQR
GND
COM–
7
29
14
15
41
DC
12V – 24V
DC
10V
Title
Setup of control mode
Invalidation of over-travel inhibit input
Selection of ZEROSPD
4th speed of speed setup
Selection of torque command
Torque command input gain
Torque command input reversal
PrNo.
02
04
06
56
5B
5C
5D
Setup value
2
1
0
lower value
0
In case of one way running
For bi-directional running
(CW/CCW), provide a bipolar
power supply. Title of signal
Servo-ON
Speed zero clamp
No.
0
5
Monitor display
+A
–
Parameter
Wiring Diagram
Input signal status
Set up
as
required
Inspection Before Trial Run
X3
X4
X5
X6
X7
Display LED
CN X6
ground
Power
supply
Motor
Machine
(1) Wiring inspection
• Miswiring
(Especially power input/motor output)
• Short/Earth
• Loose connection
(2) Check of power/voltage
• Rated voltage
(3) Fixing of the motor
• Unstable fixing
(4) Separation from
mechanical system
(5) Release of the brake
[Connection and Setup of Torque Control Mode]
172
Real-Time Auto-Gain Tuning
Outline
The driver estimates the load inertia of the ma-
chine in real time, and automatically sets up the
optimum gain responding to the result. Also the
driver automatically suppress the vibration caused
by the resonance with an adaptive filter.
Applicable Range
• Real-time auto-gain tuning is applicable to all
control modes.
Caution
Real-time auto-gain tuning may not be executed
properly under the conditions described in the
right table. In these cases, use the normal mode
auto-gain tuning (refer to P.236 of Adjustment),
or e x ecute a manual gain tuning. (ref er to P.240,
of Adjustment)
Conditions which obstruct
real-time auto-gain tuning
• Load is too small or large compared to rotor inertia.
(less than 3 times or more than 20 times)
• Load inertia change too quickly. (10 [s] or less)
• Machine stiffness is extremely low.
• Chattering such as backlash exists.
•
Motor is running continuously at low speed of 100 [r/min] or lower.
•
Acceleration/deceleration is slow (2000[r/min] per 1[s] or low).
• Acceleration/deceleration torque is smaller than
unbalanced weighted/viscous friction torque.
• When speed condition of 100[r/min] or more and
acceleration/deceleration condition of 2000[r/min] per
1[s] are not maintained for 50[ms].
Load
inertia
Load
Action
pattern
Action command under
actual condition
Position/Velocity
command Position/Velocity
control
Servo driver
Real-time auto-gain tuning
Resonance frequency calculation
Load inertia calculation
Adaptive
Filter Current
control
Auto-gain
setup Auto-filter
adjustment Torque
command Motor
current
Motor
speed
Motor
Encoder
How to Operate
(1) Bring the motor to stall (Servo-OFF).
(2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 1-
7. Default is 1.
(3) Set up Pr22 (Machine stiffness at real-time auto-gain tun-
ing) to 0 or smaller value.
(4) Turn to Servo-ON to r un the machine normally.
(5) Gradually increase Pr22 (Machine stiffness at real-time
auto-gain tuning) when you want to obtain better response.
Lower the value (0 to 3) when you experience abnormal
noise or oscillation.
(6) Write to EEPROM when you want to save the result.
0
<1>,4,7
2, 5
3, 6
Real-time auto-gain tuning
(not in use)
normal mode
Varying degree of load inertia in motion
–
no change
slow change
rapid change
• When the varying degree of load inertia is large, set up 3.
Setup
value
Setup of parameter, Pr21
Press .
Press .
Match to the parameter No.
to be set up with . (Here match to Pr21.)
Press .
Change the setup with .
Press .
Setup of parameter, Pr22
Match to Pr22 with .
Press .
Numeral increases with ,
and decreases with .
Press .
(default values)
Writing to EEPROM
Press .
Press .
Bars increase as the right fig. shows
by keep pressing (approx. 5sec).
Writing starts (temporary display).
Finish Writing completes Writing error
occurs
Return to SELECTION display after writing finishes, referring
to "Structure of each mode"(P.60 and 61 of Preparation).
Insert the console connector to
CN X6 of the driver, then turn
on the driver power.
173
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
Parameters Which Are Automatically Set Up.
Following parameters are automatically adjusted.
Also following parameters are automatically set up.
PrNo.
11
12
13
14
19
1A
1B
1C
20
Title
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of velocity detection
1st time constant of torque filter
2nd gain of velocity loop
2nd time constant of velocity loop integration
2nd filter of speed detection
2nd time constant of torque filter
Inertia ratio
PrNo.
30
31
32
33
34
36
1
0
30
50
33
0
Title Setup value
2nd gain setup
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
2nd mode of control switching
<Notes>
• When the real-time auto-gain tuning is valid, you cannot change parameters which are automatically
adjusted.
• Pr31 becomes 10 at position or full closed control and when Pr21 (Setup of Real-Time Auto-Gain
Tuning Mode) is 1 to 6, and becomes 0 in other cases.
Cautions
(1) After the start-up, you may experience abnormal noise and oscillation right after the first Servo-ON, or
when you increase the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning), until
load inertia is identified (estimated) or adaptiv e filter is stabilized, howev er, these are not failures as long
as they disappear immediately. If they persist over 3 reciprocating operations, take the following mea-
sures in possible order.
1)Write the parameters which have given the nor mal operation into EEPROM.
2)Lower the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning).
3)Set up both Pr21 (Setup of real-time auto-gain tuning) and Pr23 (Setup of adaptive filter mode) to 0,
then set up other value than 0. (Reset of inertia estimation and adaptive action)
4)Invalidate the adaptive filter by setting up Pr23 (Setup of adaptive filter mode setup) to 0, and set up
notch filter manually.
(2) When abnormal noise and oscillation occur, Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) might
have changed to extreme values. Take the same measures as the above in these cases.
(3) Among the results of real-time auto-gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency)
will be written to EEPROM every 30 minutes. When you turn on the power again, auto-gain tuning will be
executed using the latest data as initial values.
(4) When you validate the real-time auto-gain tuning, Pr27 (Setup of instantaneous speed observer) will be
invalidated automatically.
(5) The adaptive filter is normally invalidated at torque control, however, when you select torque control
while you set up Pr02 (Control mode setup) to 4 and 5, the adaptive filter frequency before mode switch-
ing will be held.
(6) Dur ing the trial run and frequency characteristics measurement of "PANATERM®", the load iner tia esti-
mation will be invalidated.
174
Parameter Setup
Parameters for Functional Selection
PrNo. Setup
range
Title Function/Content
Standard default : < >
01
*0 to 17
<1>
LED initial status You can select the type of data to be displayed on the front panel LED (7 segment)
at the initial status after power-on.
Power -ON
Setup value of Pr01
Flashes (for approx. 2 sec)
during initialization
Setup value
Content
0
<1>
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Positional deviation
Motor rotational speed
Torque output
Control mode
I/O signal status
Error factor/history
Software version
Alarm
Regenerative load factor
Over-load factor
Inertia ratio
Sum of feedback pulses
Sum of command pulses
External scale deviation
Sum of external scale feedback pulses
Motor automatic recognizing function
Analog input value
Factor of "No-Motor Running"
For details of display, refer to P.51 "Setup of
Parameter and Mode" of Preparation.
02
*0 to 6
<1>
Setup of
control mode You can set up the control mode to be used.
Setup
value
0
<1>
2
3
4
5
6
Control mode
1st mode
2nd mode
Position
Velocity
Torque
Position
Position
Velocity
Full-closed
–
–
–
Velocity
Torque
Torque
– 1st 2nd
close
open
C-MODE
10ms or longer 10ms or longer
open
1st
**1) When you set up the combination mode of 3, 4 or
5, you can select either the 1st or the 2nd with
control mode switching input (C-MODE).
When C-MODE is open, the 1st mode will be
selected.
When C-MODE is shorted, the 2nd mode will be
selected.
Don't enter commands 10ms before/after switching.
**1
**1
**1
00
*0 to 15
<1>
Address In the communication with the host via RS232/485 for multi-axes application, it is
necessary to identify which axis the host is communicating. Use this parameter to
confirm the address of the axis in numbers.
• The address is determined by the setup value of rotary switch (0 to F) of the
front panel at power-on.
• This value becomes the axis number at serial communication.
• The setup value of this parameter has no effect to the servo action.
• You cannot change the setup of Pr00 with other means than rotary switch.
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
175
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
04
*0 to 2
<1>
Setup of
over-travel
inhibit input
In linear drive application, you can use this over-travel inhibiting function to inhibit the
motor to run to the direction specified by limit switches which are installed at both ends
of the axis, so that you can prevent the work load from damaging the machine due to
the over-travel. With this input, you can set up the action of over-travel inhibit input.
<Cautions>
1. When Pr04 is set to 0 and over-travel inhibit input is entered, the motor deceler-
ates and stops according to the preset sequence with Pr66 (Sequence at over-
travel inhibition). For details, refer to the explanation of Pr66.
2. When both of CCWL and CWL inputs are opened while Pr04 is set to 0, the driver
trips with Err38 (Overtravel inhibit input error) judging that this is an error.
3. When you turn off the limit switch on upper side of the work at vertical axis applica-
tion, the work may repeat up/down movement because of the loosing of upward
torque. In this case, set up Pr66 to 2, or limit with the host controller instead of us-
ing this function.
CW direction CCW direction
CCWL
CWL
Work
Servo motor Limit
switch Limit
switch
Driver
Setup
value
0
<1>
2
Action
CCWL/CWL
input
Valid
Invalid
Valid
Input
CCWL
(CN X5,Pin-9)
CWL
(CN X5,Pin-9)
Connection to COM–
Close
Open
Close
Open
Normal status while CCW-side limit switch is not activated.
Inhibits CCW direction, permits CW direction.
Normal status while CW-side limit switch is not activated.
Inhibits CW direction, CCW direction permitted.
Both CCWL and CWL inputs will be ignored, and over-travel inhibit function will be
invalidated.
Err38 (Over-travel inhibit input protection) is triggered when either one
of the connection of CW or CCW inhibit input to COM– become open.
PrNo. Setup
range
Title Function/Content
Standard default : < >
06 0 to 2
<0>
Selection of
ZEROSPD input
You can set up the function of the speed zero clamp input (ZEROSPD : CN X5, Pin-26)
Setup value
<0>, 2
1
Function of ZEROSPD (Pin-26)
ZEROSPD input is ignored and the driver judge that it Is not in
speed zero clamp status.
ZEROSPD input becomes valid. Speed command is taken as 0 by
opening the connection to COM–.
07 0 to 9
<3>
Selection of speed
monitor (SP) You can set up the content of analog speed monitor signal output (SP : CN X5,
Pin43) and the relation between the output voltage level and the speed.
Setup value
0
1
2
<3>
4
5
6
7
8
9
Signal of SP
Motor actual
speed
Command
speed
Relation between the output voltage level and the speed
6V / 47 r/min
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
6V / 47 r/min
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
176
Parameter Setup
08 0 to 12
<0>
Selection of torque
monitor (IM)
You can set up the content of the analog torque monitor of the signal output (IM : CN X5, Pin-
42), and the relation between the output voltage level and torque or deviation pulse counts.
Setup value
<0>
1
2
3
4
5
6
7
8
9
10
11
12
Signal of IM
Torque command
Position
deviation
Full-closed
deviation
Torque
command
Relation between the output voltage level and torque or deviation pulse counts
3V/rated (100%) torque
3V / 31Pulse
3V / 125Pulse
3V / 500Pulse
3V / 2000Pulse
3V / 8000Pulse
3V / 31Pulse
3V / 125Pulse
3V / 500Pulse
3V / 2000Pulse
3V / 8000Pulse
3V / 200% torque
3V / 400% torque
09 0 to 8
<0>
Selection of
TLC output You can assign the function of the torque in-limit output (TLC : CN X5 Pin-40).
Setup value
<0>
1
2
3
4
5
6
7
8
Note
For details of
function of each
output of the
left, refer to the
table of P168,
"Selection of
TCL and ZSP
outputs".
Function
Torque in-limit output
Zero speed detection output
Alarm output of either one of Over-regeneration
/Over-load/Absolute battery/Fan lock/External scale
Over-regeneration alarm trigger output
Overload alarm output
Absolute battery alarm output
Fan lock alarm output
External scale alarm output
In-speed (Speed coincidence) output
0A 0 to 8
<1>
Selection of
ZSP output
You can assign the function of the zero speed detection output (ZSP: CN X5 Pin-12).
Setup value
0
<1>
2
3
4
5
6
7
8
Note
For details of
function of each
output of the
left, refer to the
table of P.168,
"Selection of
TCL and ZSP
outputs".
Function
Torque in-limit output
Zero speed detection output
Alarm output of either one of Over-regeneration
/Over-load/Absolute battery/Fan lock/External scale
Over-regeneration alarm trigger output
Overload alarm output
Absolute battery alarm output
Fan lock alarm output
External scale alarm output
In-speed (Speed coincidence) output
PrNo. Setup
range
Title Function/Content
Standard default : < >
0B
*0 to 2
<1>
Setup of
absolute encoder You can set up the using method of 17-bit absolute encoder.
<Caution>
This parameter will be invalidated when 5-wire, 2500P/r incremental encoder is used.
Setup value
0
<1>
2
Content
Use as an absolute encoder.
Use as an incremental encoder.
Use as an absolute encoder, but ignore the multi-turn counter over.
0C
*0 to 5
<2>
Baud rate setup of
RS232
communication
You can set up the communication speed of RS232.
Setup value
0
1
<2>
Baud rate
2400bps
4800bps
9600bps
Setup value
3
4
5
Baud rate
19200bps
38400bps
57600bps
• Error of baud rate is ±0.5%.
177
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
0E
*0 to 1
<0>
Setup of front
panel lock You can limit the operation of the front panel to the
monitor mode only.
You can prevent such a misoperation as unexpec-
ted parameter change.
<Note>
You can still change parameters via communication even though this setup is 1.
To return this parameter to 0, use the console or the "PANATERM®".
Setup value
<0>
1
Content
Valid to all
Monitor mode only
0D
*0 to 5
<2>
Baud rate setup of
RS485
communication
You can set up the communication speed of RS485.
Setup value
0
1
<2>
Baud rate
2400bps
4800bps
9600bps
Setup value
3
4
5
Baud rate
19200bps
38400bps
57600bps
• Error of baud rate is ±0.5%.
PrNo. Setup
range
Title Function/Content
Standard default : < >
Parameters for Adjustment of Time Constants of Gains and Filters
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
11 1 to 3500
A to C-frame:<35>*
D to F-frame:<18>*
Hz1st gain of
velocity loop You can determine the response of the velocity loop.
In order to increase the response of overall servo system by setting high
position loop gain, you need higher setup of this velocity loop gain as well.
However, too high setup may cause oscillation.
<Caution>
When the inertia ratio of Pr20 is set correctly, the setup unit of Pr11
becomes (Hz).
12 1 to 1000
A to C-frame:<16>*
D to F-frame:<31>*
ms1st time constant
of velocity loop
integration
You can set up the integration time constant of velocity loop.
Smaller the setup, faster you can dog-in deviation at stall to 0.
The integration will be maintained by setting to "999".
The integration effect will be lost by setting to "1000".
13 0 to 5
<0>* –1st filter of
speed detection You can set up the time constant of the low pass filter (LPF) after the
speed detection, in 6 steps.
Higher the setup, larger the time constant you can obtain so that you can
decrease the motor noise, however, response becomes slow. Use with a
default value of 0 in normal operation.
14 0 to 2500
A to C-frame:<65>*
D to F-frame:<126>*
0.01ms1st time constant of
torque filter You can set up the time constant of the 1st delay filter inserted in the
torque command portion. You might expect suppression of oscillation
caused by distortion resonance.
19
1A
1B
1C
1 to 3500
A to C-frame:<35>*
D to F-frame:<18>*
1 to 1000
<1000>*
0 to 5
<0>*
0 to 2500
A to C-frame:<65>*
D to F-frame:<126>*
Hz
ms
–
0.01ms
2nd gain of velocity
loop
2nd time constant of
velocity loop integration
2nd filter of velocity
detection
2nd time constant
of torque filter
Position loop, velocity loop, speed detection filter and torque command
filter have their 2 pairs of gain or time constant (1st and 2nd).
For details of switching the 1st and the 2nd gain or the time constant, refer
to P.226, "Adjustment".
The function and the content of each parameter is as same as that of the
1st gain and time constant.
1D
100 to 1500
<1500> Hz1st notch
frequency
You can set up the frequency of the 1st resonance suppressing notch filter.
The notch filter function will be invalidated by setting up this parameter to
"1500".
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you tur n on the
control power.
• Parameters which default v alues have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referr ing to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
178
Parameter Setup
Parameters for Auto-Gain Tuning
20
0 to 10000
<250>* %Inertia ratio
You can set up the ratio of the load inertia against the rotor (of the motor) inertia.
When you execute the normal auto-gain tuning, the load inertial will be
automatically estimated after the preset action, and this result will be
reflected in this parameter.
The inertia ratio will be estimated at all time while the real-time auto-gain
tuning is valid, and its result will be saved to EEPROM every 30 min.
<Caution>
If the inertia ratio is correctly set, the setup unit of Pr11 and Pr19
becomes (Hz). When the inertia ratio of Pr20 is larger than the actual, the
setup unit of the velocity loop gain becomes larger, and when the inertia
ratio of Pr20 is smaller than the actual, the setup unit of the velocity loop
gain becomes smaller.
Pr20=(load inertia/rotor inertia) X 100 [%]
21 0 to 7
<1> –Setup of real-time
auto-gain tuning You can set up the action mode of the real-time auto-gain tuning.
With higher setup such as 3, the driver respond quickly to the change of
the inertia during operation, however it might cause an unstable operation.
Use 1for normal operation.
Setup value
0
<1>, 4, 7
2, 5
3, 6
Real-time
auto-gain tuning
Invalid
Normal mode
Varying degree of
load inertia in motion
–
Little change
Gradual change
Rapid change
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
22 0 to 15
A to C-frame:
<4>
D to F-frame:
<1>
–Selection of
machine stiffness
at real-time
auto-gain tuning
You can set up the machine stiffness in 16 steps while the real-time auto-
gain tuning is valid.
<Caution>
When you change the setup value rapidly, the gain changes rapidly as
well, and this may give impact to the machine. Increase the setup
gradually watching the movement of the machine.
low machine stiffness high
low servo gain high
low response high
Pr22 0, 1- - - - - - - - - - - - 14, 15
1E 0 to 4
<2> –1st notch width
selection
You can set up the notch filter width of the 1st resonance suppressing filter in 5 steps.
Higher the setup, larger the notch width you can obtain.
Use with default setup in normal operation.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
179
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
25 0 to 7
<0> –Setup of an action
at normal mode
auto-gain tuning
You can set up the action pattern at the normal mode auto-gain tuning.
e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2
revolutions to CW.
Setup value
<0>
1
2
3
4
5
6
7
Number of revolution
2 [revolution]
1 [revolution]
Rotational direction
CCW CW
CW CCW
CCW CCW
CW CW
CCW CW
CW CCW
CCW CCW
CW CW
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
2A 0 to 99
<0> –Selection of
2nd notch depth
You can set up the 2nd notch depth of the resonance suppressing filter. Higher
the setup, shallower the notch depth and smaller the phase delay you can obtain.
28
100 to 1500
<1500> Hz2nd notch
frequency You can set up the 2nd notch width of the resonance suppressing filter in
5 steps. The notch filter function is invalidated by setting up this parame-
ter to "1500".
29 0 to 4
<2> –Selection of
2nd notch width You can set up the notch width of 2nd resonance suppressing filter in 5
steps. Higher the setup, larger the notch width you can obtain.
Use with default setup in normal operation.
Parameters for Adjustment (2nd Gain Switching Function)
30 0 to 1
<1>* –Setup of 2nd gain
You can select the PI/P action switching of the velocity control or 1st/2nd gain switching.
*1 Switch the PI/P action with the gain switching input (GAIN CN X5, Pin-
27). PI is fixed when Pr03 (Torque limit selection) is 3.
*2 For switching condition of the 1st and the 2nd, refer to P.243, "Gain
Switching Function" of Adjustment.
Setup value
0
<1>*
Gain selection/switching
1st gain (PI/P switching enabled) *1
1st/2nd gain switching enabled *2
GAIN input
Open with COM–
Connect to COM–
Action of velocity loop
PI action
P action
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
31 0 to 10
<0>* –1st mode of
control switching You can select the switching condition of 1st gain and 2nd gain while Pr30
is set to 1.
*1 Fixed to the 1st gain regardless of GAIN input, when Pr31 is set to 2
and Pr03 (Torque limit selection) is set to 3.
*2 For the switching level and the timing, refer to P.243, "Gain Switching
Function" of Adjustment.
Setup value
<0>*, 4 to 10
1
2
3
Gain switching condition
Fixed to the 1st gain.
Fixed to the 2nd gain.
2nd gain selection when the gain switching input is turned on. (Pr30 setup must be 1.)
2nd gain selection when the toque command variation is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control switching).
*2
*1
<Notes>
• Parameters which default v alues have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referr ing to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
180
Parameter Setup
32
0 to 10000
<30>* x 166µs1st delay time of
control switching You can set up the delay time when returning from the 2nd to the 1st gain,
while Pr31 is set to 3.
33
0 to 20000
<50>* –1st level of
control switching You can set up the switching (judging) level of the 1st and the 2nd gains,
while Pr31 is set to 3.
Unit varies depending on the setup of Pr31 (1st mode of control switching)
34
0 to 20000
<33>* –1st hysteresis
of control switching You can set up hysteresis width to be
implemented above/below the
judging level which is set up with
Pr33. Unit varies depending on the
setup of Pr31 (1st control switching
mode). Definitions of Pr32 (Delay),
Pr33 (Level) and Pr34 (Hysteresis)
are explained in the fig. below.
<Caution>
The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute
values (positive/negative).
Pr33
0
Pr34
Pr32
1st gain 2nd gain 1st gain
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
35
0 to 10000
<20>* (setup
value +1)
x 166µs
Switching time of
position gain You can setup the
step-by-step switching
time to the position
loop gain only at gain
switching while the 1st
and the 2nd gain
switching is valid.
<Caution>
The switching time is only valid when switching from small position gain to
large position gain.
Pr35=
Kp1(Pr10)
166
166 166
166µs
Kp2(Pr18)
1st gain
e.g.)
2nd gain
bold line
thin line
1st gain
00
1
1
22
3
3
Kp1(Pr10)>Kp2(Pr18)
3D
0 to 500
<300> r/minJOG speed setup You can setup the JOG speed.
Refer to P.75, "Trial Run"of Preparation.
37
0 to 10000
<0> x 166µs2nd delay time of
control switching You can set up the delay time when returning from 2nd to 1st gain, while
Pr36 is set to 3 to 5.
38
0 to 20000
<0> –2nd level of control
switching You can set up the switching (judging) level of the 1st and the 2nd gains,
while Pr36 is set to 3 to 5
Unit varies depending on the setup of Pr36 (2nd mode of control
switching).
39
0 to 20000
<0> –2nd hysteresis of
control switching You can set up the hysteresis width
to be implemented above/below the
judging level which is set up with
Pr38.
Unit varies depending on the setup
of Pr36 (2nd mode of control
switching).Definition of Pr37 (Delay),
Pr38 (Level) and Pr39 (Hysteresis)
are explained in the fig. below.
<Caution>
Setup of Pr38 (Level) and Pr39 (Hysteresis) are valid as absolute value
(positive/negative).
Pr38
0
Pr39
Pr37
1st gain 2nd gain 1st gain
181
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
44
*
45
*
1 to 32767
<2500>
0 to 32767
<0>
Numerator of pulse
output division
Denominator of
pulse output
division
You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin-
21, 0A- : Pin-22, 0B+ : Pin-48, 0B- : Pin-49).
• Pr45=<0> (Default)
You can set up the output pulse counts per one motor revolution for each OA
and OB with the Pr44 setup. Therefore the pulse output resolution after
quadruple can be obtained from the formula below.
• Pr45≠0 :
The pulse output resolution per one revolution can be divided by any ration
according to the formula below.
<Cautions>
• The encoder resolution is 131072 [P/r] for the 17-bit absolute encoder, and
10000 [P/r] for the 5-wire 2500P/r incremental encoder.
• The pulse output resolution per one revolution cannot be greater than the
encoder resolution.
(In the above setup, the pulse output resolution equals to the encoder resolution.)
• Z-phase is fed out once per one revolution of the motor.
When the pulse output resolution obtained from the above formula is multiple of 4,
Z-phase synchronizes with A-phase. In other case, the Z-phase width equals to
output with the encoder resolution, and becomes narrower than A-phase, hence
does not synchronize with A-phase.
The pulse output resolution per one revolution
= Pr44 (Numerator of pulse output division) X4
Pr44
(Numerator of pulse output division)
Pr45
(Denominator of pulse output division)
Pulse output resolution per one revolution x Encoder resolution
A
B
ZSynchronized
A
B
ZNot-synchronized
Pr44
Pr45
when encoder resolution x is multiple of 4
Pr44
Pr45
when encoder resolution x is not multiple of 4
PrNo. Setup
range
Title Function/Content
Standard default : < >
Parameters for Position Control
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you tur n on the
control power.
• Parameters which default v alues have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referr ing to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
182
Parameter Setup
46
*0 to 3
<0>
Reversal of pulse
output logic You can set up the B-phase logic and the output source of the pulse output (X5 OB+
: Pin-48, OB– : Pin-49). With this parameter, you can reverse the phase relation
between the A-phase pulse and the B-phase pulse by reversing the B-phase logic.
*1 The output source of Pr46=2, 3 is valid only at full-closed control.
Setup
value
<0>, 2
1, 3
A-phase
(OA)
B-phase(OB)
non-reversal
B-phase(OB)
reversal
at motor CCW rotation at motor CW rotation
Pr46
<0>
1
2 *1
3 *1
B-phase logic
Non-reversal
Reversal
Non-reversal
Reversal
Output source
Encoder position
Encoder position
External scale position
External scale position
PrNo. Setup
range
Title Function/Content
Standard default : < >
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
183
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
Parameters for Velocity and Torque Control
5B 0 to 1
<0> –Selection of
torque command You can select the input of the torque command and the speed limit.
Pr5B
<0>
1
Torque command
SPR/TRQR/SPL
CCWTL/TRQR
Velocity limit
Pr56
SPR/TRQR/SPL
50
10 to 2000
<500> (r/min)/VInput gain of
speed command You can set up the relation between the voltage applied to the speed
command input (SPR : CN X5, Pin-14) and the motor speed.
• You can set up a "slope" of the relation
between the command input voltage
and the motor speed, with Pr50.
• Default is set to Pr50=500 [r/min],
hence input of 6V becomes 3000r/min.
<Cautions>
1. Do not apply more than ±10V to the
speed command input (SPR).
2. When you compose a position loop
outside of the driver while you use the
driver in velocity control mode, the
setup of Pr50 gives larger variance to
the overall servo system.
Pay an extra attention to oscillation caused by larger setup of Pr50.
3000
Speed (r/min)
–3000
Slope at
ex-factory
Command input
voltage (V)
–10 –6
CW
246810
CCW
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
52 –2047 to
2047
<0>
0.3mVSpeed command
offset • You can make an offset adjustment of analog speed command (SPR :
CN X5, Pin-14) with this parameter.
• The offset volume is 0.3mV per setup value of "1".
• There are 2 offset methods, (1) Manual adjustment and (2) Automatic
adjustment.
1) Manual adjustment
• When you make an offset adjustment with the driver alone,
Enter 0 V exactly to the speed command input (SPR/TRQR), (or
connect to the signal ground), then set this parameter up so that
the motor may not turn.
• when you compose a position loop with the host,
• Set this parameter up so that the deviation pulse may be reduced
to 0 at the Servo-Lock status.
2) Automatic adjustment
• For the details of operation method at automatic offset adjustment
mode, refer to P.73, "Auxiliary Function Mode" of Preparation.
• Result after the execution of the automatic offset function will be
reflected in this parameter, Pr52.
57 0 to 6400
<0> 10µsSetup of speed
command filter You can set up the time constant of the primary delay filter to the analog
speed command/analog torque command/analog velocity control (SPR :
CN X5, Pin-14)
56 –20000 to
20000
<0>
r/min4th speed of
speed setup You can set up the speed limit value in unit of [r/min].
<Caution>
The absolute value of the parameter setup is limited by Pr73 (Set up of
over-speed level).
184
Parameter Setup
5D 0 to 1
<0> –Input reversal of
torque command You can reverse the polarity of the torque command input (SPR/TRQR :
CN X5, Pin-14 or CCWTL/TRQR : CN X5, Pin-16)
Direction of motor output torque
CCW direction (viewed from motor shaft) with (+) command
CW direction (viewed from motor shaft) with (+) command
Setup value
<0>
1
5C 10 to 100
<30> 0.1V/
100%
Input gain of
torque command You can set the relation between the voltage applied to the torque
command input (SPR/TRQR : CN X5, Pin-14 or CCWTL/TRQR : CN X5,
Pin-16) and the motor output torque.
• Unit of the setup value is [0.1V/100%]
and set up input voltage necessary to
produce the rated torque.
• Default setup of 30 represents
3V/100%.
Rated
torque
torque
Default
command
input
voltage (V)
2
-2-4-6-8-10V
100
100
200
300[%]
200
300[%]
46810V
CW
CCW
5E 0 to 500
<500>
*2
%1st torque limit
setup You can limit the max torque for both CCW and CW direction with Pr5E.
Pr03 setup and Pr5F are ignored.
<Caution>
You cannot set up a larger value to this parameter than the default setup
value of "Max. output torque setup" of System parameter (which you
cannot change through operation with PANATERM
®
or panel). Default
value varies depending on the combination of the motor and the driver.
For details, refer to P.57, "Setup of Torque Limit " of Preparation.
• Setup value is to be given in
% against the rated torque.
• Right fig. shows example of
150% setup with Pr03=1.
• Pr5E limits the max. torque for
both CCW and CW directions.
This torque limit function limits the max. motor torque with the
parameter setup.
In normal operation, this driver permits approx. 3 times larger torque
than the rated torque instantaneously. If this 3 times bigger torque
causes any trouble to the load (machine) strength, you can use this
function to limit the max. torque.
speed
200
100
(Rated)
(Rating)
100
200
300
torque [%]
300(Max.)
(Max.)
CW
CCW
when Pr5E=150
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
<Notes>
• For par ameters which default. has a suffix of "*2", value v aries depending on the combination of the driver
and the motor.
185
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
Parameters for Sequence
61 10 to
20000
<50>
r/minZero-speed
You can set up the timing to feed out the zero-speed detection output signal
(ZSP : CN X5, Pin-12 or TCL : CN X5, Pin-40) in rotational speed [r/min].
The zero-speed detection signal (ZSP) will be fed out when the motor
speed falls below the setup of this parameter, Pr61.
In-speed (Speed coincidence) signal (V-COIN) will be fed out when the
difference between the speed
command and the motor speed falls
below the setup of this parameter,
Pr61.
• The setup of P61 is valid for both
CCW and CW direction regardless
of the motor rotating direction.
• There is hysteresis of 10 [r/min].
speed
CW
ZSP ON
(Pr61+10)r/min
(Pr61–10)r/min
CCW
65 0 to 1
<1> –LV trip selection at
main power OFF You can select whether or not to activate Err13 (Main power under-
voltage protection) function while the main power shutoff continues for the
setup of Pr6D (Main power-OFF detection time).
<Caution>
This parameter is invalid when Pr6D (Detection time of main power
OFF)=1000. Err13 (Main power under-voltage protection) is triggered
when setup of P66D is long and P-N voltage of the main converter falls
below the specified value before detecting the main power shutoff,
regardless of the Pr65 setup. Refer to P.42, "Timing Chart-At Power-ON"
of Preparation as well.
Setup value
0
<1>
Action of main power low voltage protection
When the main power is shut off during Servo-ON, Err13 will
not be triggered and the driver turns to Servo-OFF. The driver
returns to Servo-ON again after the main power resumption.
When the main power is shut off during Servo-ON, the driver
will trip due to Err13 (Main power low voltage protection).
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
62 10 to
20000
<50>
r/minAt-speed
(Speed arrival) You can set up the timing to feed out the At-speed signal (COIN+ : CN
X5, Pin-39, COIN- : CN X5, Pin-38)
At-speed (Speed arrival) (COIN) will be fed out when the motor speed
exceeds the setup speed of this parameter, Pr62
• The setup of P62 is valid for both
CCW and CW direction regardless
of the motor rotational direction.
• There is hysteresis of 10 [r/min].
speed
CW
AT-SPEED OFF ON
CCW
(Pr62+10)r/min
(Pr62–10)r/min
186
Parameter Setup
66
*
0 to 2
<0> –Sequence at
over-travel inhibit You can set up the running condition during deceleration or after stalling,
while over-travel inhibit input (CCWL : Connector CN X5, Pin-9 or CWL :
Connector CN X5, Pin-8) is valid
<Caution>
In case of the setup value of 2, torque limit during deceleration will be
limited by the setup value of Pr6E (Torque setup at emergency stop ).
Setup value
<0>
1
2
During deceleration
Dynamic brake
action
Torque command=0
towards inhibited direction
Emergency stop
After stalling
Torque command=0
towards inhibited direction
Torque command=0
towards inhibited direction
Torque command=0
towards inhibited direction
Deviation counter content
Hold
Hold
Clears before/
after deceleration
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
67 0 to 9
<0> –Sequence at main
power OFF When Pr65 (LV trip selection at main power OFF) is 0, you can set up,
1) the action during deceleration and after stalling
2) the clearing of deviation counter content
after the main power is shut off.
Setup
value
<0>
1
2
3
4
5
6
7
8
9
During deceleration
DB
Free-run
DB
Free-run
DB
Free-run
DB
Free-run
Emergency stop
Emergency stop
After stalling
DB
DB
Free-run
Free-run
DB
DB
Free-run
Free-run
DB
Free-run
Action Deviation counter
content
Clear
Clear
Clear
Clear
Hold
Hold
Hold
Hold
Clear
Clear
68 0 to 3
<0> –Sequence at alarm You can set up the action during deceleration or after stalling when some
error occurs while either one of the protective functions of the driver is
triggered.
(DB: Dynamic Brake action)
<Caution>
The content of the deviation counter will be cleared when clearing the
alarm. Refer to P.43, "Timing Chart (When an error (alarm) occurs (at
Servo-ON command status)" of Preparation.
Setup
value
<0>
1
2
3
During deceleration
DB
Free-run
DB
Free-run
After stalling
DB
DB
Free-run
Free-run
Action Deviation counter
content
Hold
Hold
Hold
Hold
(DB: Dynamic Brake action)
<Caution>
In case of the setup value of 8 or 9, torque limit during deceleration will be
limited by the setup value of Pr6E (Torque setup at emergency stop).
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
187
[Connection and Setup of Torque Control Mode]
Connection and Setup of
Torque Control Mode
69 0 to 9
<0> –Sequence at
Servo-Off You can set up,
1) the action during deceleration and after stalling
2) the clearing of deviation counter content,
after turning to Servo-OFF (SRV-ON signal : CN X5, Pin-29 is turned from
ON to OFF)
The relation between the setup value of Pr69 and the action/deviation
counter clearance is same as that of Pr67 (Sequence at Main Power Off)
Refer to P.44, "Timing Chart"-Servo-ON/OFF action while the motor is at
stall" of Preparation as well.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
6A 0 to 100
<0> 2msSetup of
mechanical brake
action at stalling
You can set up the time from when the brake release signal (BRK-OFF :
CN X5, Pin-10 and 11) turns off to when the motor is de-energized
(Servo-free), when the motor turns to Servo-OFF while the motor is at
stall.
Refer to P.44, "Timing Chart"-Servo-ON/OFF Action While the Motor Is at
Stall" of Preparation as well.
• Set up to prevent a micro-travel/
drop of the motor (work) due to the
action delay time (tb) of the brake
• After setting up Pr6a
>
=
tb ,
then compose the sequence so as
the driver turns to Servo-OFF after
the brake is actually activated.
ON
SRV-ON
BRK-OFF
actual brake
motor
energization
release
OFF
hold
release
energized
hold
non-
energized
Pr6A
tb
6B 0 to 100
<0> 2msSetup of
mechanical brake
action at running
You can set up time from when detecting the off of Servo-ON input signal
(SRV-ON : CN X5, Pin-29) is to when external brake release signal
(BRK-OFF : CN X5, Pin-10 and 11) turns off, while the motor turns to
servo off during the motor in motion.
Refer to P.45, "Timing Chart"-Servo-ON/OFF action while the motor is in
motion" of Preparation as well.
• Set up to prevent the brake
deterioration due to the motor
running.
• At Servo-OFF during the motor is
running, tb of the right fig. will be
a shorter one of either Pr6B
setup time, or time lapse till the
motor speed falls below 30r/min.
tb
ON
SRV-ON
BRK-OFF
motor
energization
release
OFF
hold
actual
brake energized non-
energized
30 r/min
188
Parameter Setup
71 0 to 100
<0> 0.1VSetup of analog
input excess • You can set up the excess detection judgment level of analog velocity
command (SPR : CN X5, Pin-14) with voltage after offset correction.
• Err39 (Analog input excess protective function ) becomes invalid when
you set up this to 0.
6C
*
0 to 3
for
A, B-frame
<3>
for
C to F-frame
<0>
–Selection of
external
regenerative
resistor
With this parameter, you can select either to use the built-in regenerative
resistor of the driver, or to separate this built-in regenerative resistor and
externally install the regenerative resistor (between RB1 and RB2 of
Connector CN X2 in case of A to D-frame, between P and B2 of terminal
block in case of E, F-frame).
<Remarks>
Install an external protection such as thermal fuse when you use the
external regenerative resistor.
Otherwise, the regenerative resistor might be heated up abnormally and
result in burnout, regardless of validation or invalidation of regenerative
over-load protection.
<Caution>
When you use the built-in regenerative resistor, never to set up other
value than 0. Don't touch the external regenerative resistor.
External regenerative resistor gets very hot, and might cause burning.
Setup value
<0>
(C, D, E and
F-frame)
1
2
<3>
(A, B-frame)
Built-in resistor
External resistor
External resistor
No resistor
Regenerative processing circuit will be
activated and regenerative resistor overload
protection will be triggered according to the
built-in resistor (approx. 1% duty).
The driver trips due to regenerative overload
protection (Err18), when regenerative
processing circuit is activated and its active
ratio exceeds 10%,
Regenerative processing circuit is activated,
but no regenerative over-load protection is
triggered.
Both regenerative processing circuit and
regenerative protection are not activated, and
built-in capacitor handles all regenerative
power.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
Regenerative resistor
to be used Regenerative processing and
regenerative resistor overload
6D
*
35 to 1000
<35> 2msDetection time of
main power off You can set up the time to detect the shutoff while the main power is kept
shut off continuously.
The main power off detection is invalid when you set up this to 1000.
6E 0 to 500
<0> %Torque setup at
emergency stop You can set up the torque limit in case of emergency stop as below.
• During deceleration of over-travel inhibit with the setup 2 of Pr66
(Sequence at over-travel inhibit input)
• During deceleration with the setup of 8 or 9 of Pr67 (Sequence at main
power off)
• During deceleration with the setup of 8 or 9 of Pr69 (Sequence at Servo-
OFF)
Normal torque limit is used by setting this to 0.
72 0 to 500
<0> %Setup of
over-load level • You can set up the over-load level. The overload level becomes 115 [%]
by setting up this to 0.
• Use this with 0 setup in normal operation. Set up other value only when
you need to lower the over-load level.
•
The setup value of this parameter is limited by 115[%] of the motor rating.
73
0 to 20000
<0> r/minSetup of
over-speed level • You can set up the over-speed level. The over-speed level becomes 1.2
times of the motor max. speed by setting up this to 0.
• Use this with 0 setup in normal operation. Set up other value only when
you need to lower the over-speed level.
• The setup value of this parameter is limited by 1.2 times of the motor
max. speed.
<Caution>
The detection error against the setup value is ±3 [r/min] in case of the 7-wire
absolute encoder, and ±36 [r/min] in case of the 5-wire incremental encoder.
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
189
page
Outline of Full-Closed Control .............................190
What is Full-Closed Control ? ................................................... 190
Control Block Diagram of Full-Closed Control Mode ...
191
Wiring to the Connector, CN X5...........................192
Wiring Example to the Connector, CN X5 ................................. 192
Interface Circuit ......................................................................... 193
Input Signal and Pin No. of the Connector, CN X5.................... 195
Output Signal and Pin No. of the Connector, CN X5 ................ 201
Connection to the Connector, CN X7 ................. 204
Connector, CN X7 ..................................................................... 204
Wiring to the External Scale, Connector, CN X7....................... 205
Real-Time Auto-Gain Tuning ................................206
Outline ....................................................................................... 206
Applicable Range ...................................................................... 206
How to Operate ......................................................................... 206
Adaptive Filter ........................................................................... 207
Parameters Which are Automatically Set up............................. 207
Parameter Setup....................................................208
Parameters for Functional Selection ......................................... 208
Parameters for Adjustment of Time Constant of Gains and Filters......
211
Parameters for Auto-Gain Tuning.............................................. 212
Parameters for Adjustment (2nd Gain Switching Function) ...... 214
Parameters for Position Control ................................................ 216
Parameters for Velocity/Torque Control .................................... 220
Parameters for Sequence ......................................................... 220
Parameters for Full-Closed ....................................................... 224
[Full-Closed Control Mode]
190
Outline of Full-Closed Control
What Is Full-Closed Control ?
In this full-closed control, you can make a position control by using a linear scale mounted externally which
detects the machine position directly and feeds it back.. With this control, you can control without being
aff ected by the positional v ariation due to the ball scre w error or temper ature and you can e xpect to achiev e
a very high precision positioning in sub-micron order.
Controller
Position
command
(Speed detection)
Position detection
Linear scale
We recommend the linear scale division ratio of
=
Linear scale division ratio
=
20
1
20
V
V
Cautions on Full-Closed Control
(1) Enter the command pulses making the external scale as a reference.
If the command pulses do not match to the external scale pulses, use the command division/multipli-
cation function (Pr48-4B) and setup so that the command pulses after division/multiplication is based
on the external scale reference.
(2) A4-series supports the linear scale of a communication type. Execute the initial setup of parameters
per the following procedures, then write into EEPROM and turn on the power again before using this
function.
<How to make an initial setup of parameters related to linear scale >
1) Turn on the power after checking the wiring.
2) Check the values (initial) feedback pulse sum and external scale feedback pulse sum with the front
panel or with the setup support software, PANATERM .
3) Move the work and check the travel from the initial values of the above 2).
4) If the travel of the feedback sum and the external scale feedback pulse sum are reversed in positive
and negative, set up the reversal of external scale direction (Pr7C) to 1.
5) Set up the external scale division ratio (Pr78-7A) using the formula below,
* If the design value of the external scale division ratio is obtained, set up this value.
6) Set up appropriate value of hybrid deviation excess (Pr7B) in 16 pulse unit of the external scale
resolution, in order to avoid the damage to the machine.
*A4-series driv er calculates the difference between the encoder position and the linear scale posi-
tion as hybrid deviation, and is used to prevent the machine runaway or damage in case of the
linear scale breakdown or when the motor and the load is disconnected.
If the hybrid deviation excess range is too wide, detection of the breakdown or the disconnection
will be dela yed and error detection eff ect will be lost. If this is too narrow, it ma y detect the normal
distortion between the motor and the machine under normal operation as an error.
*When the external scale division ration is not correct, hybrid deviation excess error (Err25) may
occur especially when the work travels long distance, even though the linear scale and the motor
position matches.
In this case, widen the hybrid deviation excess range by matching the external scale division ratio
to the closest value.
External scale division ratio = Total variation of external scale feedback pulse sum
Total variation of feedback pulse sum
= Pr78 x 2 Pr79
Pr7A
191
Full-Closed
Control Mode
Control Block Diagram at
Full-Closed Control Mode
PULS
SIGN
Input setup
Pulse
train
Full closed
position deviation monitor
Actual speed monitor
Command speed
monitor
Position deviation
monitor
Feedback pulses
OA/OB/OZ
Pr40
Input
selection Pr41Reversal
Pr42Mode
Division/Multiplication
Pr481st numerator
Pr492nd numerator
Pr4AMultiplier
Pr4BDenominator
Damping control
Pr2B1st frequency
Pr2C1st filter
Pr2D2nd frequency
Pr2E2nd filter
Motor
Torque command monitor
FIR smoothing
Pr4D
Average
travel times
1st delay
smoothing
Pr4CSelection
Division
Pr44Numerator
Pr45Denominator
Pr46Selection
Pr47Z-phase
Velocity
feed forward
Pr15Gain
Pr16Filter
Speed detection
filter
Pr131st
Pr1B2nd
Speed detection
Encoder reception
processing
Position
control
Pr101st
+
++
–
+
–
–
+
Pr182nd
Encoder
External
scale
External scale reception
processing
External scale correction
Pr78Numerator
Pr79Numerator multiplier
Pr7ADenominator
Velocity control
Pr11
1st
proportion
Pr12
1st
integration
Pr19
2nd
proportion
Pr1A
2nd
integration
Pr20
Inertia ratio
Notch filter
Pr1D
1st
frequency
Pr1E1st width
Pr28
2nd
frequency
Pr292nd width
Pr2A2nd depth
Pr2F
Adaptation
Torque filter
Pr14
1st time
constant Pr1C
2nd time
constant Pr5E1st limit
Pr5F
2nd limit
Serial
communication
data
Serial
communication
data
[Connection and Setup of Full-closed Control]
192
Wiring to the Connector, CN X5
Wiring Example to the Connector, CN X5
Wiring example of full-closed control mode
Command pulse input B
(Use with 2Mpps or less.)
14
15
16
17
43
18
42
In case of open collector I/F (1) When you use the external
resistor with 12V and 24V
power supply
(2) When you do not use the
external resistor with 24V
power supply
Command
pulse
input A
(Use with 500kpps
or less.)
7
4.7kΩ
COM+
PULS2
SIGN1
SIGN2
GND
OA+
OA
-
OB+
OB
-
OZ+
OZ
-
GND
CZ
SPR/TRQR
GND
CCWTL/TRQR
GND
CWTL
SP
IM
3
4
1
2
5
6
13
21
22
48
24
25
19
49
23
3.83kΩ
3.83kΩ
43kΩ
2kΩ
2kΩ43kΩ
220Ω
20kΩ
330Ω
330Ω
330Ω
10kΩ
10kΩ
1kΩ
1kΩ
PULS1
INH
CL
SRV-ON
GAIN
DIV
VS-SEL
C-MODE
A-CLR
CCWL
CWL
S-RDY
+
S-RDY
-
ALM+
EX-COIN+
BRKOFF
+
BRKOFF
-
TLC
ZSP
COM
-
SIGNH1
SIGNH2
GND
PULSH1 PULS
PULSH2
FG
EX-COIN
-
ALM
-
33
30
29
27
28
32
31
9
8
35
34
37
36
39
38
11
10
40
12
41
44
45
13
50
Servo-ON input
Gain switching input
Electronic gear
switching input
26
Damping control
switching input
Divider
Alarm clear input
CCW over-travel
inhibition input
Z-phase output (open collector)
CW over-travel
inhibition input
Servo-Ready output
Servo-Alarm output
Full-closed positioning
complete output
Brake release output
Torque in-limit output
(Select with Pr09)
Zero speed detection output
(Select with Pr0A)
Deviation counter
clear input
Command pulse
inhibition input
PULS1
PULS2
SIGN1
GND
SIGN2
220Ω
220Ω
V
DC
R
R
3
4
5
6
13
CN X5
SIGN
46
47
43kΩ
2kΩ
2kΩ43kΩ
220Ω
220Ω
220Ω
2.2kΩ
2.2kΩOPC2
OPC1
PULS2
GND
SIGN2
OPC1
OPC2
220Ω
220Ω
24V
DC
1
4
2
6
13
2.2kΩ
2.2kΩ
V
DC
12 to 24V
A-phase
output
B-phase
output
Z-phase
output
CCW torque limit input
(0 to +10V)
CW torque limit input
(
-
10 to +10V)
Velocity monitor output
Torque monitor output
( represents twisted pair.)
VDC
12V
24V
Specifications
of R
1kΩ1/2W
2kΩ1/2W
VDC
-
1.5
R
+
220 =10mA
.
.
193
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
Interface Circuit
Input Circuit
(1) Line driver I/F (Input pulse frequency : max. 500kpps)
• This signal transmission method has better noise immunity.
We recommend this to secure the signal transmission.
(2)Open collector I/F (Input pulse frequency : max. 200kpps)
•
The method which uses an external control signal power supply (VDC)
• Current regulating resistor R corresponding to V
DC
is
required in this case.
• Connect the specified resister as below.
(3)Open collector I/F (Input pulse frequency : max. 200kpps)
• Connecting diagram when a current regulating resistor is not
used with 24V power supply.
Connection to sequence input signals (Pulse train interface)
PI1
Max.input voltage : DC24V,
Rated current : 10mA
V
DC
12V
24V
Specifications
1kΩ1/2W
2kΩ1/2W
V
DC
–1.5
R+220 .
=
. 10mA
Line driver I/F (Input pulse frequency : max. 2Mpps)
• This signal transmission method has better noise immunity.
We recommend this to secure the signal transmission
when line driver I/F is used.
Connection to sequence input signals
(Pulse train interface exclusive to line driver)
PI2
AM26LS31 or equivalent
3PULS1
H/L
ON/OFF
ON/OFF
H/L
H/L
PULS
L/H
PULS
L/H
SIGN
H/L
SIGN
PULS2
SIGN1
SIGN2
GND
220Ω
220Ω
4
5
6
13
PULS1
PULS2
SIGN1
GND
SIGN2
220Ω
220Ω
V
DC
R
R
3
4
5
6
13
(1)
(2)
ON/OFF
ON/OFF
L/H
PULS
L/H
SIGN
OPC1
PULS2
OPC2
GND
SIGN2
220Ω
220Ω
2.2kΩ
2.2kΩ
V
DC
1
4
2
6
13
(3)
represents twisted pair.
represents twisted pair.
• Connect to contacts of switches and relays, or open collector output transistors.
• When you use contact inputs, use the switches and relays for micro current to avoid contact failure.
• Make the lower limit voltage of the power supply (12 to 24V) as 11.4V or more in order to secure the primary
current for photo-couplers.
Connection to sequence input signalsSI
12 to 24V 7 COM+4.7kΩ
SRV-ON etc.
Relay
7 COM+4.7kΩ
12 to 24V
SRV-ON etc.
Analog command input
AI
• The analog command input goes through 3 routes,
SPR/TRQR(Pin-14), CCWTL (Pin-16) and CWTL (Pin-18).
• Max. permissible input voltage to each input is ±10V.
For input impedance of each input, refer to the right Fig.
• When you compose a simple command circuit using variable
resistor(VR) and register R, connect as the right Fig. shows.
When the variable range of each input is made as –10V to
+10V, use VR with 2kΩ, B-characteristics, 1/2W or larger, R
with 200Ω, 1/2W or larger.
• A/D converter resolution of each command input is as follows.
(1)ADC1 : 16 bit (SPR/TRQR), (including 1bit for sign), ±10V
(2)ADC2 : 10 bit (CCWTL, CWTL), 0 – 3.3V
+12V
+3.3V
SPR/TRQR
CCWTL
CWTL
R14 20kΩ20kΩ
1kΩ
1kΩ
10kΩ
GND
GND
10kΩ
3.83kΩ
3.83kΩ
ADC
1
ADC
2
15
16
17
18
R
VR
–12V
+
–
+
–
+
–
+3.3V
1kΩ
1kΩ
44
45
13
2kΩ
43kΩ
43kΩ
2kΩ
220Ω
GND
H/L H/L
PULS
SIGN
AM26C32 or equivalent
46
47
2kΩ
43kΩ
43kΩ
2kΩ
220Ω
H/L H/L
PULS
SIGN
AM26C32 or equivalent
194
Output Circuit
Wiring to the Connector, CN X5
• The output circuit is composed of open collector transistor
outputs in the Darlington connection, and connect to relays or
photo-couplers.
• There exists collector to emitter voltage, V
CE
(SAT) of approx.
1V at transistor-ON, due to the Darlington connection of the
output or. Note that normal TTL IC cannot be directly connec-
ted since it does not meet VIL.
• There are two types of output, one which emitter side of the
output transistor is independent and is connectable individual-
ly, and the one which is common to – side of the control pow-
er supply (COM–).
• If a recommended primary current value of the photo-coupler
is 10mA, decide the resistor value using the formula of the
right Fig.
Sequence output circuitSO1 SO2
• Feeds out the divided encoder outputs (A, B and Z-phase) in
differential through each line driver.
• At the host side, receive these in line receiver. Install a termi-
nal resistor (approx. 330Ω) between line receiver inputs with-
out fail.
• These outputs are not insulated.
Line driver (Differential output) outputPO1
• Feeds out the Z-phase signal among the encoder signals in
open collector. This output is not insulated.
• Receive this output with high-speed photo couplers at the
host side, since the pulse width of the Z-phase signal is nar-
row.
Open collector outputPO2
• There are two outputs, the speed monitor signal output (SP)
and the torque monitor signal output (IM)
• Output signal width is ±10V.
• The output impedance is 1kΩ. Pay an attention to the input
impedance of the measuring instrument or the external circuit
to be connected.
<Resolution>
(1) Speed monitor output (SP)
With a setup of 6V/3000r/min (Pr07=3), the resolution converted to speed is 8r/min/16mV.
(2) Torque monitor output (IM)
With a relation of 3V/rated torque (100%), the resolution converted to torque is 0.4%/12mV.
Analog monitor outputAO
For the recommended primary current value, refer to the data sheet of apparatus or photo-coupler to be used.
R [kΩ] =
Install toward the direction as
the fig. shows without fail.
V
DC
[V] – 2.5[V]
10
V
DC
12 – 24V
SO1
ALM+ etc.
ALM– etc.
COM–41
ZSP, TLC
SO2
Max. rating 30V,
50mA
AM26LS32 or equivalent AM26LS31 or
equivalent
A
B
Z
22
21
OA
+
OA–
OZ
+
OZ–
OB
+
OB–
48
23
25
GND
24
49
Connect signal ground of the host
and the driver without fail.
19
25
CZ
Max. rating 30V,
50mA
Measuring
instrument
or
external
circuit
GND
High speed
photo-coupler
(TLP554 by Toshiba or equivalent)
43
1kΩ
1kΩ
SP
IM
42
GND
17
represents twisted pair.
represents twisted pair.
195
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
Input Signal and Pin No. of the Connector, CN X5
Input Signals (common) and Their Functions
Title of signal
Pin No.
Symbol Function
I/F circuit
Power supply for
control signal (
+
)
7 –COM+ • Connect + of the external DC power supply (12 to 24V).
• Use the power supply voltage of 12V ± 5% – 24V ± 5%
Power supply for
control signal (
-
)
41 –COM– • Connect – of the external DC power supply (12 to 24V).
• The power capacity varies depending on a composition of I/O circuit. 0.5A
or more is recommended.
CW over-travel
inhibit input 8SI
P.193
CWL • Use this input to inhibit a CW over-travel (CWL).
• Connect this so as to make the connection to COM– open when the
moving portion of the machine over-travels the movable range toward CW.
• CWL input will be invalidated when you set up Pr04 (Setup of over-travel
inhibit input) to 1.Default is "Invalid (1)".
• You can select the action when the CWL input is validated with the setup
of up Pr66 (Sequence at over-travel inhibit). Default is "Emergency stop
with dynamic brake".(Pr66=0)
CCW over-travel
inhibit input 9SI
P.193
CCWL • Use this input to inhibit a CCW over-travel (CCWL).
•
Connect this so as to make the connection to COM
–
open when the moving
portion of the machine over-travels the movable range toward CCW.
• CWL input will be invalidated when you set up Pr04 (Setup of over-travel
inhibit input) to 1.Default is "Invalid (1)".
• You can select the action when the CCWL input is validated with the setup
of Pr66 (Sequence at over-travel inhibit). Default is "Emergency stop with
dynamic brake".(Pr66=0)
damping control
switching input 26 SI
P.193
VS-SEL • Function varies depending on the control mode.
• Becomes to a speed-zero clamp input (ZEROSPD).
• In case Pr06 is 2 at torque control, ZERPSPD is invalid.
•
Becomes to an input of damping control switching (VS-SEL).
• While Pr24 (Damping filter switching selection) is 1, the
1st damping filter (Pr2B, Pr2C) will be validated when you
open this input, and the 2nd damping filter (Pr2D, Pr2E)
will be validated when you connect this input to COM–.
Pr06
0
1
2
Connection to COM–
–
open
close
open
close
Content
ZEROSPD input is invalid.
Speed command is 0
Normal action
Speed command is to CCW
Speed command is to CW.
Velocity/
Torque
control
Position/
Full-closed
control
Gain switching
input
or
Torque limit
switching input
27 SI
P.193
GAIN
TL-SEL
• Function varies depending on the setups of Pr30 (2nd gain setup) and
Pr03 (Selection of torque limit).
• For details of 2nd gain switching function, refer to P.243 "Gain Switching
Function" of Adjustment.
invalid
• Input of torque limit switching (TL-SEL)
• Pr5E (Setup of 1st torque limit) will be validated when you
open this input, and Pr5F (Setup of 2nd torque limit) will
be validated when you connect this input to COM–.
Pr30
0
1
–
Pr03
0 – 2
3
Connection to COM–
open
close
open
close
Content
Velocity loop : PI (Proportion/Integration) action
Velocity loop : P (Proportion) action
1st gain selection (Pr10,11,12,13 and 14)
2nd gain selection (Pr18,19,1A,1B and 1C)
when the setups of Pr31 and Pr36 are 2
when the setups of Pr31 and Pr36 are other than 2
196
Wiring to the Connector, CN X5
• You can switch the numerator of electronic gear.
• By connecting to COM–, you can switch the numerator of
electronic gear from Pr48 (1st numerator of electronic
gear) to Pr49 (2nd numerator of electronic gear)
• For the selection of command division/multiplication, refer
to the table of next page, "Numerator selection of
command scaling"
• Input of internal speed selection 3 (INTSPD3).
•
You can make up to 8-speed setups combining INH/
INTSPD1 and CL/INTSPD2 inputs. For details of setup,
refer to the table of P.131, "Selection of Internal Speed".
• This input is invalid.
Position/
Full-closed
control
Velocity
control
Torque control
Title of signal
Pin No.
Symbol Function
I/F circuit
Servo-ON input
29
SI
P.193
SRV-ON • Turns to Servo-ON status by connecting this input to COM–.
• Turns to Servo-OFF status by opening connection to COM–, and current
to the motor will be shut off.
• You can select the dynamic brake action and the deviation counter
clearing action at Servo-OFF with Pr69 (Sequence at Servo-OFF).
<Caution>
1.Servo-ON input becomes valid approx. 2 sec after power-on.
(see P.42, "Timing Chart" of Preparation.)
2.Never run/stop the motor with Servo-ON/OFF.
3.After shifting to Servo-ON, allow 100ms or longer pause before entering
the pulse command.
Electronic gear
(division/
multiplication)
switching input
28 SI
P.193
DIV • Function varies depending on the control mode.
<Caution>
Do not enter the command pulse 10ms before/after switching.
Deviation
counter clear
input
30 SI
P.193
CL • Function varies depending on the control mode.
• Input (CL) which clears the positional deviation counter
and full-closed deviation counter.
• You can clear the counter of positional deviation and
full-closed deviation by connecting this to COM–.
• You can select the clearing mode with Pr4E (Counter clear
input mode).
• Input of selection 2 of internal command speed (INTSPD2)
• You can make up to 8-speed setups combining INH/
INTSPD1 and CL/INTSPD3 inputs. For details of setup,
refer to the table in P.131, "Selection of Internal Speed" of
Velocity Control Mode.
• This input is invalid.
Position/
Full-closed
control
Velocity
control
Torque control
Pr4E
0
1
[Default]
2
Content
Clears the counter of positional devia-
tion and full-closed deviation while CL is
connected to COM–.
Clears the counter of positional deviation
and full-closed deviation only once by
connecting CL to COM– from open status.
CL is invalid
Alarm clear input 31 SI
P.193
A-CLR • You can release the alarm status by connecting this to COM– for more
than 120ms.
• The deviation counter will be cleared at alarm clear.
• There are some alarms which cannot be released with this input.
For details, refer to P.252, "Protective Function " of When in Trouble.
197
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
Title of signal
Pin No.
Symbol Function
I/F circuit
Inhibition input
of command
pulse input
33 SI
P.193
INH • Function varies depending on the control mode.
• Inhibition input of command pulse input (INH)
• Ignores the position command pulse by opening the
connection to COM–
• You can invalidate this input with Pr43 (Invalidation of
command pulse inhibition input)
• Selection 1 input of internal command speed (INTSPD1)
•You can make up to 8-speed setups combining
INH/INTSPD2 and CL/INTSPD3 inputs. For details of the
setup, refer to the table of P.131,
"Selection of Internal Speed" of Velocity Control Mode.
• This input is invalid.
Position/
Full closed
control
Velocity
control
Torque control
Pr43
0
1(Default)
Content
INH is valid.
INH is valid.
• Numerator selection of electronic gear
Setup of electronic gear
CN X5 Pin-28
DIV
Open
Short
1st numerator of electronic gear (Pr48) x 2
or
* Automatic setup by
setting up Pr48 to 0
Denominator of electronic gear (Pr4B)
Multiplier of command scaling (Pr4A)
Encoder resolution*
Command pulse counts per single turn (Pr4B)
2nd numerator of electronic gear (Pr49) x 2
Denominator of electronic gear (Pr4B)
Multiplier of command scaling (Pr4A)
Encoder resolution*
Command pulse counts per single turn (Pr4B)
or
* Automatic setup by
setting up Pr49 to 0
198
Title of signal
Pin No.
Symbol Function
I/F circuit
PI2
P.193
Command pulse
input 1
Command pulse
sign input 1
44
45
46
47
PULSH1
PULSH2
SIGNH1
SIGNH2
• Input terminal for position command pulse. You can select by setting up
Pr40 (Selection of command pulse input) to 1.
• This input becomes invalid at such control mode as velocity control or
torque control, where no position command is required.
• Permissible max. input frequency is 2Mpps.
• You can select up to 6 command pulse input formats with Pr41 (Setup of
command pulse rotational direction) and Pr42 (Setup of command pulse
input mode).
For details, refer to the table below, "Command pulse input format".
Title of signal
Pin No.
Symbol Function
I/F circuit
PI1
P.193
Command pulse
input 2
Command pulse
sign input 2
1
3
4
2
5
6
OPC1
PULS1
PULS2
OPC2
SIGN1
SIGN2
• Input terminal for the position command. You can select by setting up Pr40
(Selection of command pulse input) to 0.
• This input becomes invalid at such control mode as the velocity control or
torque control, where no position command is required.
• Permissible max. input frequency is 500kpps at line driver input and
200kpps at open collector input.
• You can select up to 6 command pulse input formats with Pr41 (Setup of
command pulse rotational direction) and Pr42 (Setup of command pulse
input mode).
For details, refer to the table below, "Command pulse input format".
Wiring to the Connector, CN X5
• Pulse train interface
Input Signals (Pulse Train) and Their Functions
You can select appropriate interface out of two kinds, depending on the command pulse specifications.
• Pulse train interface exclusive for line driver
Pr41 Setup value
(Setup of
command pulse
rotational direction)
Pr42
Setup value
(Setup of
command pulse
input mode)
Signal
title
CCW command
B-phase advances to A by 90°.B-phase delays from A by 90°.
CW command
Command
pulse
format
t1
A-phase
B-phase
t1 t1 t1
t1 t1t1 t1
t2 t2
t2
t3
t2
t4
“H” “L”
t5t4
t6 t6 t6 t6
t5
B-phase advances to A by 90°.
B-phase delays from A by 90°.
t1
A-phase
B-phase
t1t1 t1
t1 t1 t1 t1
t2 t2
t2
t3
t2
t4
“L” “H”
t5t4
t6 t6 t6 t6
t5
0 or 2
0 or 2
01
3
11
3
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
2-phase pulse
with 90°
difference
(A+B-phase)
CW pulse train
+
CCW pulse train
Pulse train
+
Sign
2-phase pulse
with 90°
difference
(A+B-phase)
CW pulse train
+
CCW pulse train
Pulse train
+
Sign
• Command pulse input format
Line driver interface
Open collector interface
Pulse train interface exclusive for line driver
Pulse train interface
Input I/F of PULS/SIGN signal
Permissible max.
input frequency
2Mpps
500kpps
200kpps
t
1
500ns
2µs
5µs
Minimum necessary time width
t
2
250ns
1µs
2.5µs
t
3
250ns
1µs
2.5µs
t
4
250ns
1µs
2.5µs
t
5
250ns
1µs
2.5µs
t
6
250ns
1µs
2.5µs
• Permissible max. input frequency of command pulse input signal and min. necessary time width
Set up the rising/falling time of command pulse input signal to 0.1µs or shorter.
• PULS and SIGN repre-
sents the outputs of pulse
train in put circuit. Refer
to the fig. of P.193, "Input
Circuit".
• In case of CW pulse train
+ CCW pulse train and
pulse train + sign, pulse
train will be captured at
the rising edge.
• In case of 2-phase pulse,
pulse train will be cap-
tured at each edge.
199
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
Input Signals (Analog Command) and Their Functions
Title of signal
Pin No.
Symbol Function
I/F circuit
Speed command
input
or
Torque command
input,
or
Speed limit input
14 AI
P.193
SPR
TRQR
SPL
• Function varies depending on control mode.
•The resolution of the A/D converter used in this input is 16 bit
(including 1 bit for sign).
± 32767 (LSB) = ± 10[V], 1[LSB]
.
=
. 0.3[mV]
Function
• External velocity command input (SPR) when the
velocity control is selected.
• Set up the gain, polarity, offset and filter of the
speed command with;
Pr50 (Speed command input gain)
Pr51 (Speed command input reversal)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
• Function varies depending on Pr5B (Selection of
torque command)
Pr5B
0
1
Pr02
Content
•
Torque command (TRQR) will be selected.
• Set up the torque (TRQR) gain, polarity,
offset and filter with;
Pr5C(Torque command input gain)
Pr5D(Torque command input reversal)
Pr52(Speed command offset)
Pr57(Speed command filter setup)
• Speed limit (SPL) will be selected.
• Set up the speed limit (SPL) gain,
offset and filter with;
Pr50 (Speed command input gain)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
Control mode
*Function becomes valid when the control mode with underline ( / )
is selected while the switching mode is used in the control mode in table.
<Remark>
Do not apply voltage exceeding ±10V to analog command inputs of SPR/TRQR/SPL.
• This input is invalid.
Velocity
control
Position/
Velocity
Velocity/
Torque
1
3
5
2
4
5
• Function varies depending on Pr5B (Selection of
torque command)
Pr5B
0
1
Content
• This input becomes invalid.
• Speed limit (SPL) will be selected.
• Set up the speed limit (SPL) gain, offset
and filter with;
Pr50 (Speed command input gain)
Pr52 (Speed command offset)
Pr57 (Speed command filter setup)
Torque
control
Position/
Torque
Velocity/
Torque
Other control
mode
Others
200
Wiring to the Connector, CN X5
Title of signal
Pin No.
Symbol Function
I/F circuit
CCW-Torque
limit input 16 AI
P.193
CCWTL • Function varies depending on Pr02 (Control mode setup).
• Resolution of A/D converter used in this input is 16 bit
(including 1 bit for sign).
± 511 [LSB] = ± 11.9[V], 1 [LSB]
.
=
. 23[mV]
Control mode
Torque Control
Position/Torque
Velocity/
Torque
Position/Torque
Velocity/Torque
Other
control mode
Function
• Function varies depending on Pr5B (Selection of
torque command)
Pr5B
0
1
This input becomes invalid.
• Torque command input (TRQR) will be
selected.
• Set up the gain and polarity of the com-
mand with;
Pr5C (Torque command input gain)
Pr5D (Torque command input reversal)
• Offset and filter cannot be set up.
Content
Pr02
2
4
5
4
5
Other
• Becomes to the torque command input (TRQR).
• Set up the gain and polarity of the command with;
Pr5C (Torque command input gain)
Pr5D (Torque command input reversal)
• Offset and filter cannot be set up.
• Becomes to the analog torque limit input to CCW
(CCWTL).
• Limit the CCW-torque by applying positive voltage
(0 to +10V) (Approx.+3V/rated toque)
• Invalidate this input by setting up Pr03 (Torque limit
selection) to other than 0.
CW-Torque limit
input 18 AI
P.193
CWTL • Function varies depending on Pr02 (Control mode setup).
• Resolution of A/D converter used in this input is 16 bit
(including 1 bit for sign).
± 511 [LSB] = ± 11.9[V], 1 [LSB]
.
=
. 23[mV]
Control mode
Torque control
Position/Torque
Velocity/Torque
Position/Torque
Velocity/Torque
Other
control mode
Function
• This input becomes invalid when the torque control
is selected.
• Becomes to the analog torque limit input to CW
(CWTL).
• Limit the CW-torque by applying negative voltage
(0 – -10V) (Approx.+3V/rated toque).
Invalidate this input by setting up Pr03 (Torque limit
selection) to other than 0.
Pr02
2
4
5
4
5
Other
*Function becomes valid when the control mode with underline ( / )
is selected while the switching mode is used in the control mode in table.
<Remark>
Do not apply voltage exceeding ±10V to analog command input of CWTL and CCWTL.
201
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
Output signal and Pin No. of the Connector, CN X5
Output Signals (Common) and Their Functions
0
1
2
3
4
5
6
7
8
X5 TLC : Output of Pin-40 X5 ZSP : Output of Pin-12
Title of signal
Pin No
Symbol Function
I/F circuit
External brake
release signal 11
10 SO1
P.194
BRKOFF+
BRKOFF–
•
Feeds out the timing signal which activates the electromagnetic brake of the motor.
• Turns the output transistor ON at the release timing of the electro-
magnetic brake.
• You can set up the output timing of this signal with Pr6A (Setup of
mechanical brake action at stall) and Pr6B (Setup of mechanical brake
action at motion). For details, refer to P42, "Timing Chart" of Preparation.)
Servo-Ready
output 35
34 SO1
P.194
S-RDY+
S-RDY–
• This signal shows that the driver is ready to be activated.
• Output transistor turns ON when both control and main power are ON but
not at alarm status.
Zero-speed
detection
output signal
12
(41) SO2
P.194
ZSP
(COM–) •
Content of the output signal varies depending on Pr0A (Selection of ZSP output).
• Default is 1, and feeds out the zero speed detection signal.
• For details, see the table below, "Selection of TLC,ZSP output".
Torque in-limit
signal output 40
(41) SO2
P.194
TLC
(COM–) •
Content of the output signal varies depending on Pr09 (Selection of TLC output).
• Default is 1, and feeds out the torque in-limit signal.
• For details, see the table below, "Selection of TLC,ZSP output".
Servo-Alarm
output 37
36 SO1
P.194
ALM+
ALM–
• This signal shows that the driver is in alarm status.
• Output transistor turns ON when the driver is at normal status, and turns
OFF at alarm status.
Positioning
complete
(In-position)
39
38 SO1
P.194
EX-COIN+
EX-COIN–
• Function varies depending on the control mode.
Position
control
Full-closed
control
Velocity/
Torque
control
• Output of positioning complete (COIN)
• The output transistor will turn ON when the absolute value
of the position deviation pulse becomes smaller than the
setup value of Pr60 (Positioning complete range).
• You can select the feeding out method with Pr63 (Setup of
positioning complete output).
• Output of full-closed positioning complete (EX-COIN)
• The output transistor will turn ON when the absolute value
of full-closed-position deviation pulse becomes smaller
than the setup value of Pr60 (Positioning complete range).
• You can select the feeding out method with Pr63 (Setup of
positioning complete output).
• Output at-speed (speed arrival) (AT-SPEED)
• The output transistor will turn ON when the actual motor
speed exceeds the setup value of Pr62 (In-speed).
• Selection of TCL and ZSP outputs
• Torque in-limit output (Default of X5 TLC Pr09)
The output transistor turns ON when the torque command is limited by the torque limit during Servo-ON.
• Zero-speed detection output (Default of X5 ZSP Pr0A)
The output transistor turns ON when the motor speed falls under the preset value with Pr61.
• Alarm signal output
The output transistor turns ON when either one of the alarms is triggered, over-regeneration alarm, overload alarm,
battery alarm, fan-lock alarm or external scale alarm.
• Over-regeneration alarm
The output transistor turns ON when the regeneration exceeds 85% of the alarm trigger level of the regenerative load protection.
• Over-load alarm
The output transistor turns ON when the load exceeds 85% of the alarm trigger level of the overload alarm.
• Battery alarm
The output transistor turns ON when the battery voltage for absolute encoder falls lower than approx. 3.2V.
• Fan-lock alarm
The output transistor turns ON when the fan stalls for longer than 1s.
• External scale alarm
The output transistor turns ON when the external scale temperature exceeds 65°, or signal intensity is not enough
(adjustment on mounting is required). Valid only at the full-closed control.
• In-speed (Speed coincidence) output
The output transistor turns ON when the difference between the actual motor speed and the speed command before
acceleration/deceleration reaches within the preset range with Pr61. Valid only at the velocity and torque control.
Value of
Pr09 or Pr0A
202
Wiring to the Connector, CN X5
Output Signals (Pulse Train) and Their Functions
Title of signal
Pin No
Symbol Function
I/F circuit
PO1
P.194
A-phase output
B-phase output
Z-phase output
21
22
48
49
23
24
OA +
OA –
OB +
OB –
OZ +
OZ –
• Feeds out the divided encoder signal or external scale signal (A, B, Z-
phase) in differential. (equivalent to RS422)
• You can set up the division ratio with Pr44 (Numerator of pulse output
division) and Pr45 (Denominator of pulse output division)
• You can select the logic relation between A-phase and B-phase, and the
output source with Pr46 (Reversal of pulse output logic).
•
When the external scale is made as an output source, you can set up the
interval of Z-phase pulse output with Pr47 (Setup of external scale Z-phase).
• Ground for line driver of output circuit is connected to signal ground (GND)
and is not insulated.
• Max. output frequency is 4Mpps (after quadrupled)
Z-phase output 19 PO2
P.194
CZ • Open collector output of Z-phase signal
• The emitter side of the transistor of the output circuit is connected to the
signal ground (GND) and is not insulated.
<Note>
• When the output source is the encoder
• If the encoder resolution X is multiple of 4, Z-phase will be fed out synchronizing with A-phase.
In other case, the Z-phase width will be equal to the encoder resolution, and will not synchronize with
A-phase because of narrower width than that of A-phase.
• When output source is the external scale,
• When the external scale is the output source, Z-phase pulse will not be fed out until the absolute
position crosses 0 (000000000000h).
• Z-phase pulse after its crossing of the absolute position 0, will be fed out synchronizing with A-phase
in every A-phase pulses which are set with Pr47 (External scale Z-phase setup)
• In case of the 5-wire, 2500P/r incremental encoder, the signal sequence might not follow the above fig.
until the first Z-phase is fed out. When you use the pulse output as the control signal, rotate the motor
one revolution or more to make sure that the Z-phase is fed out at least once before using.
Pr44
Pr45
A
B
Z
A
B
Z
synchronized not-synchronized
Pr44
Pr45
when the encoder resolution is multiple of 4,
Pr44
Pr45
when the encoder resolution is not multiple of 4,
203
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
Output Signals (Analog) and Their Functions
Title of signal
Pin No
Symbol Function
I/F circuit
Torque monitor
signal output 42 AO
P.194
IM • The content of output signal varies depending on Pr08 (Torque monitor
(IM) selection).
• You can set up the scaling with Pr08 value.
Content of signal
Torque
command
Positional
deviation
Full-closed
deviation
Function
• Feeds out the voltage in proportion to the motor
torque command with polarity.
+ : generates CCW torque
– : generates CW torque
• Feeds out the voltage in proportion to the positional
deviation pulse counts with polarity.
+ : positional command to CCW of motor position
– : positional command to CW of motor position
• Feeds out the voltage in proportion to the full-
closed deviation pulse counts with polarity.
+ : positional command to CCW of
external scale position
– : positional command to CW of
external scale position
Pr08
0,
11,12
1 – 5
6 –10
Speed monitor
signal output 43 AO
P.194
SP • The content of the output signal varies depending on Pr07 (Speed monitor
(IM) selection).
• You can set up the scaling with Pr07 value.
• Feeds out the voltage in proportion to the motor
speed with polarity. + : rotates to CCW
– : rotates to CW
• Feeds out the voltage in proportion to the command
speed with polarity.
+ : rotates to CCW
– : rotates to CW
Function
Control mode
Pr07
Motor
speed
Command
speed
0 – 4
5 – 9
Output Signals (Others) and Their Functions
Title of signal
Pin No
Symbol Function
I/F circuit
Signal ground 13,15,
17,25
–
GND • Signal ground
• This output is insulated from the control signal power (COM–) inside of the
driver.
Frame ground 50 –
FG • This output is connected to the earth terminal inside of the driver.
204
Wiring to the Connector, CN X7
Connector, CN X7
Power supply for the external scale shall be prepared by customer, or use the f ollowing power supply output
for the external scale (250mA or less).
<Note>
EXOV of the external scale power supply output is connected to the control circuit ground which is
connected to the Connecter, CN X5.
<Remark>
Do not connect anything to other Pin numbers descried in the above table (Pin-3 and 4).
Content
EX5V
EX0V
EXPS
EXPS
FG
Connector
PinNo.
1
2
5
6
Case
Application
Power supply output
for external scale
I/F of external scale signals
(serial signal)
Frame ground
Cautions
(1) Following external scale can be used for full-closed control.
• AT500 series by Mitutoyo (Resolution 0.05[µm], max. speed 2[m/s])
• ST771 by Mitutoyo (Resolution 0.5[µm], max. speed 2[m/s])
(2) Recommended external scale ratio is 1/20<External scale ratio<20
If you set up the external scale ratio to smaller value than 50/position loop gain (Pr10 and 18), you may
not be able to control per 1 pulse unit. Setup of larger scale ratio may result in larger noise.
205
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
Linear scale side
Linear scale unit
Detection head
Junction cable
Servo driver
EX5V
EX0V
EX5V
EX0V
EX5V
EX0V
EX5V
CN X7
EX0V
EXPS
EXPS
3
1
4
2
11
13
1
2+5V
0V
3
4
5
6
7
8
15
Regulator
HDAB-15P
(by Hirose Electric Co.)
HDAB-15S
(by Hirose Electric Co.)
55100-0600
(by Molex Inc.)
Twisted pair
EXPS
FG
EXPS
X6
X7
Please cut it out with nippers etc.
Wiring to the External Scale, Connector, CN X7
Wire the signals from the external scale to the external scale connector, CN X7.
1) Cable for the external scale to be the twisted pair with bundle shielding and to having the twisted core
wire with diameter of 0.18mm2.
2) Cable length to be max. 20m. Double wiring for 5V power supply is recommended when the wiring
length is long to reduce the voltage drop effect.
3) Connect the outer film of the shield wire of the external scale to the shield of the junction cable. Also
connect the outer film of the shield wire to the shell (FG) of CN X7 of the driver without fail.
4) Separate the wiring to CN X7 from the power line (L1, L2, L3, L1C _, L2C (t), U, V. W, ) as much as
possible (30cm or more). Do not pass these wires in the same duct, nor bundle together.
5) Do not connect anything to the vacant pins of CN X7.
6) Cut away the amplifier's CN X7 cover.
206
Real-Time Auto-Gain Tuning
Outline
The driver estimates the load inertia of the ma-
chine in real time, and automatically sets up the
optimum gain responding to the result. Also the
driver automatically suppress the vibration caused
by the resonance with an adaptive filter.
Applicable Range
• Real-time auto-gain tuning is applicable to all
control modes.
Caution
Real-time auto-gain tuning may not be executed
properly under the conditions described in the
right table. In these cases, use the normal mode
auto-gain tuning (refer to P.236 of Adjustment),
or e x ecute a manual gain tuning. (ref er to P.240,
of Adjustment)
Conditions which obstruct
real-time auto-gain tuning
• Load is too small or large compared to rotor inertia.
(less than 3 times or more than 20 times)
• Load inertia change too quickly. (10 [s] or less)
• Machine stiffness is extremely low.
• Chattering such as backlash exists.
•
Motor is running continuously at low speed of 100 [r/min] or lower.
•
Acceleration/deceleration is slow (2000[r/min] per 1[s] or low).
• Acceleration/deceleration torque is smaller than
unbalanced weighted/viscous friction torque.
• When speed condition of 100[r/min] or more and
acceleration/deceleration condition of 2000[r/min] per
1[s] are not maintained for 50[ms].
Load
inertia
Load
Action
pattern
Action command under
actual condition
Position/Velocity
command Position/Velocity
control
Servo driver
Real-time auto-gain tuning
Resonance frequency calculation
Load inertia calculation
Adaptive
Filter Current
control
Auto-gain
setup Auto-filter
adjustment Torque
command Motor
current
Motor
speed
Motor
Encoder
How to Operate
(1) Bring the motor to stall (Servo-OFF).
(2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 1-
7. Default is 1.
(3) Set up Pr22 (Machine stiffness at real-time auto-gain tun-
ing) to 0 or smaller value.
(4) Turn to Servo-ON to r un the machine normally.
(5) Gradually increase Pr22 (Machine stiffness at real-time
auto-gain tuning) when you want to obtain better response.
Lower the value (0 to 3) when you experience abnormal
noise or oscillation.
(6) Write to EEPROM when you want to save the result.
0
<1>
2
3
4
5
6
7
Real-time auto-gain tuning
(not in use)
normal mode
vertical axis mode
no-gain switching mode
Varying degree of load inertia in motion
–
no change
slow change
rapid change
no change
slow change
rapid change
no change
• When the varying degree of load inertia is large, set up 3 or 6.
• When the motor is used for vertical axis, set up 4-6.
• When vibration occurs during gain switching, set up 7.
• When resonance might give some effect, validate the setup of Pr23
(Setup of adaptive filter mode).
Setup
value
Setup of parameter, Pr21
Press .
Press .
Match to the parameter No.
to be set up with . (Here match to Pr21.)
Press .
Change the setup with .
Press .
Setup of parameter, Pr22
Match to Pr22 with .
Press .
Numeral increases with ,
and decreases with .
Press .
(default values)
Writing to EEPROM
Press .
Press .
Bars increase as the right fig. shows
by keep pressing (approx. 5sec).
Writing starts (temporary display).
Finish Writing completes Writing error
occurs
Return to SELECTION display after writing finishes, referring
to "Structure of each mode"(P.60 and 61 of Preparation).
Insert the console connector to
CN X6 of the driver, then turn
on the driver power.
207
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
PrNo.
10
11
12
13
14
18
19
1A
1B
1C
20
2F
Title
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of velocity detection
1st time constant of torque filter
2nd gain of position loop
2nd gain of velocity loop
2nd time constant of velocity loop integration
2nd filter of speed detection
2nd time constant of torque filter
Inertia ratio
Adaptive filter frequency
PrNo.
15
16
27
30
31
32
33
34
35
36
300
50
0
1
10
30
50
33
20
0
Title Setup value
Velocity feed forward
Time constant of feed forward filter
Setup of instantaneous speed observer
2nd gain setup
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
Position gain switching time
2nd mode of control switching
Resonance point
Command pattern
Load
Conditions which obstruct adaptive filter action
• When resonance frequency is lower than 300[Hz].
• While resonance peak is low or control gain is small and when no affect from these condition is
given to the motor speed.
• When multiple resonance points exist.
•
When the motor speed variation with high frequency factor is generated due to non-linear factor such as backlash.
• When acceleration/deceleration is very extreme such as more than 30000 [r/min] per 1 [s].
Adaptive Filters
The adaptive filter is validated by setting up Pr23 (Setup of adaptive filter mode) to other than 0.
The adaptive filter automatically estimates a resonance frequency out of vibration component presented in the motor speed
in motion, then removes the resonance components from the torque command by setting up the notch filter coefficient
automatically, hence reduces the resonance vibration.
The adaptive filter may not operate property under the following conditions. In these cases, use 1st notch filter (Pr1D and 1E)
and 2nd notch filter (Pr28-2A) to make measures against resonance according to the manual adjusting procedures.
For details of notch filters, refer to P.246, "Suppression of Machine Resonance" of Adjustment.
Parameters Which Are Automatically Set Up.
Following parameters are automatically adjusted.
Also following parameters are automatically set up.
<Notes>
• When the real-time auto-gain tuning is valid, you cannot change parameters which are automatically adjusted.
• Pr31 becomes 10 at position or full closed control and when Pr21 (Setup of Real-Time Auto-Gain
Tuning Mode) is 1 to 6, and becomes 0 in other cases.
<Note>
Even though Pr23 is set up to other than 0, there are other cases when adaptive filter is automatically
invalidated. Refer to P.235, "Invalidation of adaptive filter" of Adjustment.
Cautions
(1) After the start-up, you may experience abnormal noise and oscillation right after the first Servo-ON, or when you increase the
setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning), until load inertia is identified (estimated) or adaptive
filter is stabilized, however, these are not failures as long as they disappear immediately. If they persist over 3 reciprocating
operations , take the f ollo wing measures in possib le order .
1) Write the parameters which hav e giv en the normal operation into EEPR OM.
2) Lower the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning).
3) Set up both Pr21 (Setup of real-time auto-gain tuning) and Pr23 (Setup of adaptive filter mode) to 0, then set up other value
than 0. (Reset of inertia estimation and adaptive action)
4) Inv alidate the adaptiv e filter b y setting up Pr23 (Setup of adaptive filter mode setup) to 0, and set up notch filter man ually.
(2) When abnormal noise and oscillation occur, Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) might have changed to
extreme values . Take the same measures as the abo v e in these cases.
(3) Among the results of real-time auto-gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency) will be written to EEPROM
every 30 minutes. When you turn on the power again, auto-gain tuning will be executed using the latest data as initial values.
(4)
When you v alidate the real-time auto-gain tuning, Pr27 (Setup of instantaneous speed observer) will be in v alidated automatically.
(5) The adaptiv e filter is normally invalidated at torque control, however, when you select torque control while you set up Pr02
(Control mode setup) to 4 and 5, the adaptive filter frequency before mode switching will be held.
(6) During the trial run and frequency characteristics measurement of "PANATERM
®
", the load inertia estimation will be inv alidated.
208
Parameter Setup
Parameters for Functional Selection
PrNo. Setup
range
Title Function/Content
Standard default : < >
01
*
0 to 17
<1>
LED initial status You can select the type of data to be displayed on the front panel LED (7 segment)
at the initial status after power-on.
Power -ON
Setup value of Pr01
Flashes (for approx. 2 sec)
during initialization
Setup value
Content
0
<1>
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Positional deviation
Motor rotational speed
Torque output
Control mode
I/O signal status
Error factor/history
Software version
Alarm
Regenerative load factor
Over-load factor
Inertia ratio
Sum of feedback pulses
Sum of command pulses
External scale deviation
Sum of external scale feedback pulses
Motor automatic recognizing function
Analog input value
Factor of "No-Motor Running"
For details of display, refer to P.51 "Setup of
Parameter and Mode" of Preparation.
02
*
0 to 6
<1>
Setup of
control mode You can set up the control mode to be used.
Setup
value
0
<1>
2
3
4
5
6
Control mode
1st mode
2nd mode
Position
Velocity
Torque
Position
Position
Velocity
Full-closed
–
–
–
Velocity
Torque
Torque
– 1st 2nd
close
open
C-MODE
10ms or longer 10ms or longer
open
1st
**1) When you set up the combination mode of 3, 4 or
5, you can select either the 1st or the 2nd with
control mode switching input (C-MODE).
When C-MODE is open, the 1st mode will be
selected.
When C-MODE is shorted, the 2nd mode will be
selected.
Don't enter commands 10ms before/after switching.
**1
**1
**1
00
*
0 to 15
<1>
Address In the communication with the host via RS232/485 for multi-axes application, it is
necessary to identify which axis the host is communicating. Use this parameter to
confirm the address of the axis in numbers.
• The address is determined by the setup value of rotary switch (0 to F) of the
front panel at power-on.
• This value becomes the axis number at serial communication.
• The setup value of this parameter has no effect to the servo action.
• You cannot change the setup of Pr00 with other means than rotary switch.
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
209
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
03 0 to 3
<1>
Selection of
torque limit You can set up the torque limiting method for CCW/CW direction.
When the setup value is 0, CCWTL and CWTL will be limited by Pr5E (1st torque
limit setup). At the torque control, Pr5E becomes the limiting value for CCW/CW
direction regardless of the setup of this parameter.
Setup value
0
<1>
2
3
CCW
X5 CCWTL : Pin-16
Set with Pr5E
When GAIN/TL-SEL input is open, set with Pr5E
When GAIN/TL-SEL input is shorted, set with Pr5F
Pr5E is a limit value for both CCW and CW direction
CW
X5 CWTL : Pin-18
Set with Pr5F
07 0 to 9
<3>
Selection of speed
monitor (SP) You can set up the content of analog speed monitor signal output (SP : CN X5,
Pin43) and the relation between the output voltage level and the speed.
Setup value
0
1
2
<3>
4
5
6
7
8
9
Signal of SP
Motor actual
speed
Command
speed
Relation between the output voltage level and the speed
6V / 47 r/min
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
6V / 47 r/min
6V / 188 r/min
6V / 750 r/min
6V / 3000 r/min
1.5V / 3000 r/min
04
*
0 to 2
<1>
Setup of
over-travel
inhibit input
In linear drive application, you can use this over-travel inhibiting function to inhibit the
motor to run to the direction specified by limit switches which are installed at both ends
of the axis, so that you can prevent the work load from damaging the machine due to
the over-travel. With this input, you can set up the action of over-travel inhibit input.
<Cautions>
1. When Pr04 is set to 0 and over-travel inhibit input is entered, the motor deceler-
ates and stops according to the preset sequence with Pr66 (Sequence at over-
travel inhibition). For details, refer to the explanation of Pr66.
2. When both of CCWL and CWL inputs are opened while Pr04 is set to 0, the driver
trips with Err38 (Overtravel inhibit input error) judging that this is an error.
3. When you turn off the limit switch on upper side of the work at vertical axis applica-
tion, the work may repeat up/down movement because of the loosing of upward
torque. In this case, set up Pr66 to 2, or limit with the host controller instead of us-
ing this function.
CW direction CCW direction
CCWL
CWL
Work
Servo motor Limit
switch Limit
switch
Driver
Setup
value
0
<1>
2
Action
CCWL/CWL
input
Valid
Invalid
Valid
Input
CCWL
(CN X5,Pin-9)
CWL
(CN X5,Pin-9)
Connection to COM–
Close
Open
Close
Open
Normal status while CCW-side limit switch is not activated.
Inhibits CCW direction, permits CW direction.
Normal status while CW-side limit switch is not activated.
Inhibits CW direction, CCW direction permitted.
Both CCWL and CWL inputs will be ignored, and over-travel inhibit function will be
invalidated.
Err38 (Over-travel inhibit input protection) is triggered when either one
of the connection of CW or CCW inhibit input to COM– become open.
PrNo. Setup
range
Title Function/Content
Standard default : < >
210
Parameter Setup
08 0 to 12
<0>
Selection of torque
monitor (IM)
You can set up the content of the analog torque monitor of the signal output (IM : CN X5, Pin-
42), and the relation between the output voltage level and torque or deviation pulse counts.
Setup value
<0>
1
2
3
4
5
6
7
8
9
10
11
12
Signal of IM
Torque command
Position
deviation
Full-closed
deviation
Torque
command
Relation between the output voltage level and torque or deviation pulse counts
3V/rated (100%) torque
3V / 31Pulse
3V / 125Pulse
3V / 500Pulse
3V / 2000Pulse
3V / 8000Pulse
3V / 31Pulse
3V / 125Pulse
3V / 500Pulse
3V / 2000Pulse
3V / 8000Pulse
3V / 200% torque
3V / 400% torque
09 0 to 8
<0>
Selection of
TLC output You can assign the function of the torque in-limit output (TLC : CN X5 Pin-40).
Setup value
<0>
1
2
3
4
5
6
7
8
Note
For details of
function of each
output of the
left, refer to the
table of P.201,
"Selection of
TCL and ZSP
outputs".
Function
Torque in-limit output
Zero speed detection output
Alarm output of either one of Over-regeneration
/Over-load/Absolute battery/Fan lock/External scale
Over-regeneration alarm trigger output
Overload alarm output
Absolute battery alarm output
Fan lock alarm output
External scale alarm output
In-speed (Speed coincidence) output
0A 0 to 8
<1>
Selection of
ZSP output
You can assign the function of the zero speed detection output (ZSP: CN X5 Pin-12).
Setup value
0
<1>
2
3
4
5
6
7
8
Note
For details of
function of each
output of the
left, refer to the
table of P.201,
"Selection of
TCL and ZSP
outputs".
Function
Torque in-limit output
Zero speed detection output
Alarm output of either one of Over-regeneration
/Over-load/Absolute battery/Fan lock/External scale
Over-regeneration alarm trigger output
Overload alarm output
Absolute battery alarm output
Fan lock alarm output
External scale alarm output
In-speed (Speed coincidence) output
0B
*0 to 2
<1>
Setup of
absolute encoder You can set up the using method of 17-bit absolute encoder.
<Caution>
This parameter will be invalidated when 5-wire, 2500P/r incremental encoder is used.
Setup value
0
<1>
2
Content
Use as an absolute encoder.
Use as an incremental encoder.
Use as an absolute encoder, but ignore the multi-turn counter over.
0C
*0 to 5
<2>
Baud rate setup of
RS232
communication
You can set up the communication speed of RS232.
Setup value
0
1
<2>
Baud rate
2400bps
4800bps
9600bps
Setup value
3
4
5
Baud rate
19200bps
38400bps
57600bps
• Error of baud rate is ±0.5%.
PrNo. Setup
range
Title Function/Content
Standard default : < >
211
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
Parameters for Adjustment of Time Constants of Gains and Filters
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
10 0 to 3000
A to C-frame:<63>*
D to F-frame:<32>*
1/s1st gain of
position loop You can determine the response of the positional control system.
Higher the gain of position loop you set, faster the positioning time you
can obtain. Note that too high setup may cause oscillation.
11 1 to 3500
A to C-frame:<35>*
D to F-frame:<18>*
Hz1st gain of
velocity loop You can determine the response of the velocity loop.
In order to increase the response of overall servo system by setting high
position loop gain, you need higher setup of this velocity loop gain as well.
However, too high setup may cause oscillation.
<Caution>
When the inertia ratio of Pr20 is set correctly, the setup unit of Pr11
becomes (Hz).
12 1 to 1000
A to C-frame:<16>*
D to F-frame:<31>*
ms1st time constant
of velocity loop
integration
You can set up the integration time constant of velocity loop.
Smaller the setup, faster you can dog-in deviation at stall to 0.
The integration will be maintained by setting to "999".
The integration effect will be lost by setting to "1000".
13 0 to 5
<0>* –1st filter of
speed detection You can set up the time constant of the low pass filter (LPF) after the
speed detection, in 6 steps.
Higher the setup, larger the time constant you can obtain so that you can
decrease the motor noise, however, response becomes slow. Use with a
default value of 0 in normal operation.
15 –2000
to 2000
<300>*
0.1%Velocity feed
forward You can set up the velocity feed forward volume at position control.
Higher the setup, smaller positional deviation and better response you can
obtain, however this might cause an overshoot.
16 0 to 6400
<50>* 0.01msTime constant of
feed forward filter You can set up the time constant of 1st delay filter inserted in velocity feed
forward portion.
You might expect to improve the overshoot or noise caused by larger
setup of above velocity feed forward.
14 0 to 2500
A to C-frame:<65>*
D to F-frame:<126>*
0.01ms1st time constant of
torque filter You can set up the time constant of the 1st delay filter inserted in the
torque command portion. You might expect suppression of oscillation
caused by distortion resonance.
0E
*0 to 1
<0>
Setup of front
panel lock You can limit the operation of the front panel to the
monitor mode only.
You can prevent such a misoperation as unexpec-
ted parameter change.
<Note>
You can still change parameters via communication even though this setup is 1.
To return this parameter to 0, use the console or the "PANATERM®".
Setup value
<0>
1
Content
Valid to all
Monitor mode only
0D
*0 to 5
<2>
Baud rate setup of
RS485
communication
You can set up the communication speed of RS485.
Setup value
0
1
<2>
Baud rate
2400bps
4800bps
9600bps
Setup value
3
4
5
Baud rate
19200bps
38400bps
57600bps
• Error of baud rate is ±0.5%.
PrNo. Setup
range
Title Function/Content
Standard default : < >
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you tur n on the
control power.
• Parameters which default v alues have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referr ing to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
212
Parameter Setup
Parameters for Auto-Gain Tuning
20
0 to 10000
<250>* %Inertia ratio
You can set up the ratio of the load inertia against the rotor (of the motor) inertia.
When you execute the normal auto-gain tuning, the load inertial will be
automatically estimated after the preset action, and this result will be
reflected in this parameter.
The inertia ratio will be estimated at all time while the real-time auto-gain
tuning is valid, and its result will be saved to EEPROM every 30 min.
<Caution>
If the inertia ratio is correctly set, the setup unit of Pr11 and Pr19
becomes (Hz). When the inertia ratio of Pr20 is larger than the actual, the
setup unit of the velocity loop gain becomes larger, and when the inertia
ratio of Pr20 is smaller than the actual, the setup unit of the velocity loop
gain becomes smaller.
Pr20=(load inertia/rotor inertia) X 100 [%]
21 0 to 7
<1> –Setup of real-time
auto-gain tuning You can set up the action mode of the real-time auto-gain tuning.
With higher setup such as 3 or 6, the driver respond quickly to the change
of the inertia during operation, however it might cause an unstable
operation. Use 1 or 4 for normal operation.For the vertical axis application,
use with the setup of 4 to 6.
When vibration occurs at gain switching, set up this to "7".
Setup value
0
<1>
2
3
4
5
6
7
Real-time
auto-gain tuning
Invalid
Normal mode
Vertical axis mode
No gain switching
Varying degree of
load inertia in motion
–
Little change
Gradual change
Rapid change
Little change
Gradual change
Rapid change
Little change
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
1D
100 to 1500
<1500> Hz1st notch
frequency
You can set up the frequency of the 1st resonance suppressing notch filter.
The notch filter function will be invalidated by setting up this parameter to
"1500".
1E 0 to 4
<2> –1st notch width
selection
You can set up the notch filter width of the 1st resonance suppressing filter in 5 steps.
Higher the setup, larger the notch width you can obtain.
Use with default setup in normal operation.
18
19
1A
1B
1C
0 to 3000
A to C-frame:<73>*
D to F-frame:<38>*
1 to 3500
A to C-frame:<35>*
D to F-frame:<18>*
1 to 1000
<1000>*
0 to 5
<0>*
0 to 2500
A to C-frame:<65>*
D to F-frame:<126>*
1/s
Hz
ms
–
0.01ms
2nd gain of
position loop
2nd gain of velocity
loop
2nd time constant of
velocity loop integration
2nd filter of velocity
detection
2nd time constant
of torque filter
Position loop, velocity loop, speed detection filter and torque command
filter have their 2 pairs of gain or time constant (1st and 2nd).
For details of switching the 1st and the 2nd gain or the time constant, refer
to P.226, "Adjustment".
The function and the content of each parameter is as same as that of the
1st gain and time constant.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
213
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
24 0 to 2
<0> –Selection of
damping filter
switching
You can select the switching method when you use the damping filter.
0 : No switching (both of 1st and 2nd are valid.)
1 : You can select either 1st or 2nd with damping control switching input
(VS-SEL).
when VS-SEL is opened, 1st damping filter selection (Pr2B, 2C)
when VS-SEL is close, 2nd damping filter selection (Pr2D, 2E)
2 : You can switch with the position command direction.
CCW : 1st damping filter selection (Pr2B, 2C).
CW : 2nd damping filter selection (Pr2D, 2E).
25 0 to 7
<0> –Setup of an action
at normal mode
auto-gain tuning
You can set up the action pattern at the normal mode auto-gain tuning.
e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2
revolutions to CW.
Setup value
<0>
1
2
3
4
5
6
7
Number of revolution
2 [revolution]
1 [revolution]
Rotational direction
CCW CW
CW CCW
CCW CCW
CW CW
CCW CW
CW CCW
CCW CCW
CW CW
23 0 to 2
<1> –Setup of adaptive
filter mode You can set up the action of the adaptive filter.
0 : Invalid
1 : Valid
2 : Hold
(holds the adaptive filter frequency when this setup is changed to 2.)
<Caution>
When you set up the adaptive filter to invalid, the adaptive filter frequency
of Pr2F will be reset to 0. The adaptive filter is always invalid at the
torque control mode.
22 0 to 15
A to C-frame:
<4>
D to F-frame:
<1>
–Selection of
machine stiffness
at real-time
auto-gain tuning
You can set up the machine stiffness in 16 steps while the real-time auto-
gain tuning is valid.
<Caution>
When you change the setup value rapidly, the gain changes rapidly as
well, and this may give impact to the machine. Increase the setup
gradually watching the movement of the machine.
low machine stiffness high
low servo gain high
low response high
Pr22 0, 1- - - - - - - - - - - - 14, 15
26 0 to 1000
<10> 0.1
revolution
Setup of software
limit You can set up the movable range of the motor against the position
command input range. When the motor movement exceeds the setup
value, software limit protection of Pr34 will be triggered. This parameter is
invalid with setup value of 0.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
2A 0 to 99
<0> –Selection of
2nd notch depth
You can set up the 2nd notch depth of the resonance suppressing filter. Higher
the setup, shallower the notch depth and smaller the phase delay you can obtain.
28
100 to 1500
<1500> Hz2nd notch
frequency You can set up the 2nd notch width of the resonance suppressing filter in
5 steps. The notch filter function is invalidated by setting up this parame-
ter to "1500".
29 0 to 4
<2> –Selection of
2nd notch width You can set up the notch width of 2nd resonance suppressing filter in 5
steps. Higher the setup, larger the notch width you can obtain.
Use with default setup in normal operation.
<Notes>
• Parameters which default v alues have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referr ing to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
214
Parameter Setup
Parameters for Adjustment (2nd Gain Switching Function)
2F 0 to 64
<0> –Adaptive filter
frequency Displays the table No. corresponding to the adaptive filter frequency.
(Refer to P.234 of Adjustment.) This parameter will be automatically set
and cannot be changed while the adaptive filter is valid. (when Pr23
(Setup of adaptive filter mode) is other than 0.)
0 to 4 Filter is invalid.
5 to 48 Filter is valid.
49 to 64 Filter validity changes according to Pr22.
This parameter will be saved to EEPROM every 30 minutes while the
adaptive filter is valid, and when the adaptive filter is valid at the next
power-on, the adaptive action starts taking the saved data in EEPROM as
an initial value.
<Caution>
When you need to clear this parameter to reset the adaptive action while
the action is not normal, invalidate the adaptive filter (Pr23, "Setup of
adaptive filter mode" to 0) once, then validate again.
Refer to P.239, "Release of Automatic Gain Adjusting Function" of
Adjustment as well.
2E
–200 to 2000
<0> 0.1HzSetup of
2nd damping filter While you set up Pr2D (2nd damping frequency), set this up to smaller
value when torque saturation occurs, and to larger value when you need
faster action.
Use with the setup of 0 in normal operation. Refer to P.250, "Damping
control" of Adjustment.
<Caution>
Setup is also limited by 10.0[Hz]–Pr2D
<
=
Pr2E
=
Pr2D
2B 0 to 2000
<0> 0.1Hz1st damping
frequency You can set up the 1st damping frequency of the damping control which
suppress vibration at the load edge.
The driver measures vibration at load edge. Setup unit is 0.1[Hz].
The setup frequency is 10.0 to 200.0[Hz]. Setup of 0 to 99 becomes invalid.
Refer to P.250, "Damping control" as well before using this parameter.
2C
–200 to 2000
<0> 0.1HzSetup of
1st damping filter While you set up Pr2B (1st damping frequency), set this up to smaller
value when torque saturation occurs, and to larger value when you need
faster action.Use with the setup of 0 in normal operation. Refer to P.250,
"Damping control" of Adjustment.
<Caution>
Setup is also limited by 10.0[Hz]–Pr2B
<
=
Pr2C
<
=
Pr2B
2D 0 to 2000
<0> 0.1Hz2nd damping
frequency You can set up the 2nd damping frequency of the damping control which
suppress vibration at the load edge.
The driver measures vibration at the load edge. Setup unit is 0.1 [Hz].
Setup frequency is 10.0 to 200.0 [Hz]. Setup of 0 to 99 becomes invalid.
Refer to P.250, "Damping control" of Adjustment as well before using this
parameter.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
30 0 to 1
<1>* –Setup of 2nd gain
You can select the PI/P action switching of the velocity control or 1st/2nd gain switching.
*1 Switch the PI/P action with the gain switching input (GAIN CN X5, Pin-
27). PI is fixed when Pr03 (Torque limit selection) is 3.
*2 For switching condition of the 1st and the 2nd, refer to P.243, "Gain
Switching Function" of Adjustment.
Setup value
0
<1>*
Gain selection/switching
1st gain (PI/P switching enabled) *1
1st/2nd gain switching enabled *2
GAIN input
Open with COM–
Connect to COM–
Action of velocity loop
PI action
P action
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
215
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
32
0 to 10000
<30>* x 166µs1st delay time of
control switching You can set up the delay time when returning from the 2nd to the 1st gain,
while Pr31 is set to 3 or 5 to 10.
33
0 to 20000
<50>* –1st level of
control switching You can set up the switching (judging) level of the 1st and the 2nd gains,
while Pr31 is set to 3, 5, 6. 9 and 10.
Unit varies depending on the setup of Pr31 (1st mode of control switching)
34
0 to 20000
<33>* –1st hysteresis
of control switching You can set up hysteresis width to be
implemented above/below the
judging level which is set up with
Pr33. Unit varies depending on the
setup of Pr31 (1st control switching
mode). Definitions of Pr32 (Delay),
Pr33 (Level) and Pr34 (Hysteresis)
are explained in the fig. below.
<Caution>
The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute
values (positive/negative).
Pr33
0
Pr34
Pr32
1st gain 2nd gain 1st gain
31 0
to
10
<0>* –1st mode of
control switching You can select the switching condition of 1st gain and 2nd gain while Pr30
is set to 1.
*1 Fixed to the 1st gain regardless of GAIN input, when Pr31 is set to 2
and Pr03 (Torque limit selection) is set to 3.
*2 For the switching level and the timing, refer to P.243, "Gain Switching
Function" of Adjustment.
Setup value
<0>*
1
2
3
4
5
6
7
8
9
10
Gain switching condition
Fixed to the 1st gain.
Fixed to the 2nd gain.
2nd gain selection when the gain switching input is turned on. (Pr30 setup must be 1.)
2nd gain selection when the toque command variation is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis of control switching).
Fixed to the 1st gain.
2nd gain selection when the command speed is larger than the setups of
Pr33 (1st level of control switching) and Pr34 (1st hysteresis at control switching).
2nd gain selection when the positional deviation is larger than the setups of
Pr33 (1st control switching level) and Pr34 (1st hysteresis of control switching).
2nd gain selection when more than one command pulse exist between 166µs.
2nd gain selection when the positional deviation counter value exceeds the setup of
Pr60 (Positioning completer range).
2nd gain selection when the motor actual speed exceeds the setup of
Pr33 (1st level of control switching) and Pr34 (1at hysteresis of control switching) .
Switches to the 2nd gain while the position command exists.
Switches to the 1st gain when no-position command status lasts for the setup of Pr32 [x 166µs]
and the speed falls slower than the setups of Pr33-34[r/min].
*2
*2
*2
*2
*2
*2
*2
*2
*1
35
0 to 10000
<20>* (setup
value +1)
x 166µs
Switching time of
position gain You can setup the step-
by-step switching time to
the position loop gain
only at gain switching
while the 1st and the 2nd
gain switching is valid.
<Caution>
The switching time is
only valid when switching from small position gain to large position gain.
Pr35=
Kp1(Pr10)
166
166 166
166µs
Kp2(Pr18)
1st gain
e.g.)
2nd gain
bold line
thin line
1st gain
00
1
1
22
3
3
Kp1(Pr10)>Kp2(Pr18)
3D 0 to 500
<300> r/minJOG speed setup You can setup the JOG speed.
Refer to P.75, "Trial Run"of Preparation.
<Notes>
• Parameters which default v alues have a suffix of "*" will be automatically set up during real time auto-gain
tuning. When you change manually, invalidate the real-time auto-gain tuning first then set, referr ing to
P.239, "Release of Automatic Gain Adjusting Function" of Adjustment.
216
Parameter Setup
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
Parameters for Position Control
40
*
0 to 1
<0>
Selection of com-
mand pulse input You can select either the photo-coupler input or the exclusive input for line driver as
the command pulse input.
Setup value
<0>
1
Content
Photo-coupler input (X5 PULS1:Pin-3, PULS2:Pin-4, SIGN1:Pin-5, SIGN2:Pin-6)
Exclusive input for line driver (X5 PULSH1:Pin-44, PULSH2:Pin-45, SIGNH1:Pin-46, SIGNH2:Pin-47)
41
*
42
*
0 to 1
<0>
0 to 3
<1>
Command pulse
rotational direction
setup
Setup of command
pulse input mode
You can set up the rotational direction against the command pulse input, and the
command pulse input format.
• Permissible max. input frequency, and min. necessary time width of command pulse input signal.
Pr41 setup value
(Command pulse
rotational
direction setup)
Pr42 setup value
(Command pulse
input mode
setup)
Signal
title CCW command
B-phase advances to A by 90˚. B-phase delays from A by 90˚.
CW command
Command
pulse
format
t1
A-phase
B-phase
t1 t1 t1
t1 t1t1 t1
t2 t2
t2
t3
t2
t4
“H” “L”
t5t4
t6 t6 t6 t6
t5
B-phase advances to A by 90˚.B-phase delays from A by 90˚.
t1
A-phase
B-phase
t1t1 t1
t1 t1 t1 t1
t2 t2
t2
t3
t2
t4
“L” “H”
t5t4
t6 t6 t6 t6
t5
0 or 2
<0> <1>
3
0 or 2
11
3
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
PULS
SIGN
90˚ phase
difference
2-phase pulse
(A + B-phase)
CW pulse train
+
CCW pulse train
pulse train
+
Signal
90˚ phase
difference
2-phase pulse
(A + B-phase)
CW pulse train
+
CCW pulse train
pulse train
+
Signal
Line driver interface
Open collector interface
Pulse train interface exclusive to line driver
Pulse train interface
Input I/F of PULS/SIGN signal
Permissible max.
input frequency
2Mpps
500kpps
200kpps
t
1
500ns
2µs
5µs
Min. necessary time width
t
2
250ns
1µs
2.5µs
t
3
250ns
1µs
2.5µs
t
4
250ns
1µs
2.5µs
t
5
250ns
1µs
2.5µs
t
6
250ns
1µs
2.5µs
Make the rising/falling time of the command pulse input signal to 0.1µs or smaller.
PrNo. Setup
range
Title Function/Content
Standard default : < >
43 0 to 1
<1>
Invalidation of
command pulse
inhibit input
You can select either the validation or the invalidation of the command pulse inhibit
input (INH : CN X5 Pin-33).
Setup value
0
<1>
INH input
Valid
Invalid
Command pulse input will be inhibited by opening the connection of INH input to
COM–. When you do not use INH input, set up Pr43 to 1 so that you may not
need to connect INH (CN I/F Pin-33) and COM– (Pin-41) outside of the driver.
217
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
You can set up the pulse counts to be fed out from the pulse outputs (X5 OA+: Pin-
21, OA–: Pin-22, OB+: Pin-48, OB-: Pin-49).
• In case the external scale pulse is fed out
(When the control mode is full-closed control and Pr46 (Reversal of pulse output
logic) is 2 or 3.)
Pr45 = 0 : No division will be executed.
When Pr45 is other than 0, travel per one pulse will be divided with discrete ratio
according to the formula below.
<Cautions>
• Travel per one pulse of the external scale is 0.05 [É m] for AT500 series, and 0.5
[É m] for ST771 series.
• Setup of Pr44 > Pr45 becomes invalid. (In this case, no division will be executed)
•
Z-phase will be fed out synchronizing with A-phase when the work crosses the zero
absolute position at first time after the control power is turned on. After this, Z-phase
will be fed out at the intervals set with Pr47 (Z-phase setup of external scale).
• In case the encoder pulse is fed out
(When the control mode is position, velocity and torque control, and P446
(Reversal of pulse output logic) is 0 or 1.)
You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin-
21, 0A- : Pin-22, 0B+ : Pin-48, 0B- : Pin-49).
• Pr45=<0> (Default)
You can set up the output pulse counts per one motor revolution for each OA
and OB with the Pr44 setup. Therefore the pulse output resolution after
quadruple can be obtained from the formula below.
• Pr45≠0 :
The pulse output resolution per one revolution can be divided by any ration
according to the formula below.
<Cautions>
• The encoder resolution is 131072 [P/r] for the 17-bit absolute encoder, and
10000 [P/r] for the 5-wire 2500P/r incremental encoder.
• The pulse output resolution per one revolution cannot be greater than the
encoder resolution.
(In the above setup, the pulse output resolution equals to the encoder resolution.)
• Z-phase is fed out once per one revolution of the motor.
When the pulse output resolution obtained from the above formula is multiple of 4,
Z-phase synchronizes with A-phase. In other case, the Z-phase width equals to
output with the encoder resolution, and becomes narrower than A-phase, hence
does not synchronize with A-phase.
Pr45
(Denominator of pulse output division)
Pr44
(Numerator of pulse output division)
Travel per one
output pulse travel per one pulse
of external scale
=x
44
*
45
*
1 to 32767
<2500>
0 to 32767
<0>
Numerator of pulse
output division
Denominator of
pulse output
division
The pulse output resolution per one revolution
= Pr44 (Numerator of pulse output division) X4
Pr44
(Numerator of pulse output division)
Pr45
(Denominator of pulse output division)
Pulse output resolution per one revolution x Encoder resolution
A
B
ZSynchronized
A
B
ZNot-synchronized
Pr44
Pr45
when encoder resolution x is multiple of 4
Pr44
Pr45
when encoder resolution x is not multiple of 4
PrNo. Setup
range
Title Function/Content
Standard default : < >
218
Parameter Setup
47
*
0 to 32767
<0>
Z-phase setup of
external scale You can setup the interval of Z-phase output in the A-phase output pulses of the
external scale (before quadruple), when you use the external scale as an output
source for the pulse output. (Pr02, (Control mode setup) is 6 and Pr46 (Reversal of
pulse output logic) is 2 or 3.)
• when Pr47 = <0> (default),
no Z-phase is fed out of the external scale.
• when Pr47 = 1 to 32767,
Z-phase will be fed out synchronizing with A-phase when the work crosses the
absolute position of 0 at first time after the control power on. After this, Z-phase
will be fed out at the intervals set with this parameter.
46
*
0 to 3
<0>
Reversal of pulse
output logic You can set up the B-phase logic and the output source of the pulse output (X5 OB+
: Pin-48, OB– : Pin-49). With this parameter, you can reverse the phase relation
between the A-phase pulse and the B-phase pulse by reversing the B-phase logic.
*1 The output source of Pr46=2, 3 is valid only at full-closed control.
Setup
value
<0>, 2
1, 3
A-phase
(OA)
B-phase(OB)
non-reversal
B-phase(OB)
reversal
at motor CCW rotation at motor CW rotation
Pr46
<0>
1
2 *1
3 *1
B-phase logic
Non-reversal
Reversal
Non-reversal
Reversal
Output source
Encoder position
Encoder position
External scale position
External scale position
48
49
4A
4B
0 to 10000
<0>
0 to 10000
<0>
0 to 17
<0>
0 to 10000
<10000>
1st numerator of
electronic gear
2nd numerator of
electronic gear
Multiplier of
electronic gear
numerator
Denominator of
electronic gear
Electronic gear (Command pulse division/multiplication) function
• Purpose of this function
(1) You can set up any motor revolution and travel per input command unit.
(2) You can increase the nominal command pulse frequency when you cannot
obtain the required speed due to the limit of pulse generator of the host controller.
• Block diagram of electronic gear
• "Numerator" selection of electronic gear
*1 : Select the 1st or the 2nd with the command electronic gear input switching
(DIV : CN X5, Pin-28)
• when numerator ≠ 0 :
• when the numerator is <0> (Default) :Numerator (Pr48,49)X2
Pr4A
) is automat-
ically set equal to encoder resolution.
The electronic gear ratio is set with the formula below.
<Caution>
In actual calculation of numerator (Pr48, Pr49) X2
Pr4A
, 4194304 (Pr4D setup value
+1) becomes the max. value.
Electronic gear function-related (Pr48 to 4B)
Command
pulse x 2
*1
*1
Multiplier (Pr4A) Internal
command
F
f
+
–
External scale
Feed back
pulse
(Resolution)
Deviation
counter
Denominator (Pr4B)
1st numerator (Pr48)
2nd numerator (Pr49)
DIV input open
DIV input connect to COM– Selection of 1st numerator (Pr48)
Selection of 2nd numerator (Pr49)
Encoder resolution
Command pulse counts per one revolution (Pr48)
Electronic gear ratio =
x 2
Denominator of command electronic gear (Pr4B)
Electronic gear ratio =
PrNo. Setup
range
Title Function/Content
Standard default : < >
Numerator of command
electronic gear (Pr48,49)
Multiplier of command
div/multiple numerator (Pr4A)
219
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
4D
*0 to 31
<0>
Setup of FIR
smoothing You can set up the moving average times of the FIR filter covering the command
pulse. (Setup value + 1) become average travel times.
4C 0 to 7
<1>
Setup of primary
delay smoothing Smoothing filter is the filter for primary delay which is inserted after the electronic
gear.
You can set the time constant of the smoothing filter in 8 steps with Pr4C.
Setup value
0
<1>
7
Time constant
No filter function
Time constant small
Time constant large
Purpose of smoothing filter
• Reduce the step motion of the motor while the command pulse is rough.
• Actual examples which cause rough command pulse are;
(1) when you set up a high multiplier ratio (10 times or more).
(2) when the command pulse frequency is low.
4E 0 to 2
<1>
Counter clear
input mode You can set up the clearing conditions of the counter clear input signal which clears
the deviation counter.
*1 : Min. time width of CL signal
Setup value
0
<1>
2
Clearing condition
Clears the deviation counter at level (shorting for longer than 100µs)*1
Clears the deviation counter at falling edge (open-shorting for longer than 100µs)*1
Invalid
CL(Pin-30) 100µs or longer
PrNo. Setup
range
Title Function/Content
Standard default : < >
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you tur n on the
control power.
220
Parameter Setup
Parameters for Velocity and Torque Control
Parameters for Sequence
5E
5F
0 to 500
<500>
*2
0 to 500
<500>
*2
%
%
1st torque limit
setup
2nd torque limit
setup
You can set up the limit value of the motor output torque (Pr5E : 1st
torque, Pr5F : 2nd torque). For the torque limit selection, refer to Pr03
(Torque limit selection).
<Caution>
You cannot set up a larger value to this parameter than the default setup
value of "Max. output torque setup" of System parameter (which you
cannot change through operation with PANATERM
®
or panel). Default
value varies depending on the combination of the motor and the driver.
For details, refer to P.57, "Setup of Torque Limit " of Preparation.
• Setup value is to be given in
% against the rated torque.
• Right fig. shows example of
150% setup with Pr03=1.
• Pr5E limits the max. torque for
both CCW and CW directions.
This torque limit function limits the max. motor torque inside of the
driver with parameter setup.
In normal operation, this driver permits approx. 3 times larger torque
than the rated torque instantaneously. If this 3 times bigger torque
causes any trouble to the load (machine) strength, you can use this
function to limit the max. torque.
speed
200
100
(Rated)
(Rating)
100
200
300
torque [%]
300(Max.)
(Max.)
CW
CCW
when Pr5E=150
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
60 0 to
32767
<131>
PulsePositioning com-
plete(In-position)
range
You can set up the timing to feed out the positioning complete signal
(COIN : CN X5, Pin-39).
The positioning complete signal (COIN) will be fed out when the deviation
counter pulse counts fall within ± (the setup value), after the command
pulse entry is completed.
The setup unit should be the encoder pulse counts at the position control
and the external scale pulse counts at the full-closed control.
• Basic unit of deviation pulse is encoder "resolution", and varies per
the encoder as below.
(1) 17-bit encoder : 2
17
= 131072
(2) 2500P/r encoder : 4 X 2500 = 10000
<Cautions>
1. If you set up too small value
to Pr60, the time until the
COIN signal is fed might
become longer, or cause
chattering at output.
2. The setup of "Positioning
complete range" does not
give any effect to the final
positioning accuracy.
COIN
deviation
pulses
ON Pr60
Pr60
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
<Note>
• For par ameters which default. has a suffix of "*2", value v aries depending on the combination of the driver
and the motor.
221
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
63 0 to 3
<0> –Setup of
positioning
complete
(In-position)
output
You can set up the action of the positioning complete signal (COIN : Pin-
39 of CN X5) in combination with Pr60 (Positioning complete range).
Setup value
<0>
1
2
3
Action of positioning complete signal
The signal will turn on when the positional deviation is smaller
than Pr60 (Positioning complete range)
The signal will turn on when there is no position command and the
positional deviation is smaller than Pr60 (Positioning complete range).
The signal will turn on when there is no position command, the
zero-speed detection signal is ON and the positional deviation is
smaller than Pr60 (Positioning complete range).
The signal will turn on when there is no position command and the
positional deviation is smaller than Pr60 (Positioning complete range).
Then holds "ON" status until the next position command is entered.
65 0 to 1
<1> –LV trip selection at
main power OFF You can select whether or not to activate Err13 (Main power under-
voltage protection) function while the main power shutoff continues for the
setup of Pr6D (Main power-OFF detection time).
<Caution>
This parameter is invalid when Pr6D (Detection time of main power
OFF)=1000. Err13 (Main power under-voltage protection) is triggered
when setup of P66D is long and P-N voltage of the main converter falls
below the specified value before detecting the main power shutoff,
regardless of the Pr65 setup. Refer to P.42, "Timing Chart-At Power-ON"
of Preparation as well.
Setup value
0
<1>
Action of main power low voltage protection
When the main power is shut off during Servo-ON, Err13 will
not be triggered and the driver turns to Servo-OFF. The driver
returns to Servo-ON again after the main power resumption.
When the main power is shut off during Servo-ON, the driver
will trip due to Err13 (Main power low voltage protection).
66
*
0 to 2
<0> –Sequence at
over-travel inhibit You can set up the running condition during deceleration or after stalling,
while over-travel inhibit input (CCWL : Connector CN X5, Pin-9 or CWL :
Connector CN X5, Pin-8) is valid
<Caution>
In case of the setup value of 2, torque limit during deceleration will be
limited by the setup value of Pr6E (Torque setup at emergency stop ).
Setup value
<0>
1
2
During deceleration
Dynamic brake
action
Torque command=0
towards inhibited direction
Emergency stop
After stalling
Torque command=0
towards inhibited direction
Torque command=0
towards inhibited direction
Torque command=0
towards inhibited direction
Deviation counter content
Hold
Hold
Clears before/
after deceleration
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
61 10 to
20000
<50>
r/minZero-speed
You can set up the timing to feed out the zero-speed detection output signal
(ZSP : CN X5, Pin-12 or TCL : CN X5, Pin-40) in rotational speed [r/min].
The zero-speed detection signal (ZSP) will be fed out when the motor
speed falls below the setup of this parameter, Pr61.
• The setup of P61 is valid for both
CCW and CW direction regardless
of the motor rotating direction.
• There is hysteresis of 10 [r/min].
speed
CW
ZSP ON
(Pr61+10)r/min
(Pr61–10)r/min
CCW
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you tur n on the
control power.
222
Parameter Setup
67 0 to 9
<0> –Sequence at main
power OFF When Pr65 (LV trip selection at main power OFF) is 0, you can set up,
1) the action during deceleration and after stalling
2) the clearing of deviation counter content
after the main power is shut off.
Setup
value
<0>
1
2
3
4
5
6
7
8
9
During deceleration
DB
Free-run
DB
Free-run
DB
Free-run
DB
Free-run
Emergency stop
Emergency stop
After stalling
DB
DB
Free-run
Free-run
DB
DB
Free-run
Free-run
DB
Free-run
Action Deviation counter
content
Clear
Clear
Clear
Clear
Hold
Hold
Hold
Hold
Clear
Clear
68 0 to 3
<0> –Sequence at alarm You can set up the action during deceleration or after stalling when some
error occurs while either one of the protective functions of the driver is
triggered.
(DB: Dynamic Brake action)
<Caution>
The content of the deviation counter will be cleared when clearing the
alarm. Refer to P.43, "Timing Chart (When an error (alarm) occurs (at
Servo-ON command status)" of Preparation.
Setup
value
<0>
1
2
3
During deceleration
DB
Free-run
DB
Free-run
After stalling
DB
DB
Free-run
Free-run
Action Deviation counter
content
Hold
Hold
Hold
Hold
69 0 to 9
<0> –Sequence at
Servo-Off You can set up,
1) the action during deceleration and after stalling
2) the clearing of deviation counter content,
after turning to Servo-OFF (SRV-ON signal : CN X5, Pin-29 is turned from
ON to OFF)
The relation between the setup value of Pr69 and the action/deviation
counter clearance is same as that of Pr67 (Sequence at Main Power Off)
Refer to P.44, "Timing Chart"-Servo-ON/OFF action while the motor is at
stall" of Preparation as well.
(DB: Dynamic Brake action)
<Caution>
In case of the setup value of 8 or 9, torque limit during deceleration will be
limited by the setup value of Pr6E (Torque setup at emergency stop).
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
6A 0 to 100
<0> 2msSetup of
mechanical brake
action at stalling
You can set up the time from when the brake release signal (BRK-OFF :
CN X5, Pin-10 and 11) turns off to when the motor is de-energized
(Servo-free), when the motor turns to Servo-OFF while the motor is at
stall.
Refer to P.44, "Timing Chart"-Servo-ON/OFF Action While the Motor Is at
Stall" of Preparation as well.
• Set up to prevent a micro-travel/
drop of the motor (work) due to the
action delay time (tb) of the brake
• After setting up Pr6a
>
=
tb ,
then compose the sequence so as
the driver turns to Servo-OFF after
the brake is actually activated.
ON
SRV-ON
BRK-OFF
actual brake
motor
energization
release
OFF
hold
release
energized
hold
non-
energized
Pr6A
tb
223
[Connection and Setup of Full-closed Control]
Full-Closed
Control Mode
6B 0 to 100
<0> 2msSetup of
mechanical brake
action at running
You can set up time from when detecting the off of Servo-ON input signal
(SRV-ON : CN X5, Pin-29) is to when external brake release signal
(BRK-OFF : CN X5, Pin-10 and 11) turns off, while the motor turns to
servo off during the motor in motion.
Refer to P.45, "Timing Chart"-Servo-ON/OFF action while the motor is in
motion" of Preparation as well.
• Set up to prevent the brake
deterioration due to the motor
running.
• At Servo-OFF during the motor is
running, tb of the right fig. will be
a shorter one of either Pr6B
setup time, or time lapse till the
motor speed falls below 30r/min.
tb
ON
SRV-ON
BRK-OFF
motor
energization
release
OFF
hold
actual
brake energized non-
energized
30 r/min
6C
*
0 to 3
for
A, B-frame
<3>
for
C to F-frame
<0>
–Selection of
external
regenerative
resistor
With this parameter, you can select either to use the built-in regenerative
resistor of the driver, or to separate this built-in regenerative resistor and
externally install the regenerative resistor (between RB1 and RB2 of
Connector CN X2 in case of A to D-frame, between P and B2 of terminal
block in case of E, F-frame).
<Remarks>
Install an external protection such as thermal fuse when you use the
external regenerative resistor.
Otherwise, the regenerative resistor might be heated up abnormally and
result in burnout, regardless of validation or invalidation of regenerative
over-load protection.
<Caution>
When you use the built-in regenerative resistor, never to set up other
value than 0. Don't touch the external regenerative resistor.
External regenerative resistor gets very hot, and might cause burning.
Setup value
<0>
(C, D, E and
F-frame)
1
2
<3>
(A, B-frame)
Built-in resistor
External resistor
External resistor
No resistor
Regenerative processing circuit will be
activated and regenerative resistor overload
protection will be triggered according to the
built-in resistor (approx. 1% duty).
The driver trips due to regenerative overload
protection (Err18), when regenerative
processing circuit is activated and its active
ratio exceeds 10%,
Regenerative processing circuit is activated,
but no regenerative over-load protection is
triggered.
Both regenerative processing circuit and
regenerative protection are not activated, and
built-in capacitor handles all regenerative
power.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
Regenerative resistor
to be used Regenerative processing and
regenerative resistor overload
6D
*
35 to 1000
<35> 2msDetection time of
main power off You can set up the time to detect the shutoff while the main power is kept
shut off continuously.
The main power off detection is invalid when you set up this to 1000.
6E 0 to 500
<0> %Torque setup at
emergency stop You can set up the torque limit in case of emergency stop as below.
• During deceleration of over-travel inhibit with the setup 2 of Pr66
(Sequence at over-travel inhibit input)
• During deceleration with the setup of 8 or 9 of Pr67 (Sequence at main
power off)
•
During deceleration with the setup of 8 or 9 of Pr69 (Sequence at Servo-OFF)
Normal torque limit is used by setting this to 0.
70
0 to 32767
<25000> 256 x
resolution
Setup of position
deviation excess • You can set up the excess range of position deviation.
• Set up with the encoder pulse counts at the position control and with the
external scale pulse counts at the full-closed control.
• Err24 (Error detection of position deviation excess) becomes invalid
when you set up this to 0.
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you tur n on the
control power.
224
Parameter Setup
7B
*
1 to 10000
<100> 16 x
external
scale
pulse
Setup of hybrid
deviation excess • You can setup the permissible gap (hybrid deviation) between the
present motor position and the present external scale position.
• The driver will trip with Err25 (Hybrid deviation excess protection) when
the deviation is generated which exceeds the permissible gap.
7C
*
0 to 1
<0> –Reversal of
direction of
external scale
You can set up the logic of the absolute data of the external scale.
<Caution>
When you use the linear scale by other manufacture than Mitutoyo,
position data will be kept as it is with the setup of 0, and it will become as
a reversed signed position data with the setup of 1.
78
*
79
*
7A
*
0 to 32767
<0>
0 to 17
<0>
1 to 32767
<10000>
–
–
–
Numerator of
external scale
division
Multiplier of
numerator of
external scale
division
Denominator of
external scale
division
You can setup the ratio between the encoder resolution and the external
scale resolution at full-closed control.
• Pr78 ≠ 0,
Setup the ratio between the external scale resolution and the encoder
resolution per one motor revolution according to the above formula.
<Caution>
• Upper limit of numerator value after calculation is 131072. Setup
exceeding this value will be invalidated, and 131702 will be the actual
numerator.
• Pr78= <0> (default)
Numerator equals to encoder resolution, and you can setup
the external scale resolution per one motor revolution with Pr7A.
Encoder resolution per one motor revolution
External scale resolution per one motor revolution Pr78 X 2
Pr79
Pr7A
=
Setup value
0
1
Content
Serial data will increase when the detection head travels
to the right viewed from the mounting side. (+ count)
Serial data will decrease when the detection head travels
to the right viewed from the mounting side. (– count)
72 0 to 500
<0> %Setup of
over-load level • You can set up the over-load level. The overload level becomes 115 [%]
by setting up this to 0.
• Use this with 0 setup in normal operation. Set up other value only when
you need to lower the over-load level.
•
The setup value of this parameter is limited by 115[%] of the motor rating.
73
0 to 20000
<0> r/minSetup of
over-speed level • You can set up the over-speed level. The over-speed level becomes 1.2
times of the motor max. speed by setting up this to 0.
• Use this with 0 setup in normal operation. Set up other value only when
you need to lower the over-speed level.
• The setup value of this parameter is limited by 1.2 times of the motor
max. speed.
<Caution>
The detection error against the setup value is ±3 [r/min] in case of the 7-wire
absolute encoder, and ±36 [r/min] in case of the 5-wire incremental encoder.
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
Standard default : < >
PrNo. Setup
range UnitTitle Function/Content
Parameters for Full-Closed Control
<Notes>
•For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the
control power.
225
page
Gain Adjustment....................................................226
Real-Time Auto-Gain Tuning ................................228
Fit-Gain Function....................................................................... 231
Adaptive Filter .......................................................234
Normal Auto-Gain Tuning.....................................236
Release of Automatic Gain Adjusting Function .239
Manual Auto-Gain Tuning (Basic)........................240
Adjustment in Position Control Mode ........................................ 241
Adjustment in Velocity Control Mode ........................................ 241
Adjustment in Torque Control Mode.......................................... 242
Adjustment in Full-Closed Control Mode................................... 242
Gain Switching Function............................................................ 243
Suppression of Machine Resonance ........................................ 246
Automatic Gain Setup Function ................................................ 248
Manual Auto-Gain Tuning (Application)..............249
Instantaneous Speed Observer ................................................ 249
Damping Control ....................................................................... 250
[Adjustment]
226
Position loop gain : 20
Velocity loop gain : 100
Time constant of
V-loop integration
: 50
Velocity loop feed forward : 0
Inertia ratio : 100
Position loop gain : 100
Velocity loop gain : 50
Time constant of
V-loop integration
: 50
Velocity loop feed forward : 0
Inertia ratio : 100
Position loop gain : 100
Velocity loop gain : 50
Time constant of
V-loop integration
: 50
Velocity loop feed forward : 500
Inertia ratio : 100
+2000
-
2000
0
0.0 375250125 0.0 375250125 0.0 375250125
[r/min]
Command Speed
Motor actual speed
Gain setup : Low Gain setup : High
Gain setup : High + feed forward setup
Purpose
It is required for the servo driver to run the motor in least time delay and as faithful as possible against the
commands from the host controller. You can make a gain adjustment so that you can r un the motor as
closely as possible to the commands and obtain the optimum performance of the machine.
<e.g. : Ball screw>
Procedures
Start adjustment
Automatic
adjustment ?
Ready for
command
input ?
Auto-adjustment
of stiffness ?
Action O.K.?
Action O.K.?
Yes
Yes
Action O.K.?
Real time
auto-gain tuning
(Default) Normal mode
auto-gain tuning
Release of
auto-adjusting
function
Fit-gain function
Release of
auto-adjusting
function
Manual gain tuning
Gain automatic
setup function
Finish adjustment
Writing to EEPROM
Consult to authorized dealer
(see P.228)
(see P.231)
(see P.239)
(see P.236)
(see P.248)
(see P.239)
(see P.240)
Use the
gain setup of auto-
adjustment ?
No
No
Yes No
No Yes
No
No
Yes
Yes
No
Yes
Gain Adjustment
227
[Adjustment]
Adjustment
<Remarks>
• Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs , shut off the main
power, or turn to Servo-OFF.
Real-time auto-gain tuning
Fit-Gain function
Adaptive filter
Normal mode auto-gain tuning
Release of automatic gain
adjusting function
Manual gain tuning (basic)
Basic procedure
Gain switching function
Suppression of machine
resonance
Automatic gain setup function
Manual gain tuning (application)
Instantaneous speed observer
Damping control
P.228
P.231
P.234
P.236
P.239
P.240
P.241
P.241
P.242
P.242
P.243
P.246
P.248
P.249
P.249
P.250
Estimates the load inertia of the machine in real time, and auto-
matically sets up the optimum gain corresponding to this result.
Searches automatically the appropriate stiffness setup by en-
tering the certain action pattern repeatedly, to set up the stiff-
ness of real-time auto-gain tuning at position control.
Reduces the resonance vibration point by automatically setting
up the notch filter coefficient which removes the resonance
component from the torque command while estimating the res-
onance frequency from the vibrating component which appears
in the motor speed in actual operating condition.
Sets up the appropriate gain automatically by calculating the
load inertia from the torque required to run the motor in the
command pattern automatically created in the driver.
Describes the cautions when you invalidate the real-time auto-
gain tuning or adaptive filter which are defaults.
Execute the manual adjustment when real-time auto-gain tun-
ing cannot be executed due to the limitation of control mode
and load condition, or when you want to obtain an optimum re-
sponse depending on each load.
Adjustment of position control mode
Adjustment of velocity control mode
Adjustment of torque control mode
Adjustment of full-closed control mode
You can expect to reduce vibration at stopping and settling
time and to improve command compliance by switching the
gains by internal data or external signals.
When the machine stiffness is low, vibration or noise may be gen-
erated due to the distorted axis, hence you cannot set the higher
gain. You can suppress the resonance with two kinds of filter.
Initializes the control parameters and gain switching parameters
to the values corresponding to the automatic tuning stiffness
parameters, before executing the manual auto-gain tuning.
You can obtain the higher performance while you are not satis-
fied with the performance obtained with the basic adjustment,
using the following application functions.
Function which obtains both high response and reduction of vi-
bration at stopping by estimating the motor speed with the load
model, and hence improves the accuracy of speed detection.
Function which reduces vibration by removing the vibration fre-
quency component while the front end of the machine vibrates.
Function Explanation Pages
to
refer
Automatic adjustment
Manual adjustment
Type
228
Real-Time Auto-Gain Tuning Mode
Outline
Estimates the load inertia of the
machine in real time and sets
up the optimum gain automati-
cally responding to the result.
Applicable Range
Real time auto-gain tuning is applicable to all control modes.
Caution
Real-time auto-gain tuning may not be e xecuted properly under the conditions described in the table below.
In these cases , use the normal mode auto-gain tuning (refer to P.236 of Adjustment), or execute the manual
auto-gain tuning (refer to P.240).
Action command under
actual condition
Position/Velocity
command Position/Velocity
control
Servo driver
Real time
auto-gain tuning
Resonance frequency
estimation
Load inertia estimation
Adaptive
Filter current
control
Gain
auto-setup Filter
auto-adjustment
Torque
command Motor
current
Motor
speed
Motor
Encoder
Conditions which obstruct real-time auto-gain tuning action
•
The load is too small or large compared to the rotor inertia. (less than 3 times or more than 20 times)
• The load inertia changes too quickly (10 [s] or less)
• The machine stiffness is extremely low.
• A chattering such as backlash exists.
• The motor is running continuously at low speed of (100 [r/min] or lower.
• Acceleration/deceleration is slow (2000 [r/min] per 1[s] or low).
•
Acceleration/deceleration torque is smaller than unbalanced weighted/viscous friction torque.
• When the speed condition of 100 [r/min] or more and acceleration/deceleration condition of
2000 [r/min] per 1 [s] are not maintained for 80 [ms].
Load
Load inertia
Action pattern
How to Operate
1) Bring the motor to stall (Servo-OFF).
2) Set up Pr21 (Setup of real-time auto-gain tuning mode) to 1-7.
Setup value
0
[1]
2
3
4
5
6
7
Real time auto-gain tuning
(not in use)
normal mode
vertical axis mode
no gain switching mode
Varying degree of load inertia in motion
–
no change
slow change
rapid change
no change
slow change
rapid change
no change
When the changing degree of load inertia is large, set up 3 or 6.
When the motor is used for vertical axis, set up 4-6.
When vibration occurs during gain switching, set up 7.
3) Set up Pr22 (Machine stiffness at real-time auto-gain tuning) to 0 or smaller value.
4) Turn to Servo-ON to run the machine nor mally.
5) Gradually increase Pr22 (Machine stiffness at real-time auto-gain tuning, machine) when you want to
obtain a better response. Lower the value (0-3) when you experience abnormal noise or oscillation.
6) Write the result to EEPROM when you want to save it.
229
[Adjustment]
Adjustment
Setup of parameter, Pr21
Press .
Press .
Match to the parameter No.
to be set up with . (Here match to Pr21.)
Press .
Change the setup with .
Press .
Setup of parameter, Pr22
Match to Pr22 with .
Press .
Numeral increases with ,
and decreases with .
Press .
(default values)
Writing to EEPROM
Press .
Press .
Bars increase as the right fig. shows
by keep pressing (approx. 5sec).
Writing starts (temporary display).
Finish Writing completes Writing error
occurs
Return to SELECTION display after writing finishes, referring
to "Structure of each mode"(P.60 and 61 of Preparation).
Insert the console connector to
CN X6 of the driver, then turn
on the driver power.
230
PrNo.
10
11
12
13
14
18
19
1A
1B
1C
20
Title
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of velocity detection
1st time constant of torque filter
2nd gain of position loop
2nd gain of velocity loop
2nd time constant of velocity loop integration
2nd filter of speed detection
2nd time constant of torque filter
Inertia ratio
PrNo.
15
16
27
30
31
32
33
34
35
36
300
50
0
1
10
30
50
33
20
0
Title Setup value
Velocity feed forward
Time constant of feed forward filter
Setup of instantaneous speed observer
2nd gain setup
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
Position gain switching time
2nd mode of control switching
Parameters Which Are Automatically Set
Following parameters are automatically adjusted.
Also following parameters are automatically set up.
<Notes>
• When the real-time auto-gain tuning is valid, you cannot change the parameters which are automati-
cally adjusted.
• Pr31 becomes 10 at position or full closed control and when Pr21 (Setup of real-time auto-gain tuning)
is 1 to 6, and becomes 0 in other cases.
Caution
(1) After the start-up, you may experience abnormal noise and oscillation right after the first Servo-ON, or
increase of Pr22 (Selection of machine stiffness at real-time auto-gain tuning) until the load inertia is
identified (estimated) or the adaptive filter is stabilized, however, these are not failures as long as they
disappear immediately. If they persist over 3 reciprocating operations, take the following measures in
possible order.
1) Write the parameters which have given the normal operation into EEPROM.
2) Lower the setup of Pr22 (Selection of machine stiffness at real time auto-gain tuning).
3) Set up the notch filter manually.
(2) When abnormal noise and oscillation occur, Pr20 (Inertia ratio) or Pr2F (Adaptive filter frequency) might
have changed to extreme values. Take the same measures as the above in these cases.
(3) Among the results of real-time auto-gain tuning, Pr20 (Inertia ratio) and Pr2F (Adaptive filter frequency)
will be written to EEPROM every 30 minutes. When you turn on the power again, the auto-gain tuning will
be executed using the latest data as initial values.
(4) When you validate the real-time auto-gain tuning, Pr27 (Setup of instantaneous speed observer) will be
invalidated (0) automatically.
(5) Dur ing the trial run and frequency characteristics measurement of "PANATERM®", the load iner tia esti-
mation will be invalidated.
Real-Time Auto-Gain Tuning
231
[Adjustment]
Adjustment
Fit-Gain function
Outline
MINAS-A4 series features the Fit-gain func-
tion which executes the automatic setup of
stiffness corresponding to the machine
while the real time auto-gain tuning is used
at position control. This function automati-
cally searches the optimum stiffness setup
by repeating reciprocating movement at
position control.
Real time auto-gain
tuning action
Adaptive filter
Control mode
Action pattern
Conditions under which the Fit-gain function is activated
• The real-time auto-gain tuning has to work properly.
• At Servo-ON status
• Pr21=1-6 (Not usable when Pr21=0 or 7)
• The adaptive filter is validated.
• Pr23=1 : Validated
• At position control mode
Pr02=0 : Position control
Pr02=3 : 1st control mode of position/velocity control
Pr02=4 : 1st control mode of position/torque control
• The position command to be for reciprocating movement
• One position command time to be 50 [ms] or longer.
• Min. frequency of position command to be 1 [kpps] or
more.
(To be used for judgment of start and finish of command)
Action pattern
Conditions which obstruct Fit-Gain action
• The position command is small such as less than 2 revolutions.
• When the positioning cannot be completed before the start of the next position command even
though the positioning command has been completed.
• Acceleration/deceleration is rapid such as 30000 [r/min] per 1[s].
Command
waveform
Positioning
complete
Accel/deceleration
<(3000r/min/0.1s)
50 [ms] or longer
1[s] or longer
1 [s] or longer
OFF
ON
Position/
Velocity
control
Position command
Motor
speed
Torque
command
Adaptive
Filter
Motor
current
Motor
Encoder
Servo driver
+Position
deviation
Fit-gain function
(Reciprocating
command with
trapezoidal
waveform)
Current
control
Detection
of
vibration
Real time
auto-gain tuning
Automatic setup of
stiffness and gain
table
(Settling
time)
Load inertia estimation
Resonance frequency
estimation
Applicable Range
This function can be applicable when the following conditions are satisfied in addition to the applicable
conditions for real time auto-gain tuning.
Caution
This function may not work properly under the following conditions in addition to the conditions for real time
auto-gain tuning. In these cases, use the normal real-time auto-gain tuning.
232
Pr21 (Setup of real-time auto-gain
tuning mode)
Pr22 (Selection machine stiffness at real time
auto-gain tuning)
Pr23 (Setup of adaptive filter)
Pr60 (Positioning complete range)
Setup value NotesParameter Either of 1-6.
0 : Real time stiffness No. 0
1 : Valid
In case of 17bit encoder, 20 pulses or more,
In case of 2500P/r encoder, 10 pulses or more,
You can setup
parameters in the left
through the
EXECUTION display
of the Fit-Gain screen
on the front panel.
(Refer to P.72 of
Preparation.)
1 Normal mode no change
2 Normal mode slow change
3 Normal mode rapid change
4 Vertical axis mode no change
5 Vertical axis mode slow change
6 Vertical axis mode rapid change
Real-Time Auto-Gain Tuning
How to Operate
<Caution 2>
will be displayed in the following cases.
• No chattering of COIN signal and real-time
stiffness NO. without micro vibration, have
been found.
• One of the keys of the front panel has been
operated during the Fit-Gain action, or
applicable condition have not been
satisfied.
Procedures Example of front panel display
SELECTION
display EXECUTION
display
(1) Bring the front panel display to EXECUTION
display of the Fit-Gain screen.
(For operation of the front panel, refer to P.72
of Preparation.)
(2) Start up the Fit-Gain function by pressing
for approx. 3sec after lowering the stiffness
to 0 while the dot “ ” on the right lower cor-
ner flashes.
(3) Enter the position command which satisfies
the action pattern condition of P.228,
"Applicable Range".
<Caution 1>
The Fit-Gain movement requires max. 50 re-
ciprocating movements. The Fit-gain function
finishes when the optimum real-time stiffness
No. is found in normal case.
(4) will be displayed when the Fit-Gain
function finishes normally, and will
be
displayed when this finishes with error.
(You can clear display by operating
any key.)
Fit-Gain screen
Front panel display
changes to 000.000
Front panel display
changes together with
the machine movement.
EXECUTION display of
Fit-Gain screen
(when Pr23=1)
Fit-Gain starts
set
button
ErrorNormal
After setting up of
stiffness to 0,
keep pressing
for approx.3sec
while the dot on the
right corner flashes.
( )
Before Operation
Before the start-up of the Fit-Gain function, set up the followings with the Fit-Gain screen and parameter
setup mode of the front panel, or the Console or the Setup Support Software, "PANATERM®".
233
[Adjustment]
Adjustment
Parameters Which Are Automatically Set
PrNo.
10
11
12
13
14
18
19
1A
1B
1C
20
22
Title
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of velocity detection
1st time constant of torque filter time
2nd gain of position loop
2nd gain of velocity loop
2nd time constant of velocity loop integration
2nd filter of velocity detection
2nd time constant of torque filter
Inertia ratio
Selection of machine stiffness at real time auto-gain tuning
PrNo.
15
16
27
30
31
32
33
34
35
36
300
50
0
1
10
30
50
33
20
0
Title
Setup value
Velocity feed forward
Time constant of feed forward filter
Setup of instantaneous speed observer
2nd gain setup
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st Hysteresis of control switching
Switching time of position gain
2nd mode of control switching
Following parameters are automatically adjusted.
Also following parameters are automatically set up.
Caution
During the Fit-Gain movement, you may experience some noise and vibration, however, these do not give
any trouble since the gain is automatically lowered. If noise and vibration persist, interrupt the Fit-Gain by
pressing one of the switches of the front panel.
Result of Fit-Gain
[EXECUTION display] Writing of the result from the Fit-Gain screen
Press for approx.3sec to
save the present setup to EEPROM.
will be displayed when the Fit-Gain finishes normally, and will be displayed when it
finishes with some error. Write the result to EEPROM when you want to apply the result after the power
reset.
234
Adaptive Filter
Outline
Estimates the resonance
frequency out of vibration
component presented in the
motor speed in motion, then
removes the resonance
component from the torque
command by setting up the
notch filter coefficient auto-
matically, hence reduces
the resonance vibration.
Applicable Range
This function works under the following condition.
How to Operate
1) Validate the adaptive filter by setting up Pr23 (Setup of adaptive filter) to 1.
Adaptive filter automatically estimates the resonance frequency out of vibration component presented in
the motor speed in motion, then removes the resonance components from the torque command by set-
ting up the notch filter coefficient automatically, hence reduces the resonance vibration.
2) Write the result to EEPROM when you want to save it.
Action command under
actual condition
Position/Velocity
command Position/Velocity
control
Servo driver
Real time
auto-gain tuning
Resonance frequency
estimation
Load inertia estimation
Adaptive
Filter current
control
Gain
auto-setup Filter
auto-adjustment
Torque
command Motor
current
Motor
speed
Motor
Encoder
Resonance point
Command pattern
Load
Conditions which obstruct adaptive filter action
• Resonance frequency is lower than 300[Hz].
• Resonance peak is low, or control gain is low where the motor speed is not affected by this.
• Multiple resonance points exist.
• Motor speed variation with high harmonic component is generated due to non-linear factors such as
backlash.
• Acceleration/deceleration is rapid such as 30000[r/min] per 1[s].
0
[1]
2
Adaptive filter
Invalid
Valid
Adaptive action
-
Yes
No (Hold)
When adaptation finishes (Pr2F does not change), and resonance point seems
not change, set up the value to 2.
Setup value
Caution
The adaptive filter may not work properly under the following conditions. In these cases, take measures to
resonance according to the manual adjustment procedures, using the 1st notch filter (Pr1D and 1E) and the
2nd notch filter (Pr28 to 2A).
Control Mode Conditions under which the Adaptive filter is activated
• Applies to other control modes than torque control.
235
[Adjustment]
Adjustment
Caution
(1) After the start-up, you may experience abnormal noise and oscillation right after the first Servo-ON, or
when you increase the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning), until
the load inertia is identified (estimated) or the adaptiv e filter is stabilized, how ev er, these are not f ailures
as long as they disappear immediately. If they persist over 3 reciprocating operations, take the following
measures in possible order.
1) Write the parameters which have given the normal operation into EEPROM.
2) Lower the setup of Pr22 (Selection of machine stiffness at real-time auto-gain tuning).
3) Invalidate the adaptive filter by setting up Pr23 (Setup of adaptive filter mode) to 0.
(Reset of inertia calculation and adaptive action)
4) Set up the notch filter manually.
(2) When abnor mal noise and oscillation occur, Pr2F (Adaptive filter frequency) might have changed to
extreme values. Take the same measures as the above in these cases.
(3) Pr2F (Adaptive filter frequency) will be written to EEPROM every 30 minutes. When you turn on the
power again, adaptive action will be executed using the latest data as initial values.
(4) The adaptive filter is normally invalidated at torque control, however, when you select torque control
while you set up Pr02 (Control mode setup) to 4 and 5, the adaptive filter frequency before mode switch-
ing will be held.
Invalidation of Adaptive Filter
When you set up Pr23 (Setup of adaptive filter) to 0, the adaptive filter function which automatically follows
the load resonance will be invalidated.
If you invalidate the adaptive filter which ha ve been working correctly, noise and vibration may occur due to
the effect of resonance which have been suppressed.
Therefore, execute the copying function of the setup of adaptive filter (Pr2F) to the 1st notch frequency
(Pr1D) from the Fit-Gain screen of the front panel (refer to P.72, "Fit-Gain Screen" of Preparation), or set up
Pr1D (1st notch frequency) manually by using the table below, then invalidate this filter.
Pr2F
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
1st notch frequency [Hz]
(invalid)
(invalid)
(invalid)
(invalid)
(invalid)
1482
1426
1372
1319
1269
1221
1174
1130
1087
1045
1005
967
930
895
861
828
796
Pr2F
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
1st notch frequency [Hz]
766
737
709
682
656
631
607
584
562
540
520
500
481
462
445
428
412
396
381
366
352
339
Pr2F
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
1st notch frequency [Hz]
326
314
302
290
279
269 (invalid when Pr22
>
=
15)
258 (invalid when Pr22
>
=
15)
248 (invalid when Pr22
>
=
15)
239 (invalid when Pr22
>
=
15)
230 (invalid when Pr22
>
=
15)
221 (invalid when Pr22
>
=
14)
213 (invalid when Pr22
>
=
14)
205 (invalid when Pr22
>
=
14)
197 (invalid when Pr22
>
=
14)
189 (invalid when Pr22
>
=
14)
182 (invalid when Pr22
>
=
13)
(invalid)
(invalid)
(invalid)
(invalid)
(invalid)
*Set up 1500 to Pr1D (1st notch frequency) in case of “ invalid ” of the above table.
236
<Remarks>
Set up the torque limit selection (Pr03) to 1.
When you set up other than 1, driver may not act correctly.
Caution
Normal mode auto-gain tuning may not be work properly under the following conditions. In these cases, set
up in manual gain tuning
•Tuning error will be tr iggered when an error, Servo-OFF, the main power shutdown, validation of over-
travel inhibition, or deviation counter clear occurs during the normal mode auto-gain tuning.
• If the load inertia cannot be calculated even though the normal mode auto-gain tuning is executed, gain
value will not change and be kept as same as that of before the execution.
• The motor output torque during the normal auto-gain tuning is permitted to the max. torque set with Pr5E
(Setup of torque limit).
Pay an extr a attention to the saf ety. When oscillation occurs, shut off the main po wer or turn to Serv o-
OFF immediately. Bring back the gain to default with parameter setup. Refer to cautions of P.71,
"Auto-Gain Tuning Mode" of Preparation as well.
Normal Mode Auto-Gain Tuning
Outline
The motor will be driven per the command with a pat-
tern generated by the driv er automatically. The driver
estimates the load inertia from the necessary torque,
and sets up an appropriate gain automatically.
Applicable Range
This function works under the following condition.
Control mode
Others
Conditions under which the normal mode auto-gain tuning is activated
Applies to all control modes.
• Servo-ON status
• No entry of deviation counter clear signal
Position command
Motor torque
Servo driver
Position command
Load inertia
calculation
Generation
of
internal
positional
command
Current
control
Motor
current
Motor
speed
Position/Velocity
Control
Gain
auto-
adjust
Torque
command
Motor
Encoder
Normal mode
auto-gain tuning
Load inertia
Load
Conditions which obstruct normal auto-gain tuning
• Too small or too big compared to the rotor inertia
(smaller than 3 times or larger than 20 times)
• Load inertia varies.
• Machine stiffness is extremely low.
• Chattering such as backlash exists.
237
[Adjustment]
Adjustment
Auto-Gain T uning Action
(1) In the normal mode auto-gain tuning, you can set up the response with machine stiffness No..
Machine stiffness No.
•
Represents the degree of machine stiffness of the customer's machine and have values from o to 15.
You can set a higher No. to the high stiffness machine and set up a higher gain.
• Usually start setting up with a lower value and increase gradually to repeat auto-gain tuning in the
range where no oscillation, no abnormal noise, nor vibration occurs.
(2) This tuning repeats max. 5 cycles of the action pattern set with Pr25 (Normal mode auto-gain tuning
action). Action acceleration will be doubled ev ery one cycle after third cycle. Tuning may finish, or action
acceleration does not vary before 5th cycle depending on the load, however, this is nor an error.
How to Operate
(1) Set up the action pattern with Pr25.
(2) Shift the load to the position where no hazard is expected even though the action pattern which is set
with Pr25 is executed.
(3) Prohibit the command entry.
(4) Turn to Ser vo-ON.
(5) Start up the auto-gain tuning.
Use the front panel or the "PANATERM®".
For the operation of the front panel, refer to P.71, "Auto-Gain Tuning Mode" of Preparation.
(6) Adjust the machine stiffness to the level at which no vibration occurs and obtain the required response.
(7) Write the result to EEPROM, if it is satisfactory.
Parameters Which Are Automatically Set
Table of auto-gain tuning
10 1st gain of position loop
11 1st gain of velocity loop
12
1st time constant of velocity loop integration
13 1st filter of velocity detection
14
1st time constant of torque filter time *2
15 Velocity feed forward
16 Velocity FF filter
18 2nd gain of position loop
19 2nd gain of velocity loop
1A
2nd time constant of velocity loop integration
1B 2nd filter of speed detection
1C
2nd time constant of torque filter
*
2
20 Inertia ratio
27
Setup of instantaneous velocity observer
30 2nd gain setup
31 1st mode of control switching
*
1
32 1st delay time of control switching
33 1st level of control switching
34 1st Hysteresis of control switching
35 Switching time of position gain
36 2nd mode of control switching
0
[1]
2
3 [4]
5
6
7
8
9
10 11 12 13
14
15
12
9
62
0
253
300
50
19
9
999
0
253
0
1
10
30
50
33
20
0
32
18
31
0
126
300
50
38
18
999
0
126
0
1
10
30
50
33
20
0
39
22
25
0
103
300
50
46
22
999
0
103
0
1
10
30
50
33
20
0
48
27
21
0
84
300
50
57
27
999
0
84
0
1
10
30
50
33
20
0
63
35
16
0
65
300
50
73
35
999
0
65
0
1
10
30
50
33
20
0
72
40
14
0
57
300
50
84
40
999
0
57
0
1
10
30
50
33
20
0
90
50
12
0
45
300
50
105
50
999
0
45
0
1
10
30
50
33
20
0
108
60
11
0
38
300
50
126
60
999
0
38
0
1
10
30
50
33
20
0
135
75
9
0
30
300
50
157
75
999
0
30
0
1
10
30
50
33
20
0
162
90
8
0
25
300
50
188
90
999
0
25
0
1
10
30
50
33
20
0
206
115
7
0
20
300
50
241
115
999
0
20
0
1
10
30
50
33
20
0
251
140
6
0
16
300
50
293
140
999
0
16
0
1
10
30
50
33
20
0
305
170
5
0
13
300
50
356
170
999
0
13
0
1
10
30
50
33
20
0
377
210
4
0
11
300
50
440
210
999
0
11
0
1
10
30
50
33
20
0
449
250
4
0
10
300
50
524
250
999
0
10
0
1
10
30
50
33
20
0
557
310
3
0
10
300
50
649
310
999
0
10
0
1
10
30
50
33
20
0
Stiffness value
represents parameters with fixed value. Default for A to C-frame is 4, and 1 for D to F-frame.
*1 Stiffness value is 10 for position control and full-closed control, and 0 for velocity control and torque control.
*2 Lower limit for stiffness value is 10 for 17-bit encoder, and 25 for 2500P/r encoder.
Title
Pr
No.
Estimated load inertia ratio
238
How to Operate from the Front Panel
(1) Turn to the normal auto-gain tuning
mode from the monitor mode, by
pressing the SET button, then press
the mode switching button three times.
For details, refer to P.60 and 61,
"Structure of Each Mode" of Preparation.
(2) Enter the machine stiffness No. by pressing .
Display of rotational speed
of the motor (initial display)
Machine stiffness No.
Machine stiffness No. (High)
Machine stiffness No. (Low)
Tuning finishes
normally Tuning error
Value changes toward the direction as
an arrow shows by pressing and
changes toward the reversed direction
by pressing .
(3) Shift to MONITOR/EXECUTION mode
by pressing .
(4) Operation at MONITOR/EXECUTION mode
Keep pressing until the display
changes to .
• Pin-29 of the connector, CN X5 to be
Servo-ON status.
Keep pressing for approx.3sec,
then bar increase as the right fig. shows.
The motor starts rotating.
For approx. 15 sec, the motor repeats
max. 5 cycles of CCW/CW rotation,
2 revolutions each direction per one cycle.
Tuning may finish before 5th cycles,
however, this is not an error.
(5) Write the gain value to EEPROM to prevent
them from being lost due to the power shut off.
Drive method
Ball screw direct connection
Ball screw + timing belt
Timing belt
Gear, Rack & Pinion
Others, low stiffness machine
Machine stiffness No.
8 –14
6 –12
4 –10
2 – 8
0 – 8
<Caution>
Do not use the normal mode auto-gain tuning with the motor and driver alone. Pr20 (Inertia ratio) be-
comes to 0.
<Notes>
Content
Display of error.
Value of parameter
related to gain (such as
Pr10) is kept as same
as before the execution.
Motor does not run.
Cause
One of alarm, Servo-OFF or
deviation counter clear has
occurred.
Load inertia cannot be identified.
CL (Pin-30) of CN X5 is entered.
Measure
•
Avoid an operation near the limit switch or origin proximity switch.
• Turn to Servo-ON.
• Release the deviation counter clear
• Lower Pr10 to 10 and Pr11 to 50, then execute the tuning.
• Adjust the gain manually. (Calculate the load inertia, and then
enter.)
Turn off the CL (Pin-30) of CN X5.
Normal Mode Auto-Gain Tuning
239
[Adjustment]
Adjustment
Release of Automatic Gain Adjusting Function
Outline
Cautions are described when you want to in v alidate the real time auto-gain tuning of def ault or the adaptive filter .
Caution
Execute the release of the automatic adjusting functions while all action stop (Servo-OFF)
Invalidation of Real-Time Auto-Gain Tuning
You can stop the automatic calculation of Pr20 (Inertial ratio) and inv alidate the real-time auto-gain tuning b y
setting up Pr21 (Real-time auto-gain tuning setup) to 0.
Note that the calculation result of Pr20 (Inertia ratio) will be held, and if this parameter becomes abnormal
value, use the normal mode auto-gain tuning or set up proper value manually obtained from formula or
calculation.
Invalidation of Adaptive Filter
When you set up Pr23 (Setup of adaptive filter) to 0, adaptive filter function which automatically follows the
load resonance will be invalidated.
If you invalidate the adaptive filter which ha ve been working correctly, noise and vibration may occur due to
the effect of resonance which have been suppressed.
Therefore, execute the copying function of the setup of adaptive filter (Pr2F) to the 1st notch frequency
(Pr1D) from the Fit-gain screen of the front panel (refer to P.72, "Fit-Gain Screen" of Preparation), or set up
Pr1D (1st notch frequency) manually by using the table below, then invalidate this filter.
Pr2F
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
1st notch frequency [Hz]
(invalid)
(invalid)
(invalid)
(invalid)
(invalid)
1482
1426
1372
1319
1269
1221
1174
1130
1087
1045
1005
967
930
895
861
828
796
Pr2F
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
1st notch frequency [Hz]
766
737
709
682
656
631
607
584
562
540
520
500
481
462
445
428
412
396
381
366
352
339
Pr2F
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
1st notch frequency [Hz]
326
314
302
290
279
269 (invalid when Pr22
>
=
15)
258 (invalid when Pr22
>
=
15)
248 (invalid when Pr22
>
=
15)
239 (invalid when Pr22
>
=
15)
230 (invalid when Pr22
>
=
15)
221 (invalid when Pr22
>
=
14)
213 (invalid when Pr22
>
=
14)
205 (invalid when Pr22
>
=
14)
197 (invalid when Pr22
>
=
14)
189 (invalid when Pr22
>
=
14)
182 (invalid when Pr22
>
=
13)
(invalid)
(invalid)
(invalid)
(invalid)
(invalid)
*Set up 1500 to Pr1D (1st notch frequency) in case of “ invalid ” of the above table.
240
As e xplained previously, MINAS-A4 series features the automatic gain tuning function, ho w ever, there might
be some cases where this automatic gain tuning cannot be adjusted properly depending on the limitation on
load conditions. Or you might need to readjust the tuning to obtain the optimum response or stability corre-
sponding to each load.
Here we explain this manual gain tuning method by each control mode and function.
Before Making a Manual Adjustment
You can adjust with the sound or motor (machine) movement by using the front panel or the console, how-
ever , you can adjust more securely b y using wav e graphic function of the setup support software , PANATERM®,
or by measuring the analog voltage waveform using a monitoring function.
1. Analog monitor output
You can measure the actual motor speed, commanded speed, torque and deviation pulses by analog
voltage level by using an oscilloscope. Set up the types of the signals or the output voltage level with Pr07
(Selection of speed monitor) and Pr08 (Selection of torque monitor).
For details, ref er to P.41, "Wiring to the Connector, CN X5" of Prepar ation, and "Parameter Setup" of each
control mode.
1kΩ
1kΩ
42
43
17
CN X5
IM
SP
RS232
connection cable
* Caution
Connect to CN X4
(Do not connect to CN X3)
Man ual Gain Tuning (Basic)
2. Waveform graphic function of the PANATERM®
You can display the command to the motor, motor movement (speed, torque command and deviation
pulses) as a wavefor m graphic on PC display. Refer to P.276, "Outline of the Setup Suppor t Software,
PANATERM®" of Supplement.
241
[Adjustment]
Adjustment
Adjustment in Position Control Mode
Position control of MINAS-A4 series is descr ibed in Block diagram of P.82.
Make adjustment in position control per the following procedures.
(1) Set up the following parameters to the values of the table below.
10
11
12
13
14
15
16
18
19
1A
1B
1C
1D
1E
Standard
value
27
15
37
0
152
0
0
27
15
37
0
152
1500
2
Title of parameter
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of velocity detection
1st time constant of torque filter time
Velocity feed forward
Time constant of feed forward filter
2nd gain of position loop
2nd gain of velocity loop
2nd time constant of velocity loop integration
2nd filter of speed detection
2nd time constant of torque filter
Selection of 1st notch frequency
Selection of 1st notch width
20
21
23
2B
2C
2D
2E
30
31
32
33
34
35
4C
4D
Standard
value
100
0
0
0
0
0
0
0
0
0
0
0
0
1
0
Title of parameter
Inertia ratio
Setup of real time auto-gain tuning mode
Adaptive filter setup mode
1st damping frequency
Setup of 1st damping filter
2nd damping frequency
Setup of 2nd damping filter
2nd gain setup
Mode of position control switching
Delay time of position control switching delay
Level of position control switching
Hysteresis at position control switching
Position gain switching time
Setup of smoothing filter
Setup of FIR filter
Parameter
No.
(Pr )
Parameter
No.
(Pr )
(2) Enter the inertia ratio of Pr20. Measure the ratio or setup the calculated value.
(3) Make adjustment using the standard values below.
Order
1
2
3
4
5
Standard
value
30
50
50
25
300
Title of parameter
Parameter
No.
(Pr )
Pr11
Pr14
Pr10
Pr12
Pr15
1st gain of
velocity loop
1st time constant of
torque filter
1st gain of
position loop
1st time constant of
velocity loop
integration
Velocity feed forward
How to adjust
Increase the value within the range where no abnormal noise and no vibration
occur. If they occur, lower the value.
When vibration occurs by changing Pr11, change this value.
Setup so as to make Pr11 x Pr14 becomes smaller than 10000. If you want to
suppress vibration at stopping, setup larger value to Pr14 and smaller value to
Pr11. If you experience too large vibration right before stopping, lower than
value of Pr14.
Adjust this observing the positioning time. Larger the setup, faster the
positioning time you can obtain, but too large setup may cause oscillation.
Setup this value within the range where no problem occurs. If you setup
smaller value, you can obtain a shorter positioning time, but too small value
may cause oscillation. If you setup too large value, deviation pulses do not
converge and will be remained.
Increase the value within the range where no abnormal noise occurs.
Too large setup may result in overshoot or chattering of position complete
signal, hence does not shorten the settling time. If the command pulse is not
even,you can improve by setting up Pr16 (Feed forward filter) to larger value.
Adjustment in Velocity Control Mode
Velocity control of MINAS-A4 series is descr ibed in Block Diagram of P.126 of Velocity Control Mode.
Adjustment in velocity control is almost same as that in position control described in "Adjustment in Position
Control Mode", and make adjustments of parameters per the procedures except the gain setup of position
loop and the setup of velocity feed forward.
242
Man ual Gain Tuning (Basic)
Adjustment in Torque Control Mode
Torque control of MINAS-A4 series is described in P.160, "Block Diagram" of Torque Control Mode.
This torque control is based on velocity control while making the 4th speed of speed setup of Pr56 or SPR/
SPL input as a speed limit. Here we explain the setup of speed limiting value.
• Setup of speed limiting value
Setup the speed limiting value to the 4th speed of speed setup (Pr56) (when torque command
selection (Pr5B) is 0.) or to the analog speed command input (SPR/TRQR/SPL ) (when torque
command selection (Pr5B) is 1).
• When the motor speed approaches to the speed limiting value, torque control following the analog
torque command shifts to velocity control based on the speed limiting value which will be determined by
the 4th speed of speed setup (Pr56) or the analog speed command input (SPR/TRQR/SPL).
• In order to stabilize the movement under the speed limiting, you are required to set up the parameters
according to the above-mentioned "Adjustment in Velocity Control Mode".
• When the speed limiting value = 4th speed of speed setup (Pr56) , the analog speed command input is
too low or the velocity loop gain is too low, or when the time constant of the velocity loop integration is
1000 (invalid), the input to the torque limiting portion of the above fig. becomes small and the output
torque may not be generated as the analog torque command.
Adjustment in Full-Closed Control Mode
Full-closed control of MINAS-A4 series is described in Block diagram of P.191 of Full-Closed Control.
Adjustment in full-closed control is almost same as that in position control described in P.241 “Adjustment in
Position Control Mode”, and make adjustments of parameters per the procedures except cautions of P.190,
“Outline of Full-Closed Control” (difference of command unit, necessity of position loop unit conversion and
difference of electronic gear).
Here we explain the setup of external scale ratio, hybrid deviation excess and hybrid control at initial setup
of full-closed control.
1) Setup of external scale ratio
Setup the external scale ratio using the numerator of external scale division (Pr78), the multiplier for
numerator of external scale division (Pr79) and denominator of external scale division (Pr7A).
• Check the encoder pulse counts per one motor revolution and the external scale pulse counts per one
motor revolution, then set up the numerator of external scale division (Pr78), the multiplier for numera-
tor of external scale division (Pr79) and denominator of external scale division so that the following
formula can be established.
• If this ratio is incorrect, a gap between the position calculated from the encoder pulse counts and that of
calculated from the e xternal scale pulse counts will be enlarged and h ybrid de viation excess (Err.25) will
be triggered when the work or load travels a long distance.
• When you set up Pr78 to 0, the encoder pulse counts will be automatically set up.
2) Setup of hybrid deviation excess
Set up the minimum value of hybrid deviation excess (Pt78) within the range where the gap between the
motor (encoder) position and the load (external scale) position will be considered to be an excess.
• Note that the hybrid deviation excess (Error code No.25) may be generated under other conditions than the
above 1), such as reversed connection of the external scale or loose connection of the motor and the load.
Pr78 1 x 2
Pr7A 5000 =
Pr79 17 Number of encoder pulses per motor rotation
Number of external scale pulses per motor rotation
243
[Adjustment]
Adjustment
Suppress the vibration by lowering the gain.
Stop
(Servo-Lock)
Low gain
(1st gain) Low gain
(1st gain)
High gain
(2nd gain)
1ms 2ms
Stop
(Servo-Lock)
Run Time
Command speed
Action
Status
Gain
Title of parameter
10
11
12
13
14
15
16
18
19
1A
1B
1C
30
31
32
33
34
35
63
35
16
0
65
300
50
0
63
35
16
0
65
1
7
30
0
0
0
27
84
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity integration
1st filter of velocity detection
1st time constant of torque filter
Velocity feed forward
Filter of velocity feed forward
2nd gain of position loop
2nd gain of velocity loop
2nd time constant of velocity integration
2nd filter of velocity detection
2nd time constant of torque filter time
Action setup of 2nd gain
1st mode of control switching
1st delay time of control switching
1st level of control switching
1st hysteresis of control switching
Switching time of position gain
20
Inertia ration
Execute manual
gain-tuning
without gain
switching
•
Enter the known value
from load calculation
• Measure the inertia
ratio by executing nor
mal auto-gain tuning
• Default is 250
Set up the same
value as Pr10-14
(1st gain) to
Pr18-1C (2nd gain)
Set up Pr30-35
(Gain switching
condition)
Adjust P411 and
14 at stopping
(1st gain)
Parameter
No.
(Pr )
Caution
(1) Enter the command pulses based on the external scale reference.
(2) The external scales to used for full-closed control are as follows.
• AT500 series by Mitutoyo (Resolution 0.05[µm], max. speed 2[m/s])
• ST771 by Mitutoyo (Resolution 0.5[µm], max. speed 2[m/s])
(3) To prevent the runaway and damage of the machine due to the setup of the external scale, setup the
hybrid deviation excess (Pr7B) to the appropriate value, in the unit of external scale resolution.
(4) We recommend the external scale as 1/20
<
=
external scale ratio
<
=
20.
If you setup the external scale ratio to smaller value than 50/position loop gain (Pr10 and 18), you may
not be able to control by one pulse unit. If you set up too large external scale ratio, you may expect
larger noise in movement.
Gain Switching Function
At manual gain tuning, you can set 2nd gain manu-
ally in addition to 1st gain and you can switch the
gain depending on the various requirements of the
action such cases as,
• you want to increase the response by increasing
the gain in motion
• you w ant to increase the servo-lock stiffness by in-
creasing the gain at stopping
• switch to the optimum gain according to the action mode
• lower the gain to suppress the vibration at stopping.
<Example>
Following is the example when you want to reduce the noise at motor in stall (Servo-Lock), by setting up to
lower gain after the motor stops.
• Make adjustment referring to the auto-gain tuning table (P.237) as well.
244
*1Delay time (Pr32 and 37) will be valid only when returning from 2nd to 1st gain.
*2Hysteresis is defined as the fig. below shows.
*3When you make it a condition that there is 10% torque variation during 166µs, set up the value to 200.
10%/166µs = Setup value 200 x [0.05%/166µs]
*4Designate with either the encoder resolution or the external scale resolution depending on the control mode.
*5When you make it a condition that there is speed variation of 10r/min in 1s, set up the value to 1.
*6When Pr31=10, the meanings of dela y time, le v el and hysteresis are diff erent from the normal. (ref er to Fig. G)
Hysteresis
(Pr34, 39)
Level
(Pr33, 38)
0
H
L
Setup of Gain Switching Condition
Man ual Gain Tuning (Basic)
• Positing control mode, Full-closed control mode ( : Corresponding parameter is valid, – : invalid)
0
1
2
3
4
5
6
7
8
9
10
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input, GAIN ON
Variation of torque command is large.
Fixed to 1st gain
Speed command is large.
Position deviation/Full-closed
position deviation is large
Position command exists.
Not in positioning complete nor in
full-closed positioning complete
Speed
Command exists + velocity
A
C
D
E
F
C
G
Delay time *1
Pr32
-
-
-
-
Setup parameters at position control, full-closed control
Level
Pr33
-
-
-
*3[0.05%/166µs]
-
[r/min]
*4[pulse]
-
-
[r/min]
[r/min] *6
Setup of gain switching condition
Switching condition to 2nd gain Fig.Pr31 Hysteresis *2
Pr34
-
-
-
*3[0.05%/166µs]
-
[r/min]
*4[pulse]
-
-
[r/min]
[r/min]*6
• Velocity control mode
0
1
2
3
4
5
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input, GAIN ON
Variation of torque command is
large.
Variation of speed command is
large.
Speed command is large.
A
B
C
Delay time *1
Pr32, 37
-
-
-
Setup parameters at velocity control mode
Level
Pr33, 38
-
-
-
*3
[0.05%/166µs]
*5
[10(r/min)/s]
[r/min]
Setup of gain switching condition
Switching condition to 2nd gain Fig.
Pr31,36
Hysteresis *2
Pr34, 39
-
-
-
*3
[0.05%/166µs]
*5
[10(r/min)/s]
[r/min]
• Torque control mode
0
1
2
3
Fixed to 1st gain
Fixed to 2nd gain
Gain switching input, GAIN ON
Variation of torque command is
large.
A
Delay time *1
Pr32, 37
-
-
-
Setup parameters at torque control mode
Level
Pr33, 38
-
-
-
*3
[0.05%/166µs]
Setup of gain switching condition
Setup of gain switching condition Fig.
Pr31,36
Hysteresis *2
Pr34, 39
-
-
-
*3
[0.05%/166µs]
245
[Adjustment]
Adjustment
<Caution>
Above Fig. does not reflect a timing lag of gain switching due to hysteresis (Pr34 and 39).
speed N
Fig.A
torque T
level
delay
∆T
∆
S
1st gain
221221
1
1
command
speed S
Fig. B
level
delay
1st gain
2nd1st 2nd 1st
motor speed or
commanded
speed
Fig. C
level
delay
2nd gain1st 1st
speed N
deviation pulse
Fig. D
level
delay
2nd gain1st 1st
Fig. E
delay
2nd gain1st 1st
speed N
Fig. F
Fig. G
delay
2nd gain1st
COIN
1st
at stall
no command pulse
x Pr32,delay time
|
actual speed
|
<
Pr33 level
|
actual speed
|
<
(Pr33 level - Pr34 hysteresis)
|
actual speed
|
<
(Pr33 level - Pr34 hysteresis)
1st gain
in action
2nd gain
at settling
2nd gain
proximity of stall
2nd gain for velocity integrating
only and 1st gain for others
command
speed S
command pulse
exists.
246
Man ual Gain Tuning (Basic)
Suppression of Machine Resonance
In case of a low machine stiffness , y ou cannot set up a higher gain because vibr ation and noise occur due to
oscillation caused by axis distortion or other causes. You can suppress the resonance using two types of
filter in these cases.
1. Torque command filter (Pr14 and Pr1C)
Sets up the filter time constant so as to damp the frequency at vicinity of resonance frequency
You can obtain the cut off frequency of the torque command filter in the following formula.
Cut off frequency (Hz) fc = 1 / (2π x parameter setup value x 0.00001)
2. Notch filter
• Adaptive filter (Pr23, Pr2F)
MINASA-4 series feature the adaptive filter. With this filter you can control vibration of the load which
resonance points vary by machine by machine and normal notch filter or torque filter cannot respond.
The adaptive filter is validated by setting up Pr23 (Adaptive filter mode setup) to 1.
torque
command
Adaptive filter
frequency automatic following
frequency frequency
Depth
width
1st notch filter 2nd notch filter
width
Suppress resonance point
instantaneously.
Adjustment of frequency,
width and depth is enabled.
Gain
frequency
velocity response
Example of application machine
Machine which resonance point
varies by each machine or by aging Machine which has
multiple resonance points Machine which has small peak
nearby velocity response
Gain
frequency
Gain
frequency
Copying of the setup from the
adaptive filter to 1st notch filter
is enabled. (refer to P.253)
torque
command
after filtering
( ) ( ) ( )
• 1st and 2nd notch filter (Pr1D, 2E, 28, 29 and 2A)
MINASA-4 series feature 2 normal notch filters. You can adjust frequency and width with the 1st filter,
and frequency, width and depth with the 2nd filter.
Setup of adaptive filter mode
Adaptive filter frequency
Pr23
Pr2F 1 : Adaptive filter is valid.
Displays the table No, corresponding to adaptive filter frequency (not changeable)
1st notch frequency
1st notch width selection
2nd notch frequency
Selection of 2nd notch width
Selection of 2nd notch depth
Pr1D
Pr1E
Pr28
Pr29
Pr2A
Notch
Notch filter
characteristics
Machine characteristics at resonance
gain
gain
frequency
frequency
Resonance
Anti-resonance
Set up lower a frequency by 10% from the
measured one through frequency characteristics
analysis of the PANATERM
®
.
Set up according to the resonance characteristics.
Set up lower a frequency by 10% from the
measured one through frequency characteristics
analysis of the PANATERM
®
.
Set up according to the resonance characteristics.
247
[Adjustment]
Adjustment
How to Check the Resonance Frequency of the Machine
(1) Start up the Setup Support Software, "PANATERM® " and bring the frequency characteristics measure-
ment screen.
(2) Set up the parameters and measurement conditions. (Following values are standard.)
• Set up Pr11 (1st gain of velocity loop) to 25 or so. (to lower the gain and make it easy to identify the
resonance frequency)
• Set up the amplitude to 50 (r/min) or so. (not to saturate the torque)
• Make the offset to 100 (r/min) or so. (to increase the speed detecting data and to avoid the measure-
ment error in the vicinity of speed-zero)
• Polarity is made CCW with "+" and CW with "-".
• Setup the sampling rate to 0. (setup range to be 0-7.)
(3) Execute the frequency characteristic analysis.
<Remarks>
• Make sure that the revolution does not exceed the travel limit before the measurement.
Standard revolutions are,
Offset (r/min) x 0.017 x (sampling rate +1)
Larger the offset, better measurement result you can obtain, however, revolutions may be increased.
• Set up Pr23 (Setup of adaptive filter mode) to 0 while you make measurement.
<Notes>
• When y ou set a larger v alue of offset than the amplitude setup and make the motor run to the one direction
at all time, you can obtain a better measurement result.
• Set up a smaller sampling rate when you measure a high frequency band, and a larger sampling rate when
you measure a low frequency band in order to obtain a better measurement result.
• When you set a larger amplitude, you can obtain a better measurement result, but noise will be larger.
Start a measurement from 50 [r/min] and gradually increase it.
Relation of Gain Adjustment and Machine Stiffness
In order to enhance the machine stiffness,
(1) Install the base of the machine firmly, and assemble them without looseness.
(2) Use a coupling designed exclusively for servo application with high stiffness.
(3) Use a wider timing belt. Belt tension to be within the permissible load to the motor shaft.
(4) Use a gear reducer with small backlash.
• Inherent vibration (resonance frequency) of the machine system has a large effect to the gain adjustment
of the servo.
You cannot setup a higher response of the servo system to the machine with a low resonance frequency
(machine stiffness is low).
248
Man ual Gain Tuning (Basic)
Automatic Gain Setup Function
Outline
This function initializes control parameters and gain switching parameters to the gain setups corresponding
to the stiffness during auto-gain tuning, before executing a manual tuning.
Caution
When you execute the automatic gain setup function, stop the action first then make a change.
How to Use
Refer to P.72, "Fit-Gain Screen" of Preparation.
(1) Stop the action first.
(2) Start up the automatic gain setup function from the fit-gain screen of the front panel.
(3) will be displayed when the automatic gain setup completes normally, and
will be displayed when it completes with error.
(This display can be cleared by pressing any key.)
(4) If you want to store the measurement, write it to EEPROM.
Parameters Which Are Automatically Set
Parameter No.
10
11
12
13
14
18
19
1A
1B
1C
Title of parameter
1st gain of position loop
1st gain of velocity loop
1st time constant of velocity loop integration
1st filter of speed detection
1st time constant of torque filter time
2nd gain of position loop
2nd gain of velocity loop
2nd time constant of velocity loop integration
2nd filter of speed detection
2nd time constant of torque filter
Parameter No.
15
16
27
30
31
32
33
34
35
36
300
50
0
1
10*1
30
50
33
20
0
Title of parameter Setup value
Velocity feed forward
Time constant of feed forward filter
Instantaneous speed observer
2nd gain setup
1st control switching mode
1st delay time of control switching
1st level of control switching
1st Hysteresis of control switching
Switching time of position gain
2nd mode of control switching
Parameters Which Are Automatically Set
Parameters Which Setup Values Are Automatically Fixed
*1 In case of position and full-closed control, this becomes 10, and
0 in case of velocity and torque control.
249
[Adjustment]
Adjustment
Instantaneous Speed Observer
Outline
This function enables both realization of high response
and reduction of vibration at stopping, by estimating
the motor speed using a load model, hence improv-
ing the accuracy of the speed detection.
Applicable Range
This function can be applicable only when the following conditions are satisfied.
Caution
This function does not work properly or no effect is obtained under the following conditions.
How to Use
(1) Setup of inertia ratio (Pr20)
Set up as exact inertia ratio as possible.
• When the inertia ratio (Pr20) is already obtained through real-time auto-gain tuning and is applicable at
normal position control, use this value as Pr20 setup value.
• When the inertia ratio is already known through calculation, enter this calculated value.
• When the inertia ration is not known, execute the normal mode auto-gain tuning and measure the
inertia ratio.
(2) Adjustment at normal position control
Refer to P.241, "Adjustment at Position Control Mode".
(3) Setup of instantaneous velocity observer (Pr27)
•You can switch the velocity detecting method to instantaneous velocity observer by setting up Pr27
(Setup of instantaneous speed observer) to 1.
• When you experience a large variation of the torque waveform or noise, return this to 0, and reconfirm
the above cautions and (1).
• When you obtain the effect such as a reduction of the variation of the torque waveform and noise,
search an optimum setup by making a fine adjustment of Pr20 (Inertia ratio) while observing the posi-
tion deviation waveform and actual speed waveform to obtained the least variation. If you change the
position loop gain and velocity loop gain, the optimum value of the inertia ratio (Pr20) might have been
changed, and you need to make a fine adjustment again.
Control mode
Encoder
Conditions under which the instantaneous speed observer is activated
• Control mode to be either or both position control or/and velocity control.
Pr02 = 0 : Position control
Pr02 = 1 : Velocity control
Pr02 = 3 : Position and Velocity control
Pr02 = 4 : Position control only
Pr02 = 5 : Position control only
• 7-wire absolute encoder
Load
Others
Conditions which obstruct the instantaneous speed observer effect
• Gap between the estimated total load inertia (motor + load) and actual machine is large.
e.g.) Large resonance point exists in frequency band of 300[Hz] or below.
Non-linear factor such as large backlash exists.
• Load inertia varies.
• Disturbance torque with harmonic component is applied.
• Settling range is very small.
Velocity
control
Velocity
command Torque
command
Load model
Motor
Encoder
Servo driver
Load
Estimated
velocity
value
Position control Motor
position
(Total inertia)
Instantaneous
speed observer
Current
control
Motor
current
Manual Gain Tuning (Application)
250
Damping Control
Outline
This function reduces the vibration by removing
the vibration frequency component from the
command when the load end of the machine
vibrates.
Applicable Range
This function can only be applicable when the following conditions are satisfied.
Caution
When you change the parameter setup or switch with VS-SEL, stop the action first then execute.
This function does not work properly or no effect is obtained under the following conditions.
How to Use
(1) Setup of damping frequency (1st : Pr2B, 2nd : Pr2D))
Measure the vibration frequency of the front edge of the machine.
When y ou use such instrument as laser displacement meter, and can
directly measure the load end vibration, read out the vibration fre-
quency from the measured waveform and enter it to Pr2B or Pr2D
(Damping frequency).
(2) Setup of damping filter (1st : Pr2C, 2nd : Pr2E))
First, set up 0.
You can reduce the settling time by setting up larger
value, however, the torque r ipple increases at the
command changing point as the right fig. shows.
Setup within the range where no torque saturation
occurs under the actual condition. If torque satura-
tion occurs, damping control effect will be lost.
<Remark>
Limit the damping filter setup with the following formula.
10.0 [Hz] – Damping frequency
<
=
Damping filter setup
<
=
Damping frequency
(3) Setup of damping filter switching selection (Pr24)
You can switch the 1st or the 2nd damping filter de-
pending on the vibration condition of the machine.
Control mode
Conditions under which the damping control is activated
• Control mode to be either or both position control or/and full-closed control.
Pr02 = 0 : Position control
Pr02 = 3 : 1st control mode of position and velocity control
Pr02 = 4 : 1st control mode of position control and torque control
Pr02 = 6 : Full-closed control
Command
speed Position deviation
Calculation of
vibration frequency
Torque
command
Torque saturation
Damping filter setup is
too large.
Damping filter setup is
appropriate.
Switching mode
No switching ( Both of 2 are valid.)
Switch with VS-SEL input.
Open : 1st damping filter
Close : 2nd damping filter
Switch with command direction.
CCW : 1st damping filter
CW : 2nd damping filter
Pr24
0
1
2
Servo driver Motor position
Motor
Coupling Ball
screw
Work
travel
Driver
PLC
Setup of front edge vibration
frequency
Motor
Encoder
Load
Position
command Damping
filter Position/Velocity
control
Torque
command
Current
control
Machine
base
Front edge vibrates. Vibration
measurement
with
displacement
sensor
Motor
current
Load
Conditions which obstruct the damping control effect
• Vibration is triggered by other factors than command (such as disturbance).
• Ratio of resonance frequency and anti-resonance frequency is large.
• Vibration frequency is out of the range of 10.0-200.0 [Hz].
Manual Gain Tuning (Application)
251
page
When in Trouble ....................................................252
What to Check ?........................................................................ 252
Protective Function (What is Error Code ?) .............................. 252
Protective Function (Details of Error Code) .............................. 253
Troubleshooting ....................................................260
Motor Does Not Run.................................................................. 260
Unstable Rotation (Not Smooth)/Motor Runs Slowly Even with
Speed Zero at Velocity Control Mode ....................................... 261
Positioning Accuracy Is Poor..................................................... 262
Origin Point Slips....................................................................... 263
Abnormal Noise or Vibration ..................................................... 263
Overshoot/Undershoot, Overheating of the Motor
(Motor Burn-Out) ....................................................................... 264
Motor Speed Does Not Reach to the Setup/Motor Revolution
(Travel) Is Too Large or Small ................................................... 264
Parameter Returns to Previous Setup ...................................... 264
Display of "Communication port or driver cannot be detected"
Appears on the Screen While using the PANATERM® ............. 264
[When in Trouble]
252
When in Trouble
What to Check ?
Protective Function (What is Error Code ?)
• Various protective functions are equipped in the driver. When these are triggered, the motor will stall due
to error, according to P.43, "Timing Chart (When error occurs)"of Preparation, and the driver will turn the
Servo-Alarm output (ALM) to off (open).
• Error status ands their measures
• During the error status, the error code No. will be displayed on the front panel LED, and you cannot turn
Servo-ON.
• You can clear the error status by turning on the alarm clear input (A-CLR) for 120ms or longer.
• When overload protection is triggered, you can clear it by turning on the alarm clear signal (A-CLR) 10
sec or longer after the error occurs. You can clear the time characteristics by turning off the connection
between L1C and L2C or r and t of the control power supply of the driver.
•You can clear the above error by operating the front panel keys.
(Refer to P.73, "Alarm Clear Mode" of Preparation.)
•You can also clear the above error by operating the "PANATERM®".
<Remarks>
• When the protective function with a prefix of "*" in the protective function table is triggered, you cannot
clear with alarm clear input (A-CLR). F or resumption, shut off the po wer to remo v e the cause of the error
and re-enter the power.
• Following errors will not be stored in the error history.
Control power supply under-voltage protection (Error code No. 11)
Main power supply under-voltage protection (Error code No. 13)
EEPROM parameter error protection (Error code No. 36)
EEPROM check code error protection (Error code No. 37)
Over-travel prohibition input protection (Error code No. 38)
Motor self-recognition error protection (Error code No. 95)
Host
controller
Aren't the parameter
setups wrong ?
Motor does not run.
Check the cause by referring to P.68,
“Display of Factor of No Motor Running” of
Preparation, and then take necessary measure.
Is the wiring to CN X5 correct ?
Or aren't any wires pulled off ?
Is the wiring to CN X6 correct ?
Or aren't any wires pulled off ?
Is the wiring to CN X7 in case
of full-closed control correct ?
Or aren't any wires pulled off ?
Isn't error code No. is displayed ?
Ground
Motor
External scale
Machine
Is the connecting portion
disconnected ?
(Broke wire, contact)
Is the wiring correct ?
Isn't the connector pulled off ?
Isn't the short wire pulled off ?
Doesn't the power voltage vary ?
Is the power turned on ?
Any loose connection ?
Is abnormal noise generated
from the motor ?
Isn't the electro-
magnetic brake
engaged ?
Isn't the connection
loose ?
253
[When in Trouble]
When in Trouble
Protective Function (Detail of Error Code)
Protective
function Causes Measures
Error
code No.
Voltage between P and N of the converter portion of the
control power supply has fallen below the specified value.
1)Power supply voltage is low. Instantaneous power
failure has occurred
2)
Lack of power capacity...Power supply voltage has
fallen down due to inrush current at the main power-on.
3)Failure of servo driver (failure of the circuit)
Measure the voltage between lines of connector (L1C
and L2C) and terminal block (r and t).
1)Increase the power capacity. Change the power
supply.
2)Increase the power capacity.
3)Replace the driver with a new one.
Control
power
supply
under-
voltage
protection
11
Over-
voltage
protection
12
Voltage between P and N of the converter portion of the
control power supply has exceeded the specified value
1)Power supply voltage has exceeded the permissible
input voltage. Voltage surge due to the phase-
advancing capacitor or UPS (Uninterruptible Power
Supply) have occurred.
2)Disconnection of the regeneration discharge resistor
3)External regeneration discharge resistor is not appro-
priate and could not absorb the regeneration energy.
4)Failure of servo driver (failure of the circuit)
Measure the voltage between lines of connector (L1,
L2 and L3).
1)Enter correct voltage. Remove a phase-advancing
capacitor.
2)Measure the resistance of the external resistor
connected between terminal P and B of the driver.
Replace the external resistor if the value is ∞.
3)Change to the one with specified resistance and
wattage.
4)Replace the driver with a new one.
Main power
supply
under-
voltage
protection
13
Instantaneous power failure has occurred between L1 and
L3 for longer period than the preset time with Pr6D (Main
power off detecting time) while Pr65 (LV trip selection at
the main power-off) is set to 1. Or the voltage between P
and N of the converter portion of the main power supply
has fallen below the specified value during Servo-ON.
1)Power supply voltage is low. Instantaneous power
failure has occurred
2)Instantaneous power failure has occurred.
3)Lack of power capacity...Power supply voltage has
fallen down due to inrush current at the main power-
on.
4)Phase lack...3-phase input driver has been operated
with single phase input.
5)Failure of servo driver (failure of the circuit)
Measure the voltage between lines of connector (L1,
L2 and L3).
1)
Increase the power capacity. Change the power supply.
Remove the causes of the shutdown of the magnetic
contactor or the main power supply, then re-enter the power.
2)
Set up the longer time to Pr6D (Main power off detecting
time). Set up each phase of the power correctly.
3)Increase the power capacity. For the capacity, refer
to P.32, "Driver and List of Applicable Peripheral
Equipments" of Preparation.
4)Connect each phase of the power supply (L1, L2 and
L3) correctly. For single phase, 100V and 200V
driver, use L1 and L3.
5)Replace the driver with a new one.
*Over-
current
protection
14 Current through the converter portion has exceeded
the specified value.
1)Failure of servo driver (failure of the circuit, IGBT or
other components)
2)Short of the motor wire (U, V and W)
3)Earth fault of the motor wire
4)Burnout of the motor
5)Poor contact of the motor wire.
6)Melting of the relays for dynamic brake due to
frequent Servo-ON/OFF operation
7)The motor is not applicable to the driver.
8)Timing of pulse input is same as or earlier than
Servo-ON.
9)Overheating of the dynamic brake circuit (F-frame
only)
1)Turn to Servo-ON, while disconnecting the motor. If
error occurs immediately, replace with a new driver.
2)Check that the motor wire (U, V and W) is not
shorted, and check the branched out wire out of the
connector. Make a correct wiring connection.
3)Measure the insulation resistance between motor
wires, U, V and W and earth wire. In case of poor
insulation, replace the motor.
4)Check the balance of resister between each motor
line, and if unbalance is found, replace the motor.
5)Check the loose connectors. If they are, or pulled
out, fix them securely.
6)Replace the driver. Prohibit the run/stop operation
with Servo-ON/OFF.
7)
Check the name plate and capacity of the motor and
driver, and replace with motor applicable to the driver.
8)Enter the pulses 100ms or longer after Servo-ON.
9)
Discontinue the run/stop operation with Servo ON-OFF.
Allow approx. 3 minutes pause when the dynamic
brake is activated during high-speed running.
*Over-heat
protection 15
Temperature of the heat sink or power device has been
risen over the specified temperature.
1)Ambient temperature has risen over the specified
temperature.
2)Over-load
1)Improve the ambient temperature and cooling
condition.
2)Increase the capacity of the driver and motor.
Set up longer acceleration/deceleration time.
Lower the load.
254
When in Trouble
Protective
function Causes Measures
Error
code No.
Over-load
protection
16
Torque command value has exceeded the over-load
level set with Pr72 (Setup of over-load level) and
resulted in overload protection according to the time
characteristics (described later)
1)Load was heavy and actual torque has exceeded the
rated torque and kept running for a long time.
2)Oscillation and hunching action due to poor
adjustment.
Motor vibration, abnormal noise. Inertia ratio (Pr20)
setup error.
3)Miswiring, disconnection of the motor.
4)Machine has collided or the load has gotten heavy.
Machine has been distorted.
5)Electromagnetic brake has been kept engaged.
6)While wiring multiple axes, miswiring has occurred by
connecting the motor cable to other axis.
7)Pr72 setup has been low.
Check that the torque (current) does not oscillates nor
fluctuate up an down very much on the graphic screen
of the PANATERM®. Check the over-load alarm display
and load factor with the PANATERM®.
1)I
ncrease the capacity of the driver and motor. Set up
longer acceleration/deceleration time. Lower the load.
2)Make a re-adjustment.
3)Make a wiring as per the wiring diagram. Replace the
cables.
Connect the black (W phase), white (V phase) and
red (U phase) cables in sequence from the bottom at
the CN X2 connector.
4)Remove the cause of distortion. Lower the load.
5)Measure the voltage between brake terminals.
Release the brake
6)Make a correct wiring by matching the correct motor
and encoder wires.
7)Set up Pr72 to 0. (Set up to max. value of 115% of
the driver)
*Over-
regeneration
load
protection
18
Regenerative energy has exceeded the capacity of
regenerative resistor.
1)Due to the regenerative energy during deceleration
caused by a large load inertia, converter voltage has
risen, and the voltage is risen further due to the lack
of capacity of absorbing this energy of the
regeneration discharge resistor.
2)Regenerative energy has not been absorbed in the
specified time due to a high motor rotational speed.
3)Active limit of the external regenerative resistor has
been limited to 10% duty.
Check the load factor of the regenerative resistor on
the monitor screen of the PANATERM®. Do not use in
the continuous regenerative brake application.
1)Check the running pattern (velocity monitor). Check
the load factor of the regenerative resistor and over-
regeneration warning display. Increase the capacity
of the driver and the motor, and loosen the
deceleration time. Use the external regenerative
resistor.
2)Check the running pattern (speed monitor). Check
the load factor of the regenerative resistor. Increase
the capacity of the driver and the motor, and loosen
the deceleration time. Lower the motor rotational
speed. Use an external regenerative resistor.
3)Set up Pr6C to 2.
Position
deviation
excess
protection
24
Deviation pulses have exceeded the setup of Pr70
(Setup of position deviation excess).
1)The motor movement has not followed the command.
2)Setup value of Pr70 (Setup of position deviation
excess) is small.
1)Check that the motor follows to the position
command pulses. Check that the output toque has
not saturated in torque monitor. Make a gain
adjustment. Set up maximum value to Pr5E (Setup of
1st torque limit) and Pr5F (2nd torque limit setup).
Make a encoder wiring as per the wiring diagram.
Set up the longer acceleration/deceleration time.
Lower the load and speed.
2)Set up a larger value to Pr70, or set up 0 (invalid).
*Encoder
communi-
cation error
protection
21
Communication between the encoder and the driver
has been interrupted in certain times, and
disconnection detecting function has been triggered.
• Make a wiring connection of the encoder as per the
wiring diagram. Correct the miswiring of the
connector pins. Note that the encoder cable to be
connected to CN X6.
• Secure the power supply for the encoder of
DC5V±5% (4.75-5.25V)...pay an attention especially
when the encoder cables are long.
• Separate the encoder cable and the motor cable if
they are bound together.
• Connect the shield to FG...Refer to P.38, "Wiring to
the Connector, CN X6" of Preparation.
*Encoder
communi-
cation
data error
protection
23
Communication error has occurred in data from the
encoder. Mainly data error due to noise. Encoder
cables are connected, but communication data has
some errors.
<Remarks>
Install an external protection such as thermal fuse without fail when you set up Pr6C to 2. Otherwise,
regenerative resistor loses the protection and it may be heated up extremely and may burn out.
255
[When in Trouble]
When in Trouble
Protective
function Causes Measures
Error
code No.
*Hybrid
deviation
excess
error
protection
25
Position of load by the external scale and position of
the motor by the encoder slips larger than the setup
pulses with Pr7B (Setup of hybrid deviation excess) at
full-closed control.
•
Check the connection between the motor and the load.
• Check the connection between the external scale and
the driver.
• Check that the variation of the motor position
(encoder feedback value) and the load position
(external scale feedback value) is the same sign
when you move the load.
Check that the numerator and denominator of the
external scale division (Pr78, 79 and 7A) and reversal
of external scale direction (Pr7C) are correctly set.
Over-speed
protection 26
The motor rotational speed has exceeded the setup
value of Pr73 (Over-speed level setup) • Do not give an excessive speed command.
• Check the command pulse input frequency and divi-
sion/multiplication ratio.
• Make a gain adjustment when an overshoot has
occurred due to a poor gain adjustment.
• Make a wiring connection of the encoder as per the
wiring diagram.
• Set up Pr73 to 0 (Set up to motor max. speed x 1.2.)
Electronic
gear error
protection
27
Division and multiplication ratio which are set up with
the 1st and the 2nd numerator/denominator of the
electronic gear (Pr48 to 4B) are not appropriate.
• Check the setup values of Pr48 to 4B.
• Set up the division/multiplication ratio so that the
command pulse frequency after division.
multiplication may become less than 80Mpps at
deviation counter input portion, and 3Mpps at
command input portion.
*External
scale com-
munication
data error
protection
28
Communication error has occurred in data from the
encoder. Mainly data error due to noise. Encoder
cables are connected, but communication date has
some error.
• Secure the power supply for the encoder of DC5±5%
(4.75-5.25V)...pay attention especially when the
encoder cables are long.
• Separate the encoder cable and the motor cable if
they are bound together.
• Connect the shield to FG...refer to wiring diagram.
Deviation
counter
overflow
protection
29
34
Deviation counter value has exceeded 2
27
(134217728).
• Check that the motor runs as per the position com-
mand pulses.
• Check that the output toque has not saturated in
torque monitor.
• Make a gain adjustment.
• Set up maximum value to Pr5E (1st torque limit
setup) and Pr5F (2nd torque limit setup).
• Make a wiring connection of the encoder as per the
wiring diagram.
Software
limit
protection
The motor position has exceeded the range set with
software limit.
1)Gain has not matched up.
2)Setup value of Pr26 (Software limit setup) is small.
Refer to P.258,"Software Limit Function" before using
this.
1)Check the gain (balance of position loop gain and ve-
locity loop gain) and the inertia ratio.
2)Setup a larger value to Pr26.
35
*External
scale com-
munication
error
protection
Communication between the external scale and the
driver has been interrupted in certain times, and
disconnection detecting function has been triggered.
• Make a wiring connection of the external scale as per
the wiring diagram.
• Correct the miswiring of the connector pins.
36
*EEPROM
parameter
error
protection
Data in parameter storage area has been damaged
when reading the data from EEPROM at power-on. • Set up all parameters again.
• If the error persists, replace the driver (it may be a
failure.) Return the product to the dealer or
manufacturer.
37
*EEPROM
check code
error
protection
Data for writing confirmation to EEPROM has been
damaged when reading the data from EEPROM at
power-on.
Replace the driver. (it may be a failure). Return the
product to a dealer or manufacturer.
38
Over-travel
inhibit
input
protection
Connection of both CW and CCW over-travel inhibit
input (CWL, Pin-8/CCW, Pin-9) to COM- have been
opened, while Pr04 (Over-travel inhibit input setup) is 0.
Or either one of the connection of CW or CCW over-
travel inhibit input to COM- has been opened, while
Pr04 is set to 2.
• Check that there are not any errors in switches, wires
or power supply which are connected to CW/CCW
over-travel inhibit input. Check that the rising time of
the control power supply (DC12-24V) is not slow.
256
When in Trouble
Protective
function Causes Measures
Error
code No.
Analog
input
excess
protection
39
Higher voltage has been applied to the analog
command input (SPR : CN X5, Pin-14) than the value
that has been set by Pr71 (Analog input excess setup)
This protective function is validated when SPR/TRQR/
SPL is valid such cases as,
1)Velocity control
when Pr02 (Control mode setup) is set to 1, 3 or 5 and
Pr05 (Velocity setup internal/external switching) is
set to 0 or 2, and when analog velocity command is
selected and speed zero clamp is invalidated. (veloc-
ity command is not zero).
2)Torque control
when Pr02 (Control mode setup) is set to 2 or 4 and
Pr5B (Torque command selection) is set to 0. 3)Tor-
que control
when Pr02 (Control mode setup) is set to 2, 4 or 5
andPr5B (Torque command selection) is set to 1,
and speed zero clamp is invalidated (Velocity com-
mand is not zero.)
• Set up Pr71 (Setup of analog input excess) correctly.
Check the connecting condition of the connector, CN
X5.
• Set up a larger value to Pr57 (Filter setup of Velocity
command).
• Set up Pr71 to 0 and invalidate the protective
function.
Absolute
system
down error
protection
40
Voltage of the built-in capacitor has fallen below the
specified value because the power supply or battery
for the 17-bit absolute encoder has been down.
After connecting the power supply for the battery, clear
the absolute encoder. (Refer to P.271, "Setup
(Initialization) of Absolute Encoder" of Supplement.)
You cannot clear the alarm unless you clear the
absolute encoder.
*Absolute
counter
over error
protection
41
Multi-turn counter of the 17-bit absolute encoder has
exceeded the specified value. • Set up an appropriate value to Pr0B (Absolute
encoder setup) .
• Limit the travel from the machine origin within 32767
revolutions.
Absolute
over-speed
error
protection
42
The motor speed has exceeded the specified value
when only the supply from the battery has been
supplied to 17-bit encoder during the power failure.
• Check the supply voltage at the encoder side
(5V±5%)
• Check the connecting condition of the connector, CN
X6.
• You cannot clear the alarm unless you clear the
absolute encoder.
*Absolute
single turn
counter
error
protection
44
Single turn counter error of 17-bit absolute encoder
has been detected.
Single turn counter error of 2500[P/r], 5-wire serial
encoder has been detected.
Replace the motor.
*Absolute
multi-turn
counter
error
protection
45
Multi turn counter error of 17-bit absolute encoder has
been detected.
Multi turn counter error of 2500[P/r], 5-wire serial
encoder has been detected.
Replace the motor.
Absolute
status error
protection
47
17-bit absolute encoder has been running at faster
speed than the specified value at power-on. Arrange so as the motor does not run at power-on.
*Encoder
Z-phase
error
protection
48
Missing pulse of Z-phase of 2500[P/r], 5-wire serial
encoder has been detected The encoder might be a failure. Replace the motor.
*Encoder
CS signal
error
protection
49
CS signal logic error of 2500[P/r], 5-wire serial encoder
has been detected The encoder might be a failure. Replace the motor.
257
[When in Trouble]
When in Trouble
Protective
function Causes Measures
Error
code No.
*External
scale
status 0
error
protection
50
Bit 0 of the external scale error code (ALMC) has been
turned to 1.
Check the specifications of the external scale.
*External
scale
status 1
error
protection
51
Bit 1 of the external scale error code (ALMC) has been
turned to 1.
Check the specifications of the external scale.
*External
scale
status 2
error
protection
52
Bit 2 of the external scale error code (ALMC) has been
turned to 1.
Check the specifications of the external scale.
*External
scale
status 3
error
protection
53
Bit 3 of the external scale error code (ALMC) has been
turned to 1.
Check the specifications of the external scale.
*External
scale
status 4
error
protection
54
Bit 4 of the external scale error code (ALMC) has been
turned to 1.
Check the specifications of the external scale.
*External
scale
status 5
error
protection
55
Bit 5 of the external scale error code (ALMC) has been
turned to 1.
Check the specifications of the external scale.
Remove the causes of the error, then clear the external
scale error from the front panel.
And then, shut off the power to reset.
CCWTL
input
excess
protection
65
Higher voltage than ±10V has been applied to the
analog command input (CCWTL : CN X5, Pin-16)
This protective function is validated when CCWTL is
valid such cases as,
1) Torque control
when Pr02 (Control mode setup) is 5, or Pr02 is2 or 4
and when Pr5B (Torque command selection) is 1.
2) Position control, Velocity control and Full-closed
control when Pr03 (Torque limit selection) is 0.
• Check the connecting condition of connector, CN X5.
• Set the CCWTL voltage within ±10V.
CWTL input
excess
protection
66
Higher voltage than ±10V has been applied to the
analog command input (CCWTL : CN X5, Pin-18)
This protective function is validated when CCWTL is
valid such case as,
1) Position control, Velocity control and Full-closed
control when Pr03 (Torque limit selection) is 0.
• Check the connecting condition of connector, CN X5.
• Set the CWTL voltage within ±10V.
*Motor
automatic
recognition
error
protection
95
The motor and the driver has not been matched. Replace the motor which matches to the driver.
*Other error Other
No.
Control circuit has malfunctioned due to excess noise
or other causes.
Some error has occurred inside of the driver while
triggering self-diagnosis function of the driver.
• Turn off the power once, then re-enter.
• If error repeats, this might be a failure.
Stop using the products, and replace the motor and
the driver. Return the products to the dealer or
manufacturer.
258
When in Trouble
100
115
0.1
1
10
100
150 200 250 300 350 400 450 500 torque [100%]
time [sec]
Overload protection time characteristics (Motor type M*MA)
MAMA100W
MQMA100W – 400W
MAMA200W – 750W
MSMA1kW – 5kW
MDMA1kW – 5kW
MHMA1kW – 5kW
MFMA400W – 4.5kW
MGMA900W – 4.5kW
100
0.1
1
10
100
150 200 250 300 350 400 450 500
115
time [sec]
Overload protection time characteristics (Motor type M*MD)
MSMD50W
MSMD100W (100V)
MSMD100W (200V)
MSMD200W
MSMD400W
MSMD750W
torque [100%]
• Time characteristics of Err16 (Overload protection)
• Software Limit Function
1)Outline
You can make an alarm stop of the motor with software limit protection (Error code No.34) when the
motor tra v els exceeding the movab le r ange which is set up with Pr26 (Set up of softw are limit) against the
position command input range.
You can prevent the work from colliding to the machine end caused by motor oscillation.
2)Applicable range
This function works under the following conditions.
Control mode
Others
Conditions under which the software limit works
• Either at position control mode or full-closed control mode
Pr02 = 0 : Position control
Pr02 = 3 : 1st control mode of Position control/Velocity control
Pr02 = 4 : 1st control mode of Position control/torque control
Pr02 = 6 : Full-closed control
(1) at Servo-ON
(2) when Pr26 (Software limit setup) is other than 0.
(3) After the last clearance of the position command input range (0 clearance), the movable range
of the motor is within 2147483647 for both CCW and CW direction.
Once the motor gets out of the (3) condition, the software limit protection will be invalidated
until the later mentioned "5) Condition under which the position command input range is
cleared" is satisfied. The position command input range will be 0-cleared when the motor gets
out of the conditions of (1) and (2).
259
[When in Trouble]
When in Trouble
3)Cautions
• This function is not a protection against the abnormal position command.
• When this software limit protection is activated, the motor decelerates and stops according to Pr68
(Sequence at alarm).
The work (load) may collide to the machine end and be damaged depending on the load during this
deceleration, hence set up the range of Pr26 including the deceleration movement.
• This software limit protection will be invalidated during the trial run and frequency characteristics func-
tioning of the PANATERM®.
4) Example of movement
(1) When no position command is entered (Servo-ON status),
The motor movable range will be the travel range which is set at both sides of the motor with Pr26
since no position command is entered. When the load enters to the Err34 occurrence range (oblique
line range), software limit protection will be activated.
(2) When the load moves to the right (at Servo-ON),
When the position command to the right direction is entered, the motor movable range will be ex-
panded by entered position command, and the movable range will be the position command input
range + Pr26 setups in both sides.
(3) When the load moves to the left (at Servo-ON),
When the position command to the left direction, the motor movable range will be expanded further.
5) Condition under which the position command input range is cleared
The position command input range will be 0-cleared under the following conditions.
• when the power is turned on.
• while the position deviation is being cleared (Deviation counter clear is valid, Pr66 (Sequence at over-
travel inhibition) is 2 and over-travel inhibition input is valid.)
• At the starting and the finishing of the normal auto-gain tuning.
Motor Load
Motor
movable
range
Err34 occurrence range Err34 occurrence range
Pr26 Pr26
Motor Load
Motor movable range
Position command
input range
Pr26 Pr26
Err34 occurrence range Err34 occurrence range
Motor Load
Motor movable range
Position command
input range
Err34 occurrence range Err34 occurrence range
Pr26 Pr26
260
Troubleshooting
Motor Does Not Run
Classification
Causes Measures
Setup of the control
mode is not correct
Selection of torque
limit is not correct
Setup of electronic
gear is not correct.
(Position/Full-closed)
Servo-ON input of CN
X5 (SRV-ON) is open.
CW/CCW over-travel
inhibit input of CN X5
(CWTL/CCWTL) is
open.
Command pulse input
setup is incorrect.
(Position/Full-closed)
Command pulse input
inhibition (INH) of CN
X5 is open.
(Position/Full-closed)
Counter clear input
(CL) of CN X5 is
connected to COM–.
(Position/Full-closed)
Speed command is
invalid (Velocity)
Speed zero clamp
input (ZEROSPD) of
CN X5 is open.
(Velocity/Torque)
Torque command is
invalid (Torque)
Velocity control is
invalid (Torque)
Main power is shut off.
The motor shaft drags,
the motor does not
run.
1)Set up Pr02 (Setup of control mode) again.
2)Check that the input to control mode switching (C-MODE) of
the CN X5 is correct, when Pr03 is set to 3-5.
1)Set up Pr03 (Selection of torque limit) to 0 and apply -9 [V] to
CWTL and +9 [V ] to CCWTL when you use the external input.
2)
Set up Pr03 (Selection of torque limit) to 1 and set up the max. value
to Pr5E (Setup of 1st torque limit) when you use the parameter value.
1)Check the setups of Pr48-4B again.
2)Connect the electronic gear switching input (DIV) of CN X5 to
COM–, or invalidate the division/multiplication switching by
setting up the same value to Pr48 and Pr49.
Check and make a wiring so as to connect the SRV-ON input to
COM–.
1)Check and make a wiring so as to connect both CWL and
CCWL inputs to COM–.
2)Set up Pr04 (Setup of over-travel inhibit input) to 1 (invalid)
and reset the power.
1)
Check that the command pulses are entered correctly to the
direction selected with Pr40 (Selection of command pulse input).
2)Check that the command pulses are entered correctly in the
format selected with Pr42 (Setup of command pulse input mode).
1)Check and make a wiring so as to connect the INH input to
COM-.
2)Set up Pr43 (Invalidation of command pulse inhibition input) to
1 (invalid).
1)Check and make wiring so as to open the CL input 2)Set up
Pr4E (Counter clear input mode) to 2 (invalid).
1)Check the setups of Pr50-52 again by setting up Pr05
(Internal or external switching of speed setup) to 0, when you
use the external analog command.
2)Set up Pr53-56 and Pr74-77 by setting up Pr05 (Internal or
external switching of speed setup) to either one of 1, 2 or 3,
when you use the internal speed command.
1)Check and make wiring so as to connect speed zero clamp
input to COM–.
2)Set up Pr06 (Selection of ZEROSPD input) to 0 (invalid).
1)Check that the input voltage is applied correctly by setting up
Pr5B (Selection of torque command) to 0, when you use
SPR/TRQR input.
2)Check that the input voltage is applied correctly by setting up
Pr5B (Selection of torque command) to 1, when you use the
CCWTL/CWTL input.
1)Set up the desired value to Pr56 (Speed setup/4th speed) by
setting up Pr5B (Selection of torque command) to 0, when
you use the internal speed.
2)Check that the input voltage is applied correctly by setting up
Pr5B Selection of torque command) to 1, when you use the
SPR/TRQR/SPL input.
Check the wiring/voltage of main power of the driver (L1, L2 and
L3).
If you cannot turn the motor shaft, consult with the dealer for
repair.
Parameter
Wiring
Installation
Check that the present control
mode is correct with monitor
mode of the front panel.
Check that the external analog
input (CWTL/CCWTL) is not
used for the torque limit.
Check that the motor moves by
expected revolution against the
command pulses.
Check that the input signal No.0
or No.03 does not show "-", with
monitor mode of the front panel.
Check that the input signal
No.02 or No.03 does not show
"A", with monitor mode of the
front panel.
Check that the input pulse
counts and variation of com-
mand pulse sum does not slips,
with monitor mode of the front
panel.
Check that the input signal
No.08 does not show "A", with
monitor mode of the front panel.
Check that the input signal
No.0A does not show "A" , with
monitor mode of the front panel.
Check that the velocity com-
mand input method (external
analog command/internal veloci-
ty command) is correct.
Check that the input signal
No.05 does not show "A" , with
monitor mode of the front panel.
Check that the torque command
input method (SPR/TRQR input,
CCWTL/TRQR input) is correct.
Check that the velocity limit input
method (internal velocity, SPR/
TRQR/SPL input) is correct.
Check that the output signal
No.0 does not show "-", with
monitor mode of the front panel.
1)
Check that you can turn the motor
shaft, after turning off the power
and separate it from the machine.
2)
Check that you can turn the motor
shaft while applying DC24V to the
brake in case of the motor with
electromagnetic brake.
When the motor does not run, refer to P.68, "Display of Factor of No-Motor
Running" of Preparation as well.
261
[When in Trouble]
When in Trouble
Unstable Rotation (Not Smooth)
Motor Runs Slowly Even with Speed Zero at Velocity Control Mode
Classification Causes Measures
Setup of the control mode is not correct.
Gain adjustment is not proper.
Velocity and position command are not
stable.
Each input signal of CN X5 is chattering.
1) Servo-ON signal
2) CW/CCW torque limit input signal
3) Deviation counter input signal
4) Speed zero clamp signal
5) Command pulse inhibition input
Noise is on the velocity command.
Slip of offset
If you set up Pr02 to 1(Velocity control mode) by mistake at position
control mode, the motor runs slowly at servo-ON due to speed command
offset. Change the setup of Pr02 to 0.
Increase the setup of Pr11, 1st velocity loop gain. Enter torque filter of
Pr14 and increase the setup of Pr11 again.
Check the motor movement with check pin of the front panel or the
waveform graphic function of the PANATERM
®
. Review the wiring,
connector contact failure and controller.
1)Check the wiring and connection between Pin29 and 41 of the
connector, CN X5 using the display function of I/O signal status.
Correct the wiring and connection so that the Servo-ON signal can be
turned on normally. Review the controller.
2)Check the wiring and connection between Pin-18 and 17, 16 and 17 of
the connector, CN X5 using tester or oscilloscope. Correct the wiring
and connection so that CW/CCW torque limit input can be entered
normally.
3)Check the wiring and connection between Pin-30 and 41, 16 and 17 of
the connector, CN X5 using display function of I/O signal status.
Correct the wiring and connection so that the deviation counter input
can be turned on normally. Review the controller.
4)Check the wiring and connection between Pin-26 and 41of the
connector, CN X5 using Display function of I/O signal status. Correct
the wiring and connection so that the speed zero clamp input can be
entered normally. Review the controller.
5)Check the wiring and connection between Pin-33 and 41of the
connector, CN X5 using display function of I/O signal status. Correct
the wiring and connection so that the command pulse inhibition input
can be entered normally. Review the controller.
Use a shield cable for connecting cable to the connector, CN X5.
Separate the power line and signal line (30cm or longer) in the separate
duct.
Check the voltage between Pin-14 and 15 (speed command input) using
a tester or an oscilloscope. Adjust the Pr52 value so that the motor
stops.
Parameter
Adjustment
Wiring
262
Troubleshooting
Positioning Accuracy Is Poor
Classification Causes Measures
Position command is not correct.
Captures the positioning complete signal
at the edge.
Shape or width of the command pulse is
not per the specifications.
Noise is superposed on deviation coun-
ter clear input CL (CN X5, Pin-5).
Position loop gain is small.
Setup of the positioning complete range
is large.
Command pulse frequency have excee-
ded 500kpps or 2Mpps.
Setup of the division/multiplication is not
correct.
Velocity loop gain is proportion action at
motor in stall.
Each input signal of CN X5 is chattering.
1) Servo-ON signal
2) Deviation counter clear input signal
3) CW/CCW torque limit input signal
4) Command pulse inhibition input
Load inertia is large.
Count the feedback pulses with a monitor function of the PANATERM
®
or
feedback pulse monitor mode of the console while repeating the
movement of the same distance. If the value does not return to the same
value, review the controller. Make a noise measure to command pulse.
Monitor the deviation at positioning complete signal reception with a
check pin (IM) or the waveform graphic function of the PANATERM
®
.
Make the controller capture the signal not at the edge but with some time
allowance.
If the shape of the command pulse is broken or narrowed, review the
pulse generating circuit. Make a noise measure.
Make a noise measure to external DC power supply and make no wiring
of the unused signal lines.
Check the position deviation with the monitor function of the PANATERM®
or at the monitor mode of the console.
Increase the setup of Pr10 within the range where no oscillation occurs.
Lower the setup of Pr60 within the range where no chattering of
complete signal occurs.
Lower the command pulse frequency. Change the division/multiplication
ratio of 1st and 2nd numerator of command division/multiplication, Pr48
and Pr4B. Use a pulse line interface exclusive to line driver when pulse
line interface is used.
Check if the repetition accuracy is same or not. If it does not change, use
a larger capacity motor and driver.
• Set up Pr12 and Pr1A of time constant of velocity loop integration to
999 or smaller.
• Review the wiring and connection so that the connection between Pin-
27 and 41 of the gain switching input connector, CN X5 becomes off
while you set up Pr30 of 2nd gain setup, to 1.
1)Check the wiring and connection between Pin29 and 41 of the
connector, CN X5 using the display function of I/O signal status.
Correct the wiring and connection so that the servo-On signal can be
turned on normally. Review the controller.
2)Check the wiring and connection between Pin-30 and 41, 16 and 17 of
the connector, CN X5 using display function of I/O signal status.
Correct the wiring and connection so that the deviation counter clear
input can be turned on normally. Review the controller.
3 Check the wiring and connection between Pin-18 and 17, 16 and 17 of
the connector, CN X5 using tester or oscilloscope. Correct the wiring
and connection so that CW/CCW torque limit input can be entered
normally.
4)Check the wiring and connection between Pin-33 and 41of the
connector, CN X5 using display function of I/O signal status. Correct
the wiring and connection so that the command pulse inhibition input
can be entered normally. Review the controller.
Check the overshoot at stopping with graphic function of the PANATERM®.
If no improvement is obtained, increase the driver and motor capacity.
System
Adjustment
Parameter
Wiring
Installation
263
[When in Trouble]
When in Trouble
Abnormal Motor Noise or Vibration
Classification Causes Measures
Noise is on the speed command.
Gain setup is large.
Velocity detection filter is changed.
Resonance of the machine and
the motor.
Motor bearing
Electro-magnetic sound, gear noise,
rubbing noise at brake engagement, hub
noise or rubbing noise of encoder
Measure the speed command inputs of Pin-14 and 15 of the connector,
CN X5 with an oscilloscope. Reduce noise (installation of noise filter or
ferrite core), shield treatment of I/F cables, use of a twisted pair,
separation of power and signal lines.
Lower the gain by setting up lower values to Pr11 and 19, of velocity
loop gain and Pr10 and 18 of position loop gain.
Enlarge the setup of Pr13 and 1B, velocity detection filter within the
range where noise level is acceptable, or return to default value.
Re-adjust Pr14 and 1C (Torque filter). Check if the machine resonance
exists or not with frequency characteristics analyzing function of the
PANATERM
®
. Set up the notch frequency to Pr1D or Pr28 if resonance
exists.
Check the noise and vibration near the bearing of the motor while
running the motor with no load. Replace the motor to check. Request for
repair.
Check the noise of the motor while running the motor with no load.
Replace the motor to check. Request for repair.
Wiring
Adjustment
Installation
Origin Point Slips
Classification Causes Measures
Z-phase is not detected.
Homing creep speed is fast
Chattering of proximity sensor (proximity
dog sensor) output
Noise is on the encoder line.
No Z-phase signal output
Miswiring of Z-phase output
Check that the Z-phase matches to the center of proximity dog. Execute
the homing matching to the controller correctly.
Lower the homing speed at origin proximity. Or widen the origin sensor.
Check the dog sensor input signal of the controller with oscilloscope.
Review the wiring near to proximity dog and make a noise measure or
reduce noise.
Reduce noise (installation of noise filter or ferrite core), shield treatment
of I/F cables, use of a twisted pair or separation of power and signal
lines.
Check the Z-phase signal with oscilloscope. Check that the Pin-13 of the
connector, CN X5 is connected to the earth of the controller. Connect the
earth of the controller because the open collector interface is not
insulated. Replace the motor and driver. Request for repair.
Check the wiring to see only one side of the line driver is connected or
not. Use a CZ output (open collector if the controller is not differential
input.
System
Wiring
264
Troubleshooting
Classification Causes Measures
Gain adjustment is not proper.
Load inertia is large.
Looseness or slip of the machine
Ambient temperature, environment
Stall of cooling fan, dirt of fan ventilation
duct
Mismatching of the driver and the motor
Failure of motor bearing
Electromagnetic brake is kept engaged
(left un-released).
Motor failure (oil, water or others)
Motor has been turned by external force
while dynamic brake has been engaged.
Check with graphic function of PANATERM
®
or velocity monitor (SP) or
torque monitor (IM). Make a correct gain adjustment. Refer to P.226 of
Adjustment.
Check with graphic function of PANATERM
®
or velocity monitor (SP) or
torque monitor (IM). Make an appropriate adjustment. Increase the motor
and driver capacity and lower the inertia ratio. Use a gear reducer.
Review the mounting to the machine.
Lower the temperature with cooling fan if the ambient temperature
exceeds the predications.
Check the cooling fans of the driver and the machine. Replace the driver
fan or request for repair.
Check the name plates of the driver and the motor. Select a correct
combination of them referring to the instruction manual or catalogue.
Check that the motor does not generate rumbling noise while turning it
by hand after shutting off the power. Replace the motor and request for
repair if the noise is heard.
Check the voltage at brake terminals. Apply the power (DC24V) to
release the brake.
Avoid the installation place where the motor is subject to high
temperature, humidity, oil, dust or iron particles.
Check the running pattern, working condition and operating status, and
inhibit the operation under the condition of the left.
Adjustment
Installation
Classification Causes Measures
Velocity command input gain is not cor-
rect.
Position loop gain is low.
Division/Multiplication is not proper.
Check that the setup of Pr50, speed command input gain, is made so as
to make the setup of 500 makes 3000 r/min.
Set up Pr10, position loop gain to approx. 100.
Set up correct values to Pr48, 1st numerator of electronic gear, 4A,
numerator multiplier of electronic gear and 4B, denominator of electronic
gear. Refer to parameter setup at each mode.
Parameter
Adjustment
Classification Causes Measures
No writing to EEPROM has been carried
out before turning off the power. Refer to P.70, "How to Operate-EEPROM Writing" of Preparation.
Parameter
Classification Causes Measures
Communication cable (for RS232C) is
connected to the connector, CN X3. Connect the communication cable (for RS232C) to connector, CN X4.
Wiring
Overshoot/Undershoot Overheating of the Motor (Motor Burn-Out)
Parameter Returns to Previous Setup
Display of "Communication port or driver cannot be detected" Appears on the Screen While Using the PANATERM
®
.
Motor Speed Does Not Reach to the Setup
Motor Revolutions (Travel) Is Too Large or Small
265
page
Absolute System ...................................................266
Outline of the Setup Support Software, PANATERM
®
......
276
Communication .....................................................278
Division Ratio for Parameters..............................306
Conformity to EC Directives and UL Standards.....
308
Options...................................................................312
Recommended components ................................323
Dimensions (Driver) ..............................................324
Dimensions (Motor) ..............................................327
Permissible Load at Output Shaft .......................342
Motor Characteristics (S-T Characteristics) .......343
Motor with Gear Reducer .....................................349
Dimensions (Motor with Gear Reducer)..............350
Permissible Load at Output Shaft (Motor with Gear Reducer) ....
352
Motor Characteristics (S-T Characteristics)/Motor with Gear Reducer ......
353
Block Diagram of Driver .......................................354
Block Diagram of Driver by Control Mode..........356
Specifications (Driver) ..........................................358
Homing with "Hit & Stop" and "Press & Hold" Control...
360
[Supplement]
266
Absolute System
Outline of Absolute System
When y ou compose an absolute system using an absolute encoder, y ou are not required to carry out homing
operation at the power-on, and this function suits very well to such an application as a robot.
Connect the host controller with the Minas A4 with absolute specifications . (motor with absolute encoder and
driver with absolute spec) and set up the parameter, Pr0B to 0, then connect the batter y for absolute en-
coder to compose an absolute system with which you can capture the exact present position information
after the power-ON.
Shift the system to origin once after installing the battery and clear the multi-turn data by clearing the abso-
lute encoder, then you can detect the absolute position without carrying out homing operation.
Via RS232 or RS485 communication, the host controller can connect up to 16 MINAS-A4 and capture the
present position information as serial data to obtain the absolute position of each axis by processing. each
data.
Applicable Mode
You can use all of MINAS A4 series driver in absolute specifications by setting up parameter. Use the motor
which 8th place (designated for rotary encoder specifications) is “S” (7-wire type).
Absolute Specifications
There are 3 connecting methods of the host controller and MINAS-A4 driv er as described below, and select
a method depending on the interface of the host controller specs or number of axis to be connected. Desig-
nate a module ID to RSW of each MINAS-A4 driver when you connect multiple MINAS-A4 in communication
to one host controller as shown below.
Module ID (RSW)
• When you connect each MINAS-A4 to the host separately with RS232 and switch the communication
individually, designate 0 to F to each MINAS-A4. (Max. 16 axis are connectable.)
• When you connect one MINAS-A4 to the host with RS232 and connect each MINAS-A4 with RS485,
designate 0 to the MINAS-A4 connected with the host, and designate 1 to F to other MINAS-A4.
• When you connect MINAS-A4 to the host with RS485, the host is given module ID of 0, and designate 1 to
F to MINAS-A4. (Max 15 axis are connectable.)
M M S
8th place
Rotary encoder specifications
0
F
E
D
C
B
A
9
8
7
6
5
4
3
2
1
RSW
M * DD driver
267
[Supplement]
Supplement
Absolute System Configuration with RS232 Communication
Absolute System Configuration with RS485 Communication
RS232
RSW(ID)=0 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3
RS485
Host
Max. 16 axis
RS485 RS485
Host
Selector
Host controller
RS232
Interface SN751701
or equivalent
Motor
Battery for
absolute encoder
Positioning
controller
TXD
RXD
GND
5
3
4
Servo driver
RXD
TXD
GND
CN X4
CN X5
CN X6
RS485
Module ID=0
Host
RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 RSW(ID)=4
Max. 15 axis
Host controller
RS485
Interface ADM485
or equivalent
Motor
Positioning
controller
Next driver
RS485+
RS485–
GND
7
8
4
Servo driver
CN X3
CN X4
CN X5
CN X6
RS485
+
7
8
4RS485
–
GND
RS485+
RS485
–
GND
Set up RSW (ID)
of the front panel
to 1 to F.
Battery for
absolute encoder
* Battery for absolute encoder is required to
store the multi-turn data into the encoder.
Connect the battery between BAT+ and
BAT– of the motor.
* Battery for absolute encoder is required to
store the multi-turn data into the encoder.
Connect the battery between BAT+ and
BAT– of the motor.
268
Absolute System
CN601
Pull out after 5 min.
connection
Raise the latch
and take off the cover.
Connect the connector.Place the battery with + facing downward.
3)Install the battery to the battery box.
Battery (for Backup) Installation
First Installation of the Battery
After installing and connecting the back-up battery to the motor, execute an absolute encoder setup. Refer
to P.271, "Setup (initialization) of Absolute Encoder ".
It is recommended to perform ON/OFF action once a day after installing the battery for refreshing the bat-
tery.
A battery error might occur due to voltage delay of the battery if you fail to carry out the battery refreshment.
Replacement of the Battery
It is necessary to replace the battery for absolute encoder when battery alarm occurs.
Replace while turning on the control power. Data stored in the encoder might be lost when you replace the
battery while the control power of the driver is off.
After replacing the battery, clear the battery alarm. Refer to P.275, "How to Clear the Battery Alarm".
<Caution>
When you execute the absolute encoder with the front panel (refer to P.77 of Preparation), or via communi-
cation (refer to P.302), all of error and multi-turn data will be cleared together with alar m, and you are
required to execute “Setup (Initialization) of absolute encoder” (refer to P.271).
How to Replace the Battery
1)Refresh the new battery.
Connector with lead wire of the
battery to CN601 and leave of 5
min. Pull out the connector from
CN601 5 min after.
2)Take off the cover of the battery box.
269
[Supplement]
Supplement
Close the cover not to
pinch the connector cable.
4)Close the cover of the battery box.
<Caution>
Use the following battery for absolute encoder.
Part No. : DV0P2990 (Lithium battery by Toshiba Battery Co., Ltd. ER6V, 3.6V 2000mAh)
<Cautions>
• Be absolutely sure to follow the precautions below since improper use of the battery can cause electro-
lyte to leak from the battery, giving rise to trouble where the product may become corroded, and/or the
battery itself may rupture.
1) Insert the battery with its “+” and “–” electrodes oriented correctly.
2) Leaving a battery which has been used for a long period of time or a battery which is no longer
usable sitting inside the product can cause electrolyte leakage and other trouble. For this reason,
ensure that such a battery is replaced at an early date. (As a general guideline, it is recommended
that the battery be replaced every two years.)
• The electrolyte inside the battery is highly corrosive, and if it should leak out, it will not only
corrode the surrounding parts but also give rise to the danger of short-circuiting since it is electri-
cally conductive. For this reason, ensure that the battery is replaced periodically.
3) Do not disassemble the battery or throw it into a fire.
• Do not disassemble the battery since fragments of the interior parts may fly into your eyes, which
is extremely dangerous. It is also dangerous to throw a battery into a fire or apply heat to it as
doing to may cause it to rupture.
4) Do not cause the battery to be short-circuited. Under no circumstances must the battery tube be
peeled off.
• It is dangerous for metal items to make contact with the “+” and “–” electrodes of the battery since
such objects may cause a high current to flow all at once, which will not only reduce the battery
performance but also generate considerable heat, possibly leading to the rupture of the battery.
5) This battery is not rechargeable. Under no circumstances must any attempt be made to recharge it.
• The disposal of used batteries after they have been replaced may be subject to restrictions imposed by
local governing authorities. In such cases, ensure that their disposal is in accordance with these re-
strictions.
270
Absolute System
<Reference>
Following example shows the life calculation of the back-up battery used in assumed robot operation.
2000[mAh] of battery capacity is used for calculation. Note that the following value is not a guaranteed value, but
only represents a calculated value. The values below were calculated with only the current consumption fac-
tored in. The calculations do not factor in electrolyte leakage and other forms of battery deterioration.
Life time may be shortened depending on ambient condition.
1) 2 cycles/day
Annual consumption capacity = (10h x a + 0.0014h x b + 2h x c) x 2 x 313 days + 24h x c x 52 days = 297.8[mAh] )
Battery life = 2000[mAh]/297.8[mAh] = 6.7 (6.7159) [year]
Annual consumption capacity = (10h x a + 0.0014h x b + 14h x c) x 313 days + 24h x c x 52 days = 640.6[mAh] )
Battery life = 2000[mAh]/630.6[mAh] = 3.1 (3.1715) [year]
2) 1 cycle/day
(2nd cycle of the above 1) is for rest.
Mon. to Sat. 313 days/365 day
Sun. 52 days/365 days
24h
10h 2h 10h 2h
ON
OFF
Power
supply
24h
acb cbac
a : Current consumption in normal mode 3.6[µA]
b : Current consumption at power failure timer mode
280[µA]
* Power failure timer mode...Action mode in time
period when the motor can respond to max.
speed even the power is off (5sec).
c :
Current consumption at power failure mode 110[µA]
When you make your own cable for 17-bit absolute encoder
When you make your own cable for 17-bit absolute encoder, connect the optional battery for absolute
encoder, DV0P2060 or DV0P2990 as per the wiring diagram below. Connector of the battery for absolute
encoder shall be provided by customer as well.
<Cautions>
Install and fix the battery securely. If the installation and fixing of the battery is not appropriate, it may cause
the wire breakdown or damage of the battery.
Refer to the instr uction manual of the battery for handling the battery.
• Installation Place
1) Indoors, where the products are not subjected to rain or direct sun beam.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen sulfide, sulfurous
acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and salt and so on, and are free from
splash of inflammable gas, grinding oil, oil mist, iron powder or chips and etc.
3) Well-ventilated and humid and dust-free place.
4) Vibration-free place
Wiring Diagram
7
Junction connector for
encoder cable
(Optional connector kit)
Pin number when a connector is used
Pin number when a cannon plug is used Connector, CN X6
(Optional connector kit)
8
1
2
1
2
5
6
1Battery
Connector, ZHR-2
(by J.S.T.)
Connector for absolute encoder connection
(To be provided by customer)
Battery for absolute encoder (Option)
DV0P2060 or DV0P2990
21
2
4
5
3
(H)
(G)
(T)
(S)
(K)
(L)
(J)
E5V
E0V
BAT+
BAT– BAT+
BAT–
PS
BAT–
BAT+
FG
PS
E5V
E0V
PS
PS
FG (Case)
Twisted
pair
Title
Connector
Connector pin
Clamping Jig
Part No.
ZMR-2
SMM-003T-P0.5
YRS-800
Manufacturer
J.S.T.
J.S.T.
J.S.T.
50
Lead wire
Part No. DV0P2060
Lithium battery by Toshiba Battery Co., Ltd.
ER6V 3.6V 2000mAh
271
[Supplement]
Supplement
Setup (Initialization) of Absolute Encoder
Execute the setup of absolute encoder in the following cases.
• Initial setup of the machine
• When absolute system down error protection (alarm No. 40) occurs
• When the encoder cable is pulled out
In the above setup, it is required to make multi-turn data to 0 after clearing the encoder error by clearing
absolute encoder while the machine stops at the origin position with homing operation. Clear the absolute
encoder with the front panel operation or with the PANATERM operation. After the clearing, tur n off the
power and turn on the power again.
Setup Operation of Absolute Encoder
Bars increase while keep
pressing (approx. 3sec).
Absolute encoder clearing starts.
Motor trial run mode
Alarm clear mode
(Auxiliary function mode)
Mode Selection Execution
Note) In case of incremental encoder, display appears when
absolute encoder clear starts.
Absolute encoder
clear mode
(3) Execute the following key operation at EXECUTION DISPLAY
(4)Turn off the control power once, then re-enter the power.
(1)
Turn on the power to bring
he machine to origin position
by homing operation.
(2) Make the front panel to
auxiliary function mode
and bring EXECUTION
display of "Absolute en-
coder clear mode". Refer
to P.51, "Setup of Para-
meter and Mode" of Prep-
aration.
Automatic offset
adjustment mode
Absolute encoder clearing
finishes in a second.
272
Absolute System
Enter the RSW value of the driver to which you want to communicate from the host to axis (*1 data) of the
command block, and transmit the command according to the RS232 communication protocol. For details
of communication, refer to P.278, "Communication".
Transmission and Reception Sequence of Absolute Data
Servo-Ready output will be turned on 2sec. after the control power is turned on. Capture the absolute data
in the following communication protocol while the Servo-Ready output is on and the fix the motor with brake
by Servo-Off (when the motor is at complete stall.).
RS232 Communication Protocol
Refer to the instruction manual of the host for the transmission/reception method of command.
Transmission starts
N
N
N
N
Y
Y
Y
Y
transmission finishes
05h transmission
Host requests
for absolute
data to driver
Host receives
absolute data
from driver
04h transmission
06h transmission 15h transmission
Reception of
absolute data
(15 characters)
04h reception
06h reception
05h reception
Check sum
OK'ed reception
01h transmission
00h transmission
2Dh transmission
*
1
*
2
D2h transmission
Data of *1 and *2 are determined by the
setup of RSW (ID) of the front panel.
Check sum becomes OK'ed when the
lower 8-bit of the sum of the received
absolute data (15 characters) is 0.
RSW(ID)
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Data of *1
00h
01h
02h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
Data of *2
2Eh
2Dh
2Ch
2Bh
2Ah
29h
28h
27h
26h
25h
24h
23h
22h
21h
20h
1Fh
•Allow 500ms or longer interval for axis switching when you want to capture multiple
axes data.
•It is recommended for you to repeat the above communication more than 2 times to
confirm the absolute data coincide, in order to avoid mis-operation due to unexpected
noise.
273
[Supplement]
Supplement
RS485 Communication Protocol
Refer to the instruction manual of the host for the transmission/reception method of command.
Following shows the communication example of the driver to RSW (ID).
Command from the host will be transmitted to the desired driver based on RS485 transmission protocol.
For details of communication, refer to P.278, "Communication".
Reception of
absolute data
(15 characters)
N
N
N
N
Y
Y
Y
Y
Data of *1 and *2 are determined by the
setup of RSW (ID) of the front panel.
Check sum becomes OK'ed when the
lower 8-bit of the sum of the received
absolute data (15 characters) is 0.
RSW(ID)
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Data of *1
81h
82h
83h
84h
85h
86h
87h
88h
89h
8Ah
8Bh
8Ch
8Dh
8Eh
8Fh
Data of *2
01h
02h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
Data of *3
2Dh
2Ch
2Bh
2Ah
29h
28h
27h
26h
25h
24h
23h
22h
21h
20h
1Fh
not usable with RS485 communication
Host requests
for absolute
data to driver
Host receives
absolute data
from driver
Transmission starts
transmission finishes
06h transmission 15h transmission
Check sum
OK'ed reception
01h transmission
00h transmission
81h transmission
05h transmission
2Dh transmission
*
2
*
1
*
1
*
3
D2h transmission
80h reception
05h reception
80h transmission
04h transmission
81h reception
04h reception
06h reception
•Allow 500ms or longer interval for axis switching when you want to capture multiple
axes data.
•It is recommended for you to repeat the above communication more than 2 times to
confirm the absolute data coincide, in order to avoid mis-operation due to unexpected
noise.
274
Absolute System
Composition of Absolute Data
Absolute data consists of singe-turn data which shows the absolute position per one revolution and multi-
tur n data which counts the number of revolution of the motor after clearing the encoder.
Single-turn data and multi-turn data are composed by using 15-character data (hexadecimal binary code)
which are received via RS232 or RS485.
<Remark>
If the multi-turn data of the above fig. is between 32768 and 65535, convert it to signed date after deduct-
ing 65536.
• Encoder status (L)-----1 represents error occurrence.
• Details of multi-turn data
0Bh
RSW (ID)
D2h
03h
11h
Encoder status (L)
Setup value of RSW (ID) of the front panel
Encoder status (H)
Single-turn data (L)
Single-turn data (M)
Single-turn data (H)
Multi-turn data (L)
Multi-turn data (H)
00h
Error code
Checksum Becomes to 0 when the communication is
carried out normally. If not 0, capture the
absolute data from the driver again
Single-turn data
=Single-turn data (H) x 10000h + Single-turn data (M) x 100h + Single-turn data (L)
Multi-turn data
=Multi-turn data (H) x 100h + Multi-turn data (L)
Date : 0 to 65535, Range : -32767 to 32767
Refer to next page, "Encoder status".
Received
absolute data
(15 characters)
Single-turn data
CWorigin CCW
–1 0 0 1 1 2
131071 0,1,2 … …13107 1 0,1,2 131071 0,1,
Multi-turn data
Motor rotational direction
65535
CW 0 CCW
Error
Absolute counter over
error protection Normal Error
Multi-turn data
Encoder status (L)
bit7 bit6 bit5 bit4 bit3 bit2 bit1
Over-speed Err42
(Absolute over-speed error protection)
bit0
0
Multi-turn error
Battery error
Battery alarm
Full absolute status
Err47
(Absolute status error protection)
Err44
(Absolute single-turn counter error protection)
Err41
(Absolute counter over error protection)
Counter error
Counter overflow
Err45
(Absolute multi-turn counter error protection)
Err40
(Absolute system down error protection)
Battery alarm
275
[Supplement]
Supplement
• Encoder status (L)-----1 represents error occurrence.
<Note>
For details of the abov e error protection, refer to P.252, "Protectiv e Function" of When in Trouble, and for
contents of alar ms, refer to the following "Display of Battery Alarm".
Displa y of Battery Alarm
Following alarm will be displayed when making the front panel to alarm execution mode of monitor mode.
Encoder status (L)
000000
Battery error
One of the following has occurred.
Battery alarm, multi-turn error, counter overflow,
counter error, full absolute status, Counter overflow
multi-turn error, battery error or battery alarm
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
How to Clear the Battery Alarm
Replace the batter y for absolute encoder when battery alar m occurs according to P.268, "How to Replace
the Battery". After replacement, clear the battery alarm in the following 3 methods.
(a) "CN X5" Connecting Alarm clear input (A-CLR) to COM– for more than 120ms.
(b) Executing the alarm clear function in auxiliary function mode by using the console (option).
(c) Click the "Battery warning" Clear button, after select the "Absolute encoder" tab in the monitor display
window by using the PANATERM (option).
Over regeneration alarm : Regeneration has exceeded 85% of the alarm trigger
level of over regeneration load protection.
Overload alarm : Load has exceeded 85% of the alarm trigger level of
overload protection.
Battery alarm : Voltage of battery for absolute encoder has fallen below
the alarm level (approx. 3.2V).
Fan lock alarm : Fan has stalled for more than 1[s].
External scale alarm : Temperature of external scale has exceeded 65˚C or
signal intensity have not been enough.
(Mounting adjustment is required.)
... No alarm, .... Alarm occurrence
•Transmit the absolute data while fixing the motor with brake by turning to Servo-Off.
276
Outline of PANATERM®
With the PANATERM®, you can execute the followings.
(1) Setup and storage of parameters, and writing to the memory (EEPROM).
(2) Monitor ing of I/O and pulse input and load factor.
(3) Display of the present alarm and reference of the error history.
(4) Data measurement of the wave-form graphic and bringing of the stored data.
(5) Normal auto-gain tuning
(6) Frequency characteristic measurement of the machine system.
How to Connect
* Caution
Connect to CN X4.
RS232
• Connecting cable
DV0P1960
(DOS/V)
Outline of Setup Support Software, "PANATERM®"
Setup support software
Setup disc of "PANATERM®"
DV0P4460 (English/Japanese version)
Supporting OS : Windows® 98, Windows® 2000, Windows®
Me, Windows® XP
Install the "PANATERM®" to Hard Disc
<Cautions/Notes>
1. 15MB capacity of hard disc is required. OS to be Window® 98, Windows® 2000, Windows® Me or Win-
dows® XP.
2. Install the "PANATERM®" to a hard disc, using the setup disc according to the procedures belo w to log on.
3. Part No. of the "PANATERM®" may be changed based on the version up. Refer to the catalog for the
latest part No.
<Caution>
* Don't connect to CN X3.
Display of "Communication
port or driver cannot be de-
tected." appears even though
you log on "PANATERM®".
277
[Supplement]
Supplement
Procedure of install
1) Turn on the power of the computer to log on the supporting OS. (Exit the existing logged on software.)
2) Insert the setup disc of the "PANATERM®" to CD-ROM drive.
3) The window opens automatically so click the name of the file required.
* If the window fails to appear automatically, start up Explorer, and r un the targeted setup file.
4) Operate according to the guidance of the setup program.
5) Click on the installation verification window to start the setup.
6) Exit all applications and log on Windows® again.
"PANATERM®" will be added on program menu when you log on again.
Log on of the "PANATERM®" .
<Cautions/Notes>
1. Once the "PANATERM®" is installed in the hard disc, you do not need to install every time you log on.
2. Connect the driver to a power supply, the motor and encoder before you log on.
Refer to the instruction manual of supporting OS for start.
Procedure of log on
1) Turn on the power of the computer and log on the supporting OS.
2) Turn on the power of the driver.
3) Click the start bottom of the supporting OS.
(Refer to the instruction manual of supporting OS for start.)
4) Select the "PANATERM®" with program and click.
5) The screen tur ns to "PANATERM®" after showing opening splash for approx. 2sec.
For more detailed information for operation and functions of the "PANATERM ®", refer to the instruction
manual of the Setup Support Software, "PANATERM ®".
* Windows®, Windows® 98, Windows® 2000, Windows® Me and Windows® XP are trade marks of Microsoft
Corp.
OK
278
Communication
Outline of Communication
You can connect up to 16 MINAS-A4 series with your computer or NC via serial communication based on
RS232 and RS484, and can execute the following functions.
(1) Change over of the parameters
(2) Referring and clearing of alarm data status and history
(3) Monitoring of control conditions such as status and I/O.
(4) Referring of the absolute data
(5) Saving and loading of the parameter data
Merits
• You can write parameters from the host to the driver in batch when you start up the machine.
• You can display the running condition of machine to improve serviceability.
• You can compose multi-axis absolute system with simple wiring.
Following application software and cables are prepared as options. For the operation of the "PANATERM ®,
refer to the instruction manual of the PANATERM ®.
DV0P1960 DV0P1970 DV0P1970 DV0P1970
Host
"PANATERM®" English/Japanese version
(Windows 98/Me/2000/XP)
Connecting cable for PC (DOS/V)
Connecting cable between drivers
DV0P4460
DV0P1960
DV0P1970 (200
[
mm
]
)
DV0P1971 (500
[
mm
]
)
DV0P1972 (1000
[
mm
]
)
279
[Supplement]
Supplement
Communication Specifications
Connection of Communication Line
MINAS-A4 series provide 2 types of communications ports of RS232 and RS485, and support the following
3 types of connection with the host.
• RS232 communication
Connect the host and the driver in one to one with RS232, and communicate according to RS232 trans-
mission protocol.
Allow 500ms or longer interval for switching the axes while capturing data of multiple axes.
RS232
Host
RSW(ID)=1 RSW(ID)=1 RSW(ID)=1 RSW(ID)=1
X4 X4 X4 X4
Selector etc.
RS232
X4
X3
X4
X3
X4 X4
X3
RSW(ID)=0 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3
RS485 RS485 RS485
Host
Max. 16 axis
RS485
X4
X3
X4
X3
X4 X4
X3
RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 RSW(ID)=4
RS485 RS485 RS485
Module ID=0
Host Max. 15 axis
• Set up the module ID of MINAS-A4 to RSW of the front panel. In the above case, you can set any
value of 0 to F. You can set the same module ID as long as the host has no difficulty in control.
• RS232 and RS485 communication
When you connect one host to multiple MINAS-A4s, connect the host to connector X4 of one driver with
RS232 communication, and connect each MINAS-A4 with RS485 communication. Set up the RSW of the
driver to 0 which is connected to the host, and set up 1 to F to other drivers each.
• RS485 communication
Connect the host to multiple MINAS-A4s with RS485 communication, set up the RSW of each front panel
of MINAS-A4 to 1 to F.
280
Communication
Interface of Communication Connector
• Connection to the host with RS232
RTS
CTS
RXD
G
TXD
FG
DTR
DSR
RXD
G
TXD
MINAS-A4Host
CN X4
CN X3
RS485+
RS485–
RS485+
RS485–
RXD
G
G
TXD
RS485+
RS485–
FG (Case)
FG (Case)
ADM485 or
equivalent
SN751701 or
equivalent
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
Note) 1. Do not connect anything to
Pin-1, Pin-2 and Pin-6 of
connector, CN X4 and Pin-1,
Pin-2, Pin-3, Pin-5 and Pin-6
of connector, CN X3.
2. You cannot connect RS232
to connector, CN X3.
Connectors, CN X3 and CN X4are
MD-S8000 • 10 (by JST) or equivalent.
FG (Case)
281
[Supplement]
Supplement
• Connection to the host with RS485
G
FG
RXD
G
TXD
MINAS-A4
Host
CN X4
CN X3
RS485+
RS485–
RS485+
RS485–
RS485+
RS485–
RXD
G
G
FG (Case)
TXD
RS485+
RS485–
ADM485 or
equivalent
SN751701 or
equivalent
Connectors, CN X3 and CN X4are
MD-S8000 • 10 (by JST) or equivalent.
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
FG (Case)
FG (Case)
Note) Do not connect anything to
Pin-1, Pin-2 and Pin-6 of
connector, CN X4 and Pin-1,
Pin-2, Pin-3, Pin-5 and Pin-6
of connector, CN X3.
282
Communication
ENQ ... The module (host or driver) sends out ENQ when it has a block to send.
EOT.... The module (host or driver) sends out EOT when it is ready to receive a block. The line enters to
a transmission mode when ENQ is transmitted and EOT is received.
ACK.... When the received block is judged normal, the module (host or driver) will send out ACK.
NAK.... When the receiv ed bloc k is judged abnormal, NAK will be sent. A judgment is based on chec ksum
and timeout.
<Caution>
1 byte of module recognition is added to ENQ and EOT at RS485 communication.
Module recognition byte... Make the RSW value of the front panel as a module ID, and data which makes
its bit7 as 1, becomes a module recognition byte.
Module ID : The module ID of the host side will be 0 in case of RS485 communication, therefore set up
RSW of MINAS-A4 to 1- F.
Communication Method
RS232
Full duplex, asynchronous
2400,4800,9600,19200,38400,57600bps
8 bit
none
1 bit
1 bit
Communication baud rate
Data
Parity
Start bit
Stop bit
RS485
Half duplex, asynchronous
2400,4800,9600,19200,38400,57600bps
8 bit
none
1 bit
1 bit
• Required time for data transmission per 1 byte is calculated in the following formula in case of 9600[bps].
1000 / 9600 x (1 + 8 + 1 ) = 1.04 [ms/byte]
Start bit Stop bit
Data
Note that the time for processing the received command and time for switching the line and transmission/
reception control will added to the actual communication time.
List of User Parameters for Communication
PrNo.
00
0C
0D
Axis address
Baud rate setup of
RS232 communication
Baud rate setup of
RS485 communication
Check the RSW (ID) value of the front panel at control power-on.
This value becomes the axis number at serial communication.
Setup value of this parameter has no effect to servo action.
Set up the communication speed of RS485 communication.
0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps], 4 : 38400[bps], 5 : 57600[bps]
Change will be validated after the control power-on
Set up the communication speed of RS232C communication.
0 : 2400[bpps], 1 : 4800[bps], 2 : 9600[bps], 3 : 19200[bps], 4 : 38400[bps], 5 : 57600[bps]
Change will be validated after the control power-on
Title of parameter
Setup range
0 – 15
0 – 5
0 – 5
Functions/contents
• Handshake code
Following codes are used for line control.
Code
05h (Module recognition byte of the transmitted)
04h (Module recognition byte of the transmitted)
06h
15h
Title
ENQ
EOT
ACK
NAK
Function
Enquire for transmission
Ready for receiving
Acknowledgement
Negative acknowledgement
bit7
1bit6
0bit5
0bit4
0bit3 bit2 bit1 bit0
Module ID
• Set up the RS232 communication baud rate with Pr0C, and RS485 communication baud rate with Pr0D.
The change of these parameters will be validated after the control power entry. For details, refer to the
following list of parameters related to communication.
283
[Supplement]
Supplement
Host MINAS-A4
Receiving
data
Transmitting
data
1) ENQ(05h)
2) EOT(04h)
3) Data block
4) ACK(06h)
(or NAK (15h))
5) ENQ(05h)
6) EOT(04h)
7) Data block
8) ACK(06h)
(or NAK (15h))
• In case of RS485
Receiving
data
Transmitting
data
Host
Module ID : 0 Module ID : 1
1) 81h, ENQ (05h)
2) 81h, EOT (04h)
3) Data block
4) ACK (06h)
(or NAK (15h))
5) 80h, ENQ (05h)
6) 80h, EOT (04h)
7) Data block
8) ACK (06h)
(or NAK (15h))
MINAS-A4
• Line control
Decides the direction of transmission and solves the contention.
Reception mode... From when the module (host or driver) returns EOT after receiving ENQ.
Transmission mode... From when the module (host or driver) receives EOT after transmitting ENQ.
At contention of transmission and reception... Slave side will enter to reception mode when it receives
ENQ while waiting for EOT after transmitting ENQ, by giving priority to ENQ (of master side).
•Transmission control
On entering to transmission mode, the module transmits the command block continuously and then waits
for ACK reception. Transmission completes at reception of ACK.. ACK may not be returned at transmis-
sion failure of command byte counts. If no ACK is received within T2 per iod, or other code than NAK or
ACK is received, sequence will be retried. Retry will start from ENQ.
• Reception control
On entering to reception mode, the module receives the transmitted block continuously. It will receiv e the
command byte counts from the first byte, and continuously receive extra 3 bytes. It will return ACK when
the received data sum becomes 0, by taking this status as normal. In case of a check sum error or a
timeout between characters, it will return NAK.
Transmission Sequence
• T ransmission protocol
• In case of RS232
284
Communication
• Data Block Composition
Below shows the composition of data block which is transmitted in physical phase.
N: Command byte counts (0 to 240)
Shows the number of parameters which are required by command.
axis : Sets up the value of RSW of the front panel (Module ID,
command : Control command (0 to 15)
mode : Command execution mode (0 to 15)
Contents vary depending on the mode.
check sum : 2's complement of the total number of bytes, ranging from the top to the end of the block
N
axis
Parameter
(N byte)
check sum
(1 byte)
commandmode
• Protocol Parameter
Following parameters are used to control the block transmission. You can set any value with the INIT
command (described later).
Title
T1
T2
RTY
M/S
Initial value
5 (0.5 sec)
1 (0.1 sec)
5 (0.5 sec)
1 (0.1 sec)
1 (once)
0 (Slave)
Setup range
1–255
1–255
1–8
0, 1 (Master)
Unit
0.1 sec
1 sec
Once
Function
Time out between characters
Protocol time out
Retry limit
Master/Slave
RS232
RS485
RS232
RS485
T1 ....... • Permissible time interval for this driver to receive the consecutive character cods which exists
between the module recognition bytes and ENQ/EOT, or in the transmission/reception data
block. Time out error occurs and the driver returns NAK to the transmitter when the actual
reception time has exceeded this setup time
T2 ....... • P ermissible time interval for the driver to transmit ENQ and to receive EOT. If the actual recep-
tion time exceeds this setup, this represents that the receiver is not ready to receive, or it has
failed to receive ENQ code in some reason, and the driver will re-transmit ENQ code to the
receiver. (retry times)
• Permissible time interval for the driver to transmit EOT and to receive the reception of the 1st
character code. The driver will return NAK and finishes the reception mode if the actual recep-
tion has exceeded this setup time.
•Permissible time interval for the module to transmit the check sum bytes and to receive ACK.
The module will re-transmit ENQ code to the receiver in the same way as the NAK reception, if
the actual reception time exceeds this setup time.
RTY .... Maximum value of retr y times. Transmission error occurs if the actual retr y has exceeds this
setup value.
M/S..... Switching of master and slave. When contention of ENQ has occurred, the module decides which
is to be given priority.
Priority is given to the transmitter which is set up as a master. (0: Slave mode, 1 : Master mode)
285
[Supplement]
Supplement
Example of Data Communication
• e.g. Reference of Absolute Data
When you connect the host to one driver with RS232 communication, and connect multiple MINAS-A4s
with RS485 communication. Following flow chart describes the actual flow of the communication data
when you want to capture the absolute data of the module ID=1.
e.g. of system composition
e.g. of capturing the absolute data
Following shows the communication data in time series when you want to capture the absolute data. Data
is presented in hexadecimals.
RS232
X4
X3
X4
X3
X4 X4
X3
RSW(ID)=0 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3
RS485 RS485 RS485
Host
Allow 500ms or longer interval for switching the axis while capturing data of multiple axes.
<Caution>
See the below for the captured data. Refer to P.299, "Read out of Absolute Encoder " of details of
communication command, for the data composition.
Multi-turn data : 0000h = 0
Single turn data : 01FFD8h = 131032
04 06 05 0B 01 D2
(EOT) (ACK) (ENQ)
05
(ENQ) 00 01 D2 2D 04
(EOT)
03 11 00 00 D8 FF 01 00 00 00 00 36
06
(ACK)
MINAS-A4 (0)
81 04 06 80 05
(ACK) (ENQ)(EOT)
81 05 00 01 D2 2D 80 04
(ENQ) (EOT)
MINAS-A4 (1)
MINAS-A4 (0)
0B 01 D2 03 11 00 00 D8 FF 01 00 00
MINAS-A4 (1)
MINAS-A4 (0)
00 00 36
06
(ACK)
MINAS-A4 (1)
Host
MINAS-A4 (0)
Host
MINAS-A4 (0)
RS232 communication
RS485 communication
*
Obtain data with RS485
(see the below)
286
Communication
• Example of Parameter Change
Following shows the communication data in time series when you change parameters. Communication in
general will be carried out in sequence of (1) Request for capturing of execution right, (2) Wr iting of
individual parameter, and (3) Wr iting to EEPROM when saving of data is required, and (4) Release of
execution right. Here the hardware connection shows the case that the driver (user ID=1) is directly
connected to the host with RS232C. Date is presented in hexadecimals.
<Caution>
For details of command, refer to P.290, "Details of Communication Command".
Host
04 06 05 01 01 71
(EOT) (ACK) (ENQ)
05
1) Capture of execution right
(ENQ)
01 01 71 01 8C 04
(EOT)
MINAS-A4 (1)
2) Writing of individual parameter
3) Writing of parameter to EEPROM
4) Release of execution right
Host
00 8D 04 06
(EOT) (ACK)
06 05 03 01 18 0B 00 00 D9
(ACK) (ENQ)
(ACK) (ENQ)
MINAS-A4 (1)
Host
05 01 01 18 00 E6 04
(ENQ) (EOT)
04 06 05 00 01 48
(EOT) (ACK) (ENQ)
MINAS-A4 (1)
Host
06 05 01 01 48 00 B6
B7 04 06
(EOT) (ACK)
MINAS-A4 (1)
Host
04 06 05 01 01 71
(EOT) (ACK) (ENQ)
05
(ENQ)
01 01 71 00 8D 04
(EOT)
MINAS-A4 (1)
Host
00 8D
06
(ACK)
MINAS-A4 (1)
287
[Supplement]
Supplement
Status T ransition Chart
• RS232 Communication
Receiver
Transmitter
Ready for EOT
Block transmission
Ready for ACK/NAK
Reception of remained block
Ready for finish of receiving data
Ready for command byte counts
Idling =
It waits for the reception of ENQ, and or it is dealing with reception.
Reception of EOT
Size Command bytes+3
T2 stop
Enquiry for
transmission, and
retry times are
within setup
Transmission of
ENQT2 start
Enquiry for transmission, but
retry times are over.
Reset of retry times
Clear of transmission enquiry
T2 time out
One count of retry times
T2 stop Clear of
transmission buffer
Size becomes 0
T2 START
Reception of other than
ACK orT2 time out
Count once of retry times
T2 stop
Clearance of transmission
buffer
Reception of ACK
Reset of retry times
T2 stop
Clear of transmission
enquiry
Transmission of
one character
Size Command bytes–1
Reception of ENQ and
at slave
Return ENQ to reception
buffer
(reception processing)
ENQ
Transmission
of
EOT
T2 start
T2 time out
Transmission of NAK,
T2 stop
Reception of command byte counts
Size command byte counts + 3
Sum command byte counts
T1 start, T2 stop
T1 time out
Transmission of NAK,
T1 stop
Success of reception
(Check sum OK'ed when
size becomes o.)
Transmission of ACK,
T1 stop
Failure of reception.
(Check sum OK'ed when
size becomes o.)
Transmission of ACK,
T1 stop
Reception of one character
Size Size –1
Sum Sum + received character
T1 start
Reception of
one character
T1 start
T1 time out
Transmission
of NAK,
T1 stop
288
Communication
• RS485 Communication
Idling
= It waits for the reception of Module ID, and or it is dealing with reception.
Receiver
Transmitter
Block transmission
Ready for ACK/NAK
Module identification byte
of transmitter is the module
ID | 80h of the counterpart.
Ready for ID Ready for EOT
Ready for ENQ or EOT
Ready for command byte counts
Ready for finish of receiving data
Reception of remained block
Enquiry for
transmission,
and retry times
are within setup
Module
recognition byte,
Transmission
of ENQT2 start
Module ID of opponent
T1 start
ID reception of other than
opponent and at slave
Return ENQ to reception
buffer
(receipt processing)
Enquiry for transmission,
butretry times are over.
Reset of retry times
Clear of transmission
enquiry
Reception of EOT
Size Command bytes +3
T2 stop
T2 time out
One count of
retry times
T2 stop
Clearance of
transmission
buffering
T1 time out
One count of
retry times
T1 stop
Clearance of
transmission
buffering
Reception of ACK or
T2 time out
Count once of
retry times
T2 stop
Clearance of
transmission buffer
Reception of ACK
Reset of retry times
T2 stop
Clearance of
transmission enquiry
Size becomes 0
T2 START
Transmission of
one character
Size Size - 1
Reception of
module
recognition
bytes
T1 start
Reception of
of EOT
T2 start
T1 time out
T1 stop
Module
identification byte
isnot module ID
and ENQ
reception or
T1 timeout
T1 stop in
Success of reception
(Check sum OK'ed and
module recognition
byte is module ID,
when size becomes o.)
Transmission of ACK,
T1 stop
T2 time out
Transmission of NAK
when module
identification byte
ismodule ID, and
T2 stop inother case
Module recognition byte is
module ID and reception of ENQ
Module recognition byte,
Transmission of ENQ, T2 start
Reception of command byte counts
Size command byte counts + 3
Sum command byte counts
T1 start, T2 stop
Reception of one character
Size Size - 1
Sum Sum + received character
T1 start
Reception of
one character
T1 start
Failure of reception.
(Check sum error when
size becomes o.)
T1 start
Transmission to other
axis (module recognition
byte is not module ID
when size becomes 0)
T1 stop
T1 time out
Transmission of NAK and
T1 stop when module
recognition byte is
module ID.
T1 stop in other case
than the above.
T1 time out
Transmission
of NAK,
T1 stop
289
[Supplement]
Supplement
Timing of Data Communication
• In case of RS485 (RS232 to follow)
T3
0 – 2ms
0 – 2ms 0 – 2ms0 – 2ms 0 – 2ms
0 – 2ms0 – 2ms 0 – 2ms
T3T4
Enquiry for transmission
Permission for
transmission ACK/
NAK
Data block
Enquiry for
transmission
Permission for
transmission ACK/NAK
Data block
T5 T4
T3 T3T5 T4 T5
Host to driver
Driver to host
RS485 bus
occupation
Host to driver
Driver to host
RS485 bus
occupation
Symbol
T3
T4
T5
Title
Continuous inter-character time
Response time of driver
Response time of host
Minimum
Stop bit length
4ms
2ms
Maximum
Protocol parameter T1
Protocol parameter T2
Protocol parameter T2
<Caution>
Above time represents a period from the rising edge of the stop bit.
290
Communication
Details of Communication Command
List of Communication Command
• Use the above commands only. If y ou use other commands, action of the driver cannot be guaranteed.
• When the reception data counts are not correct in the above command, transmission byte1 (Error code
only) will be returned regardless of communication command.
command
0
1
2
8
9
B
mode
1
5
6
1
2
7
0
1
2
4
5
6
7
8
9
A
C
D
E
0
1
4
0
1
2
3
4
B
0
1
2
Content
NOP
Read out of CPU version
Read out of driver model
Read out of motor model
INIT
Setup of RS232 protocol parameter
Setup of RS485 protocol parameter
Capture and release of execution right
POS, STATUS, I/O
Read out of status
Read out of command pulse counter
Read out of feedback pulse counter
Read out of present speed
Read out of present torque output
Read out of present deviation counter
Read out of input signal
Read out of output signal
Read out of present speed, torque and deviation counter
Read out of status, input signal and output signal
Read out of external scale
Read out of absolute encoder
Read out of external scale deviation and sum of pulses
PARAMETER®
Individual read out of parameter
Individual writing of parameter
Writing of parameter to EEPROM
ALARM
Read out of present alarm data
Individual read out of user alarm history
Batch read out of alarm history
Clear of user alarm history (in EEPROM as well)
Alarm clear
Absolute clear
PARAMETER®
Individual read out of user parameter
Page read out of user parameter
Page writing of parameter
0Dh
axis
Model of ,motor (upper)
Model of motor (lower)
Error code
checksum
command
0mode
1• Read out of CPU Version Information
Reception data 0
axis
checksum 01
Error code
Transmission data
• Version information will be returned in upper data and lower data. (Decimal point will be returned by making the lower
4 bit of the upper dataas 0.)
• Version will be displayed in figures from 0 to 9. (e.g. Version 3.1 will be upper data 30h, lower data 13h.)
bit7
0 : Normal
1 : Error
65
Command error 4
RS485 error 3210
3
axis
Version (upper)
Version (lower)
Error code
checksum
01
291
[Supplement]
Supplement
command
0mode
5• Read out of Driver Model
Reception data
0
axis
checksum 05
Error code
Transmission data
• Driver model consist of 12-characters, and will be transmitted in ASCII code.
(e.g.) "MADDT1503***"
bit7
0 : Normal
1 : Error
65
Command error 4
RS485 error 3210
0Dh
axis
Model of ,driver (upper)
Model of driver (lower)
Error code
checksum
05
command
0mode
6• Read out of Motor Model
0
axis
checksum 06
Error code
Transmission data
• Motor model consist of 12-characters, and will be transmitted in ASCII code.
(e.g.) "MSMD012S1***"
bit7
0 : Normal
1 : Error
65
Command error 4
RS485 error 3210
0Dh
axis
Model of ,motor (upper)
Model of motor (lower)
Error code
checksum
06
command
1mode
1• Setup of RS232 Protocol Parameter
Reception data
3
axis
T1
T2
checksum
11
RTYM/S
Error code
Transmission data
• Until this command completes, previous set up protocol parameter will be processed.
After this command has been executed, this parameter setup will be valid from the next command.
For M/S, 0 represents SLAVE and 1 represents MASTER.
• RTY is 4-bit, and M/S is 1-bit.
• Unit... T1 : 0.1s, T2 : 1s
bit7
0 : Normal
1 : Error
65
Command error 4
RS485 error 3
RTYerror 2
T2error 1
T1error 0
M/Serror
1
axis
Error code
checksum
11
Reception data
292
Communication
command
1mode
2
• Setup of RS485 Protocol Parameter
Reception data
3
axis
T1
T2
checksum
12
Error code
Transmission data
• Until this command completes, previously set up protocol parameter will be processed.
After this command has been executed, this parameter setup will be valid from the next command.
For M/S, 0 represents SLAVE and 1 represents MASTER.
• RTY is 4-bit, and M/S is 1-bit.
bit7
0 : Normal
1 : Error
6543210
RTYM/S
1
axis
Error code
checksum
12
command
1mode
7
• Capture and Release of Execution Right
Reception data
1
axis
mode
checksum
17
Error code
Transmission data
• Capture the execution right to prevent the conflict of the operation via communication and that with the front panel.
• Enquires for the capture of the execution right at parameter writing and EEPROM writing, and release the execution
right after the action finishes.
• mode = 1 : Enquires for the capture of the execution right mode = 0 : Enquires for the release of the execution right
• You cannot operate with the front panel at other than monitor mode while the execution right is captured via
communication.
• When the module fails to capture the execution right, it will transmit the error code of in use.
bit7
0 : Normal
1 : Error
6543
mode
error 210
in use
1
axis
Error code
checksum
17
Command error RS485 error
Command error RS485 error
RTYerror T2error T1error M/Serror
293
[Supplement]
Supplement
command
2mode
1• Read out of Command Pulse Counter
Reception data
0
axis
checksum 21
Error code
Transmission data
• Module returns the present position in absolute coordinates from the starting point. (Total sum of accumulated
command pulses)
• Counter value in 32 bit.
• Counter value will be "-" for CW and "+" for CCW.
bit7
0 : Normal
1 : Error
65
Command error 4
RS485 error 3210
5
axis
counter value L
H
error code
checksum
21
command
2mode
0• Readout of Status
Reception data
0
axis
checksum 20
Error code
Transmission data
• Control modes are defined as follows.
• CCW/CW torque generating : This becomes 1 when torque command is positive (CCW) or negative (CW).
• CCW/CW running : This becomes 1 when motor speed (after converted to r/min) is positive (CCW or negative (CW).
• Slower than DB permission : This becomes 1 when motor speed (after converted to r/min) is below 30r/min.
• Torque in-limit : This becomes 1 when torque command is limited by analog input or parameter.
bit7
0 : Normal
1 : Error
65
Command error 4
RS485 error 3210
statusbit7 6 5
CCW torque
generating
4
CW torque
generating
3
CCW running 2
CW running 1
Slower than DB
permission
0
Torque in-limit
3
axis
control mode
status
error code
checksum
20
0
1
2
3
Position control mode
Velocity control mode
Torque control mode
Full-closed control mode
294
Communication
command
2mode
4
• Read out of Present Speed
Reception data
0
axis
checksum 24
Error code
Transmission data
• Reads out the present speed. (Unit : [r/min])
• Output value in 16 bit
• Speed will be "–" for CW and "+" for CCW.
bit7
0 : Normal
1 : Error
6543210
3
axis
Data (present speed) L
H
error code
checksum
24
command
2mode
5
• Read out of Present Torque Output
Reception data
0
axis
checksum 25
Error code
Transmission data
• Reads out the present torque output. (Unit : Converted with "Rated motor torque = 2000)
• Output value in 16 bit
• Torque command will be "–" value for CW and "+" value for CCW.
bit7
0 : Normal
1 : Error
6543210
3
axis
Data (present torque) L
H
error code
checksum
25
command
2mode
2
• Read out of Feedback Pulse Counter
Reception data
0
axis
checksum 22
Error code
Transmission data
• Module returns the present position of feedback pulse counter in absolute coordinates from the staring point.
• Counter value will be "–" for CW and "+" for CCW.
• Feedback pulse counter is the total pulse counts of the encoder and represents the actual motor position traveled
bit7
0 : Normal
1 : Error
65
Command error 4
RS485 error
Command error RS485 error
Command error RS485 error
3210
5
axis
counter value L
H
error code
checksum
22
295
[Supplement]
Supplement
command
2mode
7
• Read out of Input Signal
Reception data
0
axis
checksum 27
Error code
Transmission data
• CW over-travel inhibit, CCW over-travel inhibit, speed zero clam and command pulse input inhibit become 1 when
opened.
Other input signals are 0 when opened.
bit7
0 : Normal
1 : Error
6543210
5
axis
data L
data H
Error code
checksum
27
command
2mode
6
• Read out of Deviation Counter
Reception data
0
axis
checksum 26
Error code
Transmission data
• Reads out the present deviation counter value. (Unit : [pulse]
• Output value in 32 bit
• Becomes "+" when the encoder is located at CW direction against position command, and "–" when it is located at
CCW direction.
bit7
0 : Normal
1 : Error
65
Command error 4
RS485 error
Command error RS485 error
Data
3210
5
axis
data (deviation) L
H
Error code
checksum
26
bit7
Reserved 6
Switching of
electronic gear
5
Speed zero
clamp
4
Control mode
switching
3
CCW over-travel
inhibit CW over-travel
inhibit
21
Alarm clear 0
Servo-ON
bit15
Reserved 14
Reserved 13
Internal speed
command
selection 2
12
Internal speed
command
selection 1
11
Reserved 10
Counter clear 9
Gain switching 8
Command pulse
input inhibition
Reserved 22
Reserved 21
Torque limit
switching
20
Internal speed
command
selection 3
19
Damping control
switching
18
Reserved 17
Reserved 16
Reserved
bit23
bit31
Reserved 31
Reserved 29
Reserved 28
Reserved 27
Reserved 26
Reserved 25
Reserved 24
Reserved
296
Communication
command
2mode
8
• Read out of Deviation Counter
Reception data
0
axis
checksum 28
Transmission data
• The table below shows the relation of the signals and actions.
28
error code
bit7
0 : Normal
1 : Error
6543210
Command error RS485 error
Data bit7
Reserved 6
In-speed 5
Torque in-limit 4
Zero speed
selection
3
Release of
mechanical brake
Positioning
complete
(
In-position
)
21
Servo-Alarm
0
Servo-Ready
bit15
Reserved 14
Reserved 13
Dynamic brake
engagement
12
Reserved 11
Reserved 10
Full-closed
positioning
complete
9
At-speed 8
Reserved
Reserved 22
Reserved 21
Reserved 20
Reserved 19
Reserved 18
Reserved 17
Reserved 16
Reserved
bit23
bit31
Reserved 31
Reserved 29
Reserved 28
Reserved 27
Reserved 26
Reserved 25
Reserved 24
Reserved
7
axis
data L
data H
alarm data L
H
error code
checksum
alarm data
bit8 External scale
bit7 Over-load
bit6 Fan lock
bit5 Over-regeneration
bit0 Battery
Signal title
Servo-Ready
Servo-Alarm
Positioning completed
Release of mechanical brake
Zero speed detection
Torque in-limit
At-speed (Speed arrival)
In-speed (Speed coincidence)
Full-closed positioning complete
Dynamic brake engagement
0
Servo-Not Ready
Normal
Positioning not completed
Mechanical brake engaged
Zero speed not detected
Torque not in-limit
Not at-speed(Speed not arrived)
Not in-speed(Speed not coincided)
Full-closed positioning not completed
Dynamic brake released
1
At Servo-Ready
At Servo-Alarm
Positioning in-complete
Mechanical brake released
Zero speed detected
Torque in-limit
Speed arriving
In-speed (Speed coincided)
Full-closed positioning completed
Dynamic brake engaged
297
[Supplement]
Supplement
command
2mode
A• Read out of Status, Input Signal and Output Signal
Reception data
0
axis
checksum 2A
Error cod
Transmission data
• Meaning of each bit of control mode, status, input signal, output signal and alarm data is as same as that of command
No. 20 (command = 2, mode = 0), 27 (mode = 7) and 28 (mode =8).
bit7
0 : Normal
1 : Error
65
Command error 4
RS485 error 3210
0Dh
axis
control mode
status
input signal L
input signal H
output signal L
output signal H
alarm data L
alarm data H
error code
checksum
2A
command
2mode
9• Read out of Present Speed, Torque and Deviation Counter
Reception data
29
Error cod
Transmission data
• Output value of speed and torque are in 16 bit and deviation in 32 bit.
• Unit and sign of the output data is as same as that of command No. 24 (command = 2, mode = 4), 25 (mode = 5)
and 26 (mode = 6).
bit7
0 : Normal
1 : Error
65
Command error 4
RS485 error 3210
0
axis
checksum 29
9
axis
data L
(speed) H
data L
(torque) H
data L
(deviation) H
error code
checksum
298
Communication
command
2mode
C
• Read out of External Scale
Reception data
0
axis
checksum 2C
Status (L)
• AT500 series
Status (H)
*3 bit5 : Logical sum of bit0 to bit 5 of status (L) *4 bit4 : logical sum of bit6 and bit 7 of status (L)
Transmission data
• Absolute position data = 48bit (0 x 800000000000 to 0 x 7FFFFFFFFFFFh)
bit7
Thermal alarm 6
05
Communication
error
4
CPU, memory
error
3
Capacity and
photoelectric
error
2
Encoder
non-matching
error
1
Initialization
error
0
Over speed
bit7
06
05
Encoder
error *3
4
Encoder
alarm *4
3
02
01
00
0
Status (L)
Encoder ID
• ST771
Status (H)
*1 bit5 : Logical sum of bit0 to bit 5 of status (L) *2 bit4 : logical sum of bit6 and bit 7 of status (L)
bit7
Thermal alarm 6
Signal intensity
alarm
5
Signal intensity
error
4
Transducer
error
3
ABS detection
error
2
Hardware
error
1
Initialization
error
0
Over speed
bit7
06
05
Encoder
error *1
4
Encoder
error *2
3
02
01
00
0
Error code
bit7
0 : Normal
1 : Error
65
Command error 4
RS485 error 3210
• Command error occurs at other control modes than full-closed control.
0Bh
axis
encoder ID (L)
(H)
status (L)
(H)
(L)
absolute position data (48bit)
(H)
error code
checksum
2C
ST771 Address "0" data of EEPROM 32h
Encoder ID (L) Encoder ID (H)
AT500series Address "0" data of EEPROM 31h
299
[Supplement]
Supplement
command
2mode
D• Read out of Absolute Encoder
Reception data
0
axis
checksum 2D
Status (L)
Status (H)
Transmission data
• bit4 : System down
• bit5 : Battery alarm, multi-turn error, counter overflow, count error,full absolute status and logical sum of over speed
• Command error will occur when you use the above encoder or absolute encoder as an incremental encoder.
• Single turn data = 17bit (000000h to 01FFFFh)
• Multi-turn data = 16bit (0000h to FFFFh)
bit7
Battery alarm 6
System down 5
Multi-turn error 4
0
3
Counter
overflow
2
Count error 1
Full absolute
status
0
Over speed
Error code
bit7
0 : Normal
1 : Error
65
Command error 4
RS485 error 3210
0Bh
axis
encoder ID (L)
(H)
status (L)
(H)
(L)
single-turn data
(H)
multi-turn data (L)
(H)
0
Error code
checksum
2D
17bit absolute 3 11h
Encoder ID (L) Encoder ID (H)
command
2mode
E• Read out of External Scale Accumulation and Deviation
Reception data
2E
Error code
Transmission data
• External scale FB pulse sum will return the present position of the external scale counter in absolute coordinates from
the starting point.
• External scale FB pulse sum will be "-" for CW and "+" for CCW.
• External scale deviation becomes "+" when the external scale is positioned at CW direction against position
command, and "–" when it is positioned at CCW direction.
bit7
0 : Normal
1 : Error
654
RS485 errorCommand error 3210
0
axis
checksum 2E
9
axis
(L)
external scale
FB pulse sum
(H)
(L)
external scale deviation
(H)
error code
checksum
300
Communication
command
8mode
1• Individual Writing of Parameter
Reception data
3
axis
parameter No.
parameter value L
H
checksum
81
Error code
Transmission data
• If the parameter No. is not within the range of 0 x 00 to 0 x 7F, No. error will be returned.
• This command change parameters only temporarily. If you want to write into EEPROM, execute the parameter writing
to EEPROM (mode = 4).
• Set up parameters not in use to 0 without fail, or it leads to data error. Data error also occurs when the parameter
value exceeds the setup range.
• If the parameter No. is not within the range of 0 x 00 to 0 x 7F, No. error will be returned.
bit7
0 : Normal
1 : Error
6
Data Error 5
Command error 4
RS485 error
Data Error Command error RS485 error
3
No.Error 210
1
axis
error code
checksum
81
command
8mode
4• Writing of Parameters to EEPROM
Reception data
0
axis
checksum 84
Error code
Transmission data
• Writes the preset parameters to EEPROM.
• Transmission data will be returned after EEPROM writing completes. It may take max. 5sec for EEPROM writing
(when all parameters have been changed.)
• Data error will occur when writing fails.
• When under-voltage occurs, error code of control LV will be returned instead of executing writing.
Control LV
bit7
0 : Normal
1 : Error
6543210
1
axis
error code
checksum
84
command
8mode
0• Individual Read out of Parameter
Reception data
1
axis
parameter No.
checksum
80
Error code
Transmission data
bit7
0 : Normal
1 : Error
65
Command error 4
RS485 error 3
No.Error 210
3
axis
parameter value L
H
error code
checksum
80
301
[Supplement]
Supplement
command
9mode
1
• Individual Read out of Alarm History
Reception data
1
axis
history No.
checksum
91
Error code
Transmission data
• History No. 1 to 14 represents latest to 14th latest error event.
• No. error will occur when you enter other value than 1 to 14.
bit7
0 : Normal
1 : Error
6543
No.Error 210
3
axis
history No.
alarm No.
error code
checksum
91
command
9mode
2
• Batch Read out of Alarm History
Reception data
0
axis
checksum 92
Error code
Transmission data
• You can read out last 14 error events.
bit7
0 : Normal
1 : Error
6543210
0Fh
axis
alarm No.
alarm No.
–
alarm No.
Error code
checksum
92
command
9mode
0
• Read out of Present Alarm Data
Reception data
0
axis
checksum 90
Error code
Transmission data
• If no alarm occurs, alarm No. becomes 0.
(For alarm No., refer to P.252, "Protective function (What is alarm code ?)" of When in Trouble.
bit7
0 : Normal
1 : Error
6543210
2
axis
alarm No.
error code
checksum
90
Command error RS485 error
Command error Command error
Command error Command error
1st. latest
2nd. latest
14th. latest
302
Communication
command
9mode
3
• Alarm Clear
Reception data
0
axis
checksum 94
Error code
Transmission data
• Clears the present alarm. (only those you can clear)
bit7
0 : Normal
1 : Error
6543210
1
axis
Error code
checksum
94
command
9mode
B
• Absolute Clear
Reception data
0
axis
checksum 9B
Error code
Transmission data
• Clears absolute encoder error and multi-turn data
• Command error will be returned when you use other encoder than 17bit absolute encoder.
bit7
0 : Normal
1 : Error
6543210
1
axis
Error code
checksum
9B
command
9mode
3
• Alarm History Clear
Reception data
0
axis
checksum 93
Error code
Transmission data
• Clears the alarm data history.
• Data error will occur when you fail to clear.
• When under-voltage of control power supply occurs, error code of control LV will be returned instead of executing
writing.
bit7
0 : Normal
1 : Error
6543210
1
axis
Error code
checksum
93
Data Error Command error RS485 error
Command error RS485 error
Command error RS485 error
Control LV
303
[Supplement]
Supplement
command
Bmode
1• Page Read out of User Parameter
Reception data
1
axis
page No.
checksum
B1
Transmission data
• Designate 0 to 7 to page No. and read out 16 parameters from each specified page.
• No. error will be returned when other No. than 0 to 7 is entered to page No.
82h
axis
page No.
parameter value L
(No. 0 ) H
MIN. value L
(No. 0 ) H
MAX. value L
(No. 0 ) H
Property L
(No. 0 ) H
B1
command
Bmode
0• Individual Read out of User Parameter
Reception data
1
axis
parameter No.
checksum
B0
Property
Transmission data
bit7
Parameter
not in use
6
Display inhibited 5
(for special
customer)
4
Change at
initialization
3
System related 210
bit15 14 13 12 11 10 9 8
Read only
Error code
bit7
0 : Normal
1 : Error
6543210
9
axis
parameter value L
H
MIN. value L
H
MAX. value L
H
Property L
H
Error code
checksum
B0
Command error No.ErrorRS485 error
Property
bit7
Parameter
not in use
6
Display
inhibited
5
(for special
customer)
4
Change at
initialization
3
System related 210
bit15 14 13 12 11 10 9 8
Read only
Error code
bit7
0 : Normal
1 : Error
6543210
Command error No.ErrorRS485 error
parameter value L
(No.0fh) H
MIN. value L
(No.0fh) H
MAX. value L
(No.0fh) H
Property L
(No.0fh) H
error code
checksum
• If the parameter No. is not within the range of 0 x 00 to 0 x 7F, No. error will be returned.
304
Communication
command
Bmode
2
• Page Writing of User Parameter
Reception data
21h
axis
page No.
parameter L
(value of No. 0 ) H
parameter value L
(value of No. 1 ) H
–
parameter value L
(value of No. 0th ) H
checksum
B2
Error code
Transmission data
• Designate 0 to 7 to page No. and write 16 parameters from each specified page.
• Set up o to parameters not in use without fail, or data error will occur. Data error will also occurs when data exceeding
the setup range is transmitted.
• No. error will be returned when other No. than 0 to 7 is entered to page No.
bit7
0 : Normal
1 : Error
6543210
2
axis
page No.
Error code
checksum
B2
Data Error Command error No.ErrorRS485 error
305
[Supplement]
Supplement
MEMO
306
Division Ratio for Parameters
Relation between Electr onic Gear and Position Resolution or Traveling Speed
Here we take a ball screw drive as an example of machine.
A travel distance of a ball screw M [mm] corresponding to travel command P1 [P], can be described by the
following formula (1) by making the lead of ball screw as L [mm]
M = P1 x (D/E) x (1/R) x L ..................(1)
therefore, position resolution (travel distance ∆M per one command pulse) will be described by the formula (2)
∆M = (D/E) x (1/R) x L ........................(2)
modifying the above formula (2), electronic gear ratio can be found in the formula (3).
D = (∆M x E x R) x L ...........................(3)
Actual traveling velocity of ball screw, V[mm/s] can be described by the formula (4) and the motor rotational
speed, N at that time can be described by the formula (5).
V = F x (D/E) x (1/R) x L .....................(4)
N = F x (D/E) x 60 ...............................(5)
modifying the above formula (5), electronic gear ratio can be found in the formula (6).
D = (N x E)/ (F x 60) ...........................(6)
<Notes>
1) Make a position resolution, ∆M as approx. 1/5 to 1/10 of the machine positioning accuracy, ∆ , consider-
ing a mechanical error.
2) Set up Pr48 and Pr4B to any values between 1 to 10000.
3) You can set up any values to a numerator and denominator, however, action by an extreme division ratio
or multiplication ratio cannot be guaranteed. Recommended range is 1/50 to 20 times.
4)
Pulse train position
command
Travel distance : P1 [P]
Traveling speed : F [PPS]
Electronic gear ratio
Driver
D= Pr48 x 2
Pr4B
Pr4A
Motor
Encoder
Gear
Machine
Rotational speed : N[r/min]
Reduction ratio : R
Encoder pulse counts : E [P/r]
* 10000 (=A/B-phase 2500 [P/r] x 4)
* 131072 (=17-bit)
Example of ball screw drive
by servo motor
[ ]
+
–
2n
20
21
22
23
24
25
26
27
28
29
210
211
212
213
214
215
216
217
Decimal
1
2
4
8
16
32
64
128
256
512
1024
2048
4096
8192
16384
32768
65536
131072
307
[Supplement]
Supplement
Electronic gear ratio
= 5
10
0.005 x 10000 x 1
= 0.25
20
0.0005 x 10000 x 1
20
0.0005 x 2 x 1
= =
40000
1 x 2 2 x 10000
1 x 2 x 2
D < 1, hence
use 17-bit.
D = L
∆M x E x R
Electronic gear ratio
Travel distance per command pulse (mm)
(Position resolution)
D = F x 60
N x E
"D = 1" is the
condition for
minimum resolution.
Pr48 = 10000
Pr4A = 0
Pr4B = 2000
Pr48 = 1
Pr4A = 15
Pr4B = 10000
Pr48=1
Pr4A=15
Pr4B=3750
D = Pr4B
Pr48 x 2
2000
10000 x 2
°
Motor rotational speed (r/min), N = F x x 60
E
D
17
17 2
2
15
= 50 x 60 x = 750
2
1
500000 x x x 60
10000
1 x 2
15
17 17
2
∆M = x x L
E
DR
1
D = =
500000 x 60
2000 x 2
1
3
3
30000000
2 x 1000 x 2
15
2
11
1
x x x 20 = x = = 0.00133mm
3750
2
15
17
2
20
3750
1
2
3750 x 4
20
15
= =
2 x 3750
1 x 2 x 23750
1 x 2
2
1
17
Lead of ball screw, L =10mm
Gear reduction ratio, R = 1
Position resolution,
∆M =0.005mm
Encoder, 2500P/r
(E= 10000P/r)
Lead of ball screw, L =20mm
Gear reduction ratio, R = 1
Position resolution,
∆M =0.0005mm
Encoder, 2500P/r
(E= 10000P/r)
Lead of ball screw, L =10mm
Gear reduction ratio, R = 1
Position resolution,
∆M = 0.0005mm
Line driver pulse input,
500kpps
Encoder, 17-bit
Ditto
To make it to 2000r/min.
Encoder : 17-bit (E = 2
17
P/r)
Pr4A
D = Pr4B
Pr48 x 2P
Pr4A
308
Conformity to EC Directives and UL Standards
EC Directives
The EC Directives apply to all such electronic products as those having specific functions and have been
exported to EU and directly sold to general consumers. Those products are required to conform to the EU
unified standards and to furnish the CE marking on the products.
Ho wev er, our A C servos meet the relevant EC Directives for Low Voltage Equipment so that the machine or
equipment comprising our AC servos can meet EC Directives.
EMC Directives
MINAS Servo System conforms to relevant standard under EMC Directives setting up certain model (condi-
tion) with certain locating distance and wiring of the serv o motor and the driv er. And actual working condition
often diff ers from this model condition especially in wiring and grounding. Theref ore , in order for the machine
to conform to the EMC Directives, especially for noise emission and noise terminal voltage, it is necessary to
examine the machine incorporating our servos.
Conformed Standards
IEC : International Electrotechnical Commission
EN : Europaischen Normen
EMC : Electromagnetic Compatibility
UL : Underwriters Laboratories
CSA : Canadian Standards Association
<Precautions in using options>
Use options correctly after reading operation manuals of the options to better understand the precautions.
Take care not to apply excessive stress to each optional part.
Peripheral Equipments
Installation Environment
Use the servo driver in the envi-
ronment of Pollution Degree 1 or
2 prescribed in IEC-60664-1 (e.g.
Install the driver in control panel
with IP54 protection structure.)
Control box
Controller
Insulated power supply
for interface
Power
supply Circuit
breaker
Protective earth (PE)
L1
U
CN X5
CN X1
CN X2
CN X6
M
RE
V
W
L2
L3
L1C
L2C
Driver
Ground-fault
breaker (RCD)
Surge
absorber
Noise filter
Noise filters for
signal lines
Noise filters
for
signal lines
Motor
Motor
Motor/
Motor
and
driver
Conforms to Low-
Voltage Directives
Standards
referenced by
EMC Directives
Subject Conformed Standard
IEC60034-1 IEC60034-5 UL1004 CSA22.2 No.100
EN50178 UL508C
EN55011 Radio Disturbance Characteristics of Industrial, Scientific
and Medical (ISM) Radio-Frequency Equipment
EN61000-6-2 Immunity for Industrial Environments
IEC61000-4-2 Electrostatic Discharge Immunity Test
IEC61000-4-3 Radio Frequency Electromagnetic Field Immunity Test
IEC61000-4-4
Electric High-Speed Transition Phenomenon/Burst Immunity Test
IEC61000-4-5 Lightening Surge Immunity Test
IEC61000-4-6 High Frequency Conduction Immunity Test
IEC61000-4-11 Instantaneous Outage Immunity Test
309
[Supplement]
Supplement
Power Supply
100V type : Single phase, 100V +10% to 115V +10% 50/60Hz
(A, B and C-frame) –15% –15%
200V type : Single phase, 200V +10% to 240V +10% 50/60Hz
(B, C-frame) –15% –15%
200V type : Single/3-phase, 200V +10% to 240V +10% 50/60Hz
(C, D-frame) –15% –15%
200V type : 3-phase, 200V +10% to 230V +10% 50/60Hz
(E, F-frame) –15% –15%
(1) This product is designed to be used at over-voltage category (Installation category) II of EN 50178:1997.
If you want to use this product un over-voltage category (Installation category) III, install a surge ab-
sorber which complies with EN61634-11:2002 or other relevant standards at the power input portion.
(2) Use an insulated power supply of DC12 to 24V which has CE marking or complies with EN60950
Circuit Breaker
Install a circuit breaker which complies with IEC Standards and UL recognizes (Listed and marked)
between power supply and noise filter.
Noise Filter
When you install one noise filter at the power supply for multi-axes application, contact to a manufacture of
the noise filter.
Option part No.
DV0P4170
Single phase 100V/200V
Applicable driver (frame)
A and B-frame
Manufacturer's part No.
SUP-EK5-ER-6 Manufacturer
Okaya Electric Ind.
ABCDEFGH
115
DV0P4180
105 95 70 43 10 52 5.5
145
DV0P4220
135 125 70 50 10 52 5.5
K
M4
M4
L
M4
M4
Label
Label
AB
CH
10
F
E
D
G
Earth terminal
M4
M4
Screw for cover
M3
Cover
Body
Terminal cover
(transparent)
2 – ø4.5
RCx Cx
Cy
LL
Cy
2 – ø4.5 x 6.75
53.1±1.0
100.0 ± 2.0
88.0
75.0 5.0
12.0
10.0
50.0
60.0
7.0
2.0
(11.6)
(13.0
)
6 – M4
2
13
4
Circuit diagram
4
5
1
2
63
Circuit diagram
L1
Cx1
IN OUT
IN OUT
R Cx1
Cy1
Option part No.
DV0P4180
DV0P4220
3-phase 200V
Applicable driver (frame)
C-frame
D and E-frame
Manufacturer's part No.
3SUP-HQ10-ER-6
3SUP-HU30-ER-6
Manufacturer
Okaya Electric Ind.
Voltage specifications
for driver
Voltage specifications
for driver
310
Sur ge Absorber
Provide a surge absorber for the primary side of noise filter.
<Remarks>
Take off the surge absorber when you execute a dielectric test to the machine or equipment, or it may
damage the surge absorber.
Conformity to EC Directives and UL Standards
Circuit diagram
Circuit diagram
1
ø4.2±0.2
41±1
UL-1015 A WG16
281 5.5±1
11±128.5±1
4.5±0.5
200
+30
-
0
Option part No.
DV0P1450
3-phase 200V
Manufacturer's part No.
R . A .V-781BXZ-4 Manufacturer
Okaya Electric Ind.
Option part No.
DV0P4190
Single phase 100/200V
Manufacturer's part No.
R . A .V-781BWZ-4 Manufacturer
Okaya Electric Ind.
2 3
ø4.2±0.2
41±1
UL-1015 A WG16
281 5.5±1
11±128.5±1
4.5±0.5
200
+30
-0
1 2
(1)
(2)
(3)
(1)
(2)
Voltage specifications
for driver
Voltage specifications
for driver
Option part No.
DV0P3410
3-phase 200V
Applicable driver (frame)
F-frame
Manufacturer's part No.
3SUP-HL50-ER-6B Manufacturer
Okaya Electric Ind.
Circuit diagram
IN OUT
286±3.0
150
2-ø5.5 x 7 2-ø5.5
6-6M
270
255±1.0
240
120
90±1.0
(18)(13)
Label
1
2
3
4
5
6
Voltage specifications
for driver
311
[Supplement]
Supplement
Noise Filter for Signal Lines *
Install noise filters for signal lines to all cables (power cable, motor cable, encoder cable and interface cable)
* In case of D-frame, install 3 noise filters at power line.
Grounding
(1) Connect the protective earth terminal ( ) of the driver and the protective earth terminal (PE) of the
control box without fail to prevent electrical shocks.
(2) Do not make a joint connection to the protective earth terminals ( ). 2 terminals are provided for
protective earth.
Ground-Fault Breaker
Install a type B ground fault breaker (RCD) at primar y side of the power supply.
<Note>
For driver and applicable peripheral equipments, refer to P.32 "Driver and List of Applicable Per ipheral
Equipments" of Preparation.
Driver and List of Applicable Peripheral Equipments (EC Directives)
Refer to P.28 to 41, "System Configuration and Wiring"
Conformity to UL Standards
Observe the following conditions of (1) and (2) to make the system conform to UL508C (File No. E164620).
(1) Use the driver in an environment of Pollution Degree 2 or 1 prescribed in IEC60664-1. (e.g. Install in the
control box with IP54 enclosure.)
(2) Install a circuit breaker or fuse which are UL recognized (LISTED marked) between the power supply
and the noise filter without fail.
For the rated current of the circuit breaker or fuse, refer to P.32, "Driver and List of Applicable Peripheral
Equipments" of Preparation.
Use a copper cable with temperature rating of 60˚C or higher.
Tightening torque of more than the max. values (M4:1.2N•m, M5: 2.0N•m) may break the terminal block.
(3) Over-load protection level
Ov er-load protectiv e function will be activated when the eff ectiv e current exceeds 115% or more than the
rated current based on the time characteristics. Confir m that the effective current of the driver does not
exceed the rated current. Set up the peak permissible current with Pr5E (Setup of 1st torque limit) and
Pr5F (Setup 2nd torque limit).
39±1
34±1
30
±
1
13
±
1
Mass: 62.8g
Option part No.
DV0P1460
Manufacturer's part No.
ZCAT3035-1330 Manufacturer
TDK Corp.
<Caution>
Fix the signal line noise filter in place to
eliminate excessive stress to the cables.
312
Options
Specifications of for Motor Connector
• Specifications of 2500P/r
incremental encoder • Specifications of 17bit
absolute/incremental
encoder
*
Connection to Pin-S and T are not
required when used in incremental.
A
Pin No.
B
C
D
E
F
G
H
J
Content
NC
NC
NC
NC
NC
NC
EOV
E5V
Frame
GND
Pin No.
K
L
M
N
P
R
S
T
Content
NC
NC
NC
NC
NC
NC
PS
PS A
Pin No.
B
C
D
E
F
G
H
J
Content
NC
NC
NC
NC
NC
NC
EOV
E5V
Frame
GND
Pin No.
K
L
M
N
P
R
S
T
Content
NC
NC
NC
NC
BAT–*
BAT+*
G
Pin No.
H
A
F
I
B
E
D
C
Content
Brake
Brake
NC
U-phase
V-phase
W-phase
Earth
Earth
NC
N/MS3102A20-29P N/MS3102A20-29P
A
NBC
PD
E
R
F
G
H
S
J
M
T
L
K
A
NBC
PD
E
R
F
G
H
S
J
M
T
L
KDE C
H
I
G A
FB
A
Pin No.
B
C
D
E
F
G
H
I
Content
Brake
Brake
NC
U-phase
V-phase
W-phase
Earth
Earth
NC
JL04V-2E20-18PE-B-R
(by Japan Aviation
Electronics or equivalent)
JL04V-2E24-11PE-B-R
(by Japan Aviation
Electronics or equivalent)
HG I
ED F
A
PIN No.
B
C
D
Content
U-phase
V-phase
W-phase
Earth
JL04V-2E20-4PE-B-R
(by Japan Aviation
Electronics or equivalent)
D A
BC
A
PIN No.
B
C
D
Content
U-phase
V-phase
W-phase
Earth
JL04V-2E22-22PE-B-R
(by Japan Aviation
Electronics or equivalent)
D A
BC
MSMA
MDMA
MFMA
MHMA
MGMA
• Pin disposition for encoder connector
BAC
G
PIN No.
H
A
F
I
B
E
D
C
Content
NC
NC
NC
U-phase
V-phase
W-phase
Earth
Earth
NC
DE C
H
I
G A
FB
A
PIN No.
B
C
D
E
F
G
H
I
Content
NC
NC
NC
U-phase
V-phase
W-phase
Earth
Earth
NC
JL04V-2E20-18PE-B-R
(by Japan Aviation
Electronics or equivalent)
JL04V-2E24-11PE-B-R
(by Japan Aviation
Electronics or equivalent)
HG I
ED F
BAC
Do not connect anything to NC pins.
MSMA
MDMA
MFMA
MHMA
MGMA
MSMA1kW, 1.5kW, 2kW
MDMA1kW, 1.5kW, 2kW
MHMA500W, 1kW, 1.5kW
MGMA900W
MSMA3kW, 4kW, 5kW
MDMA3kW, 4kW, 5kW
MHMA2kW,3kW,4kW,5kW
MGMA2kW, 3kW, 4.5kW
MFMA400W, 1.5kW MFMA2.5kW, 4.5kW
• Pin disposition for motor/brake connector (without brake)
MSMA1kW, 1.5kW, 2kW
MDMA1kW, 1.5kW, 2kW
MFMA400W, 1.5kW
MHMA500W, 1kW, 1.5kW
MGMA900W
MSMA3kW, 4kW, 5kW
MDMA3kW, 4kW, 5kW
MFMA2.5kW, 4.5kW
MHMA2kW,3kW,4kW,5kW
MGMA2kW, 3kW, 4.5kW
• Pin disposition for motor/brake connector (with brake)
PS
PS
313
[Supplement]
Supplement
Table for junction cable by model of MINAS A4 series
Motor type
MAMA100W to 750W
MSMD 50W to 750W
MQMA100W to 400W
MSMA1.0kW, 1.5kW
MDMA1.0kW, 1.5kW
MHMA0.5kW to 1.5kW
MGMA900W
MSMA2.0kW
MDMA2.0kW
MSMA3.0kW to 5.0kW
MDMA3.0kW to 5.0kW
MHMA2.0kW to 5.0kW
MGMA2.0kW to 4.5kW
MFMA0.4kW, 1.5kW
MFMA2.5kW, 4.5kW
Fig.No.
Fig.2-1
Fig.2-2
Fig.2-3
Fig.3-1
Fig.5-1
Fig.2-4
Fig.2-5
Fig.2-5
Fig.3-2
Fig.4-1
Fig.2-4
Fig.2-5
Fig.2-5
Fig.3-3
Fig.4-2
Fig.2-4
Fig.2-5
Fig.2-5
Fig.3-4
Fig.4-3
Fig.2-4
Fig.2-5
Fig.2-5
Fig.3-5
Fig.4-1
Fig.2-4
Fig.2-5
Fig.2-5
Fig.3-6
Fig.4-3
Type of junction cable
Part No of junction cable
Encoder 17bit, 7-wire With battery holder for absolute encoder MFECA0**0EAE
Without battery holder for absolute encoder
MFECA0**0EAD
2500P/r, 5-wire MFECA0**0EAM
Motor MFMCA0**0EED
Brake MFMCB0**0GET
Encoder 17bit, 7-wire With battery holder for absolute encoder MFECA0**0ESE
Without battery holder for absolute encoder
MFECA0**0ESD
2500P/r, 5-wire MFECA0**0ESD
Motor without Brake MFMCD0**2ECD
Brake MFMCA0**2FCD
Encoder 17bit, 7-wire With battery holder for absolute encoder MFECA0**0ESE
Without battery holder for absolute encoder
MFECA0**0ESD
2500P/r, 5-wire MFECA0**0ESD
Motor without Brake MFMCD0**2ECT
Brake MFMCA0**2FCT
Encoder 17bit, 7-wire With battery holder for absolute encoder MFECA0**0ESE
Without battery holder for absolute encoder
MFECA0**0ESD
2500P/r, 5-wire MFECA0**0ESD
Motor without Brake MFMCA0**3ECT
Brake MFMCA0**3FCT
Encoder 17bit, 7-wire With battery holder for absolute encoder MFECA0**0ESE
Without battery holder for absolute encoder
MFECA0**0ESD
2500P/r, 5-wire MFECA0**0ESD
Motor without Brake MFMCA0**2ECD
Brake MFMCA0**2FCD
Encoder 17bit, 7-wire With battery holder for absolute encoder MFECA0**0ESE
Without battery holder for absolute encoder
MFECA0**0ESD
2500P/r, 5-wire MFECA0**0ESD
Motor without Brake MFMCD0**3ECT
Brake MFMCA0**3FCT
314
Options
Junction Cable for Encoder
110 300
L
300110
L
MFECA0**0EAE
Fig. 2-1
Fig. 2-4
Fig. 2-2
Fig. 2-5
Fig. 2-3
MFECA0**0ESE
MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W
17-bit absolute encoder with battery holder
Note) Battery for absolute encoder is an option.
Note) Battery for absolute encoder is an option.
MSMA, MDMA, MHMA, MGMA, MFMA
17-bit absolute encoder with battery holder
MFECA0**0EAD
MFECA0**0ESD
MFECA0**0EAM
MSMD 50W to 750W, MQMA100W to 400W, MAMA 100W to 750W
17-bit incremental encoder without battery holder
MSMA, MDMA, MHMA, MGMA, MFMA
17-bit incremental encoder without battery holder, 2500P/r encoder
MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W
2500P/r encoder
L
(ø6.5)
L
(ø6.5)
L
(ø6.5)
L(m)
3
5
10
20
Part No.
MFECA0030EAD
MFECA0050EAD
MFECA0100EAD
MFECA0200EAD
L(m)
3
5
10
20
Part No.
MFECA0030ESD
MFECA0050ESD
MFECA0100ESD
MFECA0200ESD
L(m)
3
5
10
20
Part No.
MFECA0030ESE
MFECA0050ESE
MFECA0100ESE
MFECA0200ESE
L(m)
3
5
10
20
Part No.
MFECA0030EAM
MFECA0050EAM
MFECA0100EAM
MFECA0200EAM
L(m)
3
5
10
20
Part No.
MFECA0030EAE
MFECA0050EAE
MFECA0100EAE
MFECA0200EAE
Title
Connector
Connector
Connector pin
Cable
Manufacturer
Molex Inc.
Tyco
Electronics AMP
Oki
Electric Cable Co.
Part No.
551055100-0600 or
55100-0670 (lead-free)
172161-1
170365-1
0.20mm
2
x 4P
Title
Connector
Connector
Connector pin
Cable
Manufacturer
Molex Inc.
Tyco
Electronics AMP
Oki
Electric Cable Co.
Part No.
55100-0600 or
55100-0670 (lead-free)
172161-1
170365-1
0.20mm
2
x 3P
Title
Connector
Connector
Connector pin
Cable
Manufacturer
Molex Inc.
Tyco
Electronics AMP
Oki
Electric Cable Co.
Part No.
55100-0600 or
55100-0670 (lead-free)
172160-1
170365-1
0.20mm
2
x 3P
Title
Connector
Straight plug
Cable clamp
Cable
Manufacturer
Molex Inc.
Japan Aviation
Electronics Ind.
Oki
Electric Cable Co.
Part No.
55100-0600 or
55100-0670 (lead-free)
N/MS3106B20-29S
N/MS3057-12A
0.20mm
2
x 4P
Title
Connector
Straight plug
Cable clamp
Cable
Manufacturer
Molex Inc.
Japan Aviation
Electronics Ind.
Oki
Electric Cable Co.
Part No.
55100-0600 or
55100-0670 (lead-free)
N/MS3106B20-29S
N/MS3057-12A
0.20mm2 x 3P
(ø8) (ø8)
(14)
(16)
(4) (4)
(14)
(16)
(4) (4)
(14)
(11.8)
(4) (4)
315
[Supplement]
Supplement
Junction Cable for Motor (ROBO-TOP® 105˚C 600V•DP)
ROBO-TOP® is a trade mark of Daiden Co.,Ltd.
MFECA0**3ECT
MFMCD0**3ECT
(ø14)
(50)
L
ø43.7 ø37.3 ø37.3
(ø14)
(50)
L
ø40.5
MFMCA0**2ECD
MFMCA0**0EED
MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W
MSMA 1.0kW to 1.5kW, MDMA 1.0kW to 1.5kW
MHMA 500W to 1.5kW, MGMA 900W
MSMA 3.0kW to 5.0kW, MDMA 3.0kW to 5.0kW
MHMA 2.0kW to 5.0kW, MGMA 2.0kW to 4.5kW
MFMA 400W to 1.5kW
MFMA 2.5kW to 4.5kW
MSMA 2.0kW, MDMA 2.0kW
MFMCD0**2ECD
MFMCD0**2ECT
(50)
L
ø37.3
(ø12.5)
(50) (50)
L
(ø11)
(50)
L
(ø12.5)
(50)
L
(ø12.5)
L(m)
3
5
10
20
Part No.
MFMCA0030EED
MFMCA0050EED
MFMCA0100EED
MFMCA0200EED
Title
Connector
Connector pin
Rod terminal
Nylon insulated
round terminal
Cable
Manufacturer
Tyco
Electronics AMP
Phoenix
J.S.T Mfg. Co.,
Ltd.
Daiden Co.,Ltd.
Part No.
172159-1
170366-1
AI0.75-8GY
N1.25-M4
ROBO-TOP 600V 0.75mm
2
L(m)
3
5
10
20
Part No.
MFMCD0032ECD
MFMCD0052ECD
MFMCD0102ECD
MFMCD0202ECD
JL04V-6A20-4SE-EB-R
JL04-2022CK(14)-R
AI2.5-8BU
N2-M4
ROBO-TOP 600V 2.0mm2
L(m)
3
5
10
20
Part No.
MFMCA0032ECD
MFMCA0052ECD
MFMCA0102ECD
MFMCA0202ECD
L(m)
3
5
10
20
Part No.
MFMCD0032ECT
MFMCD0052ECT
MFMCD0102ECT
MFMCD0202ECT
Title
Straight plug
Cable clamp
Nylon insulated
round terminal
Cable
Manufacturer
Japan Aviation
Electronics Ind.
J.S.T Mfg. Co., Ltd.
Daiden Co.,Ltd.
Part No.
JL04V-6A20-4SE-EB-R
JL04-2022CK(14)-R
N2-5
ROBO-TOP 600V 2.0mm2
Title
Straight plug
Cable clamp
Nylon insulated
round terminal
Cable
Manufacturer
Japan Aviation
Electronics Ind.
J.S.T Mfg. Co., Ltd.
Daiden Co.,Ltd.
Part No.
JL04V-6A22-22SE-EB-R
JL04-2022CK(14)-R
N5.5-5
ROBO-TOP 600V 3.5mm2
L(m)
3
5
10
20
Part No.
MFMCA0033ECT
MFMCA0053ECT
MFMCA0103ECT
MFMCA0203ECT
L(m)
3
5
10
20
Part No.
MFMCD0033ECT
MFMCD0053ECT
MFMCD0103ECT
MFMCD0203ECT
Fig. 3-1
Fig. 3-2
Fig. 3-3
Fig. 3-4
Fig. 3-5
Fig. 3-6
Title
Straight plug
Cable clamp
Rod terminal
Nylon insulated
round terminal
Cable
Manufacturer
Japan Aviation
Electronics Ind.
Phoenix
J.S.T Mfg. Co.,
Ltd.
Daiden Co.,Ltd.
Part No.
Title
Straight plug
Cable clamp
Rod terminal
Nylon insulated
round terminal
Cable
Manufacturer
Japan Aviation
Electronics Ind.
Phoenix
J.S.T Mfg. Co.,
Ltd.
Daiden Co.,Ltd.
Part No.
JL04V-6A20-18SE-EB-R
JL04-2022CK(14)-R
AI2.5-8BU
N2-M4
ROBO-TOP 600V 2.0mm2
Title
Straight plug
Cable clamp
Nylon insulated
round terminal
Cable
Manufacturer
Japan Aviation
Electronics Ind.
J.S.T Mfg. Co., Ltd.
Daiden Co.,Ltd.
Part No.
JL04V-6A24-11SE-EB-R
JL04-2428CK(17)-R
N5.5-5
ROBO-TOP 600V 3.5mm2
(10.0)
(12.0)
(4) (4)
316
Options
MFMCA0**2FCD
L(50)
L(50)
(ø12.5)
MFMCA0**2FCT
L(50)
L(50)
ø37.3
(ø12.5)
(ø
9.8
)
(ø
9.8
)
MFMCB0**0GET
(ø9.8)
(40) (50)
L
(5.6)
(12.0)
(10.0)
MSMD 50W to 750W
MQMA 100W to 400W
MAMA 100W to 750W
MSMA 1.0kW to 1.5kW, MDMA 1.0kW to 1.5kW
MHMA 500W to 1.5kW, MFMA 400W to 1.5kW
MGMA 900W
MSMA 2.0kW, MDMA 2.0kW
MSMA 3.0kW to 5.0kW, MDMA 3.0kW to 5.0kW
MHMA 2.0kW to 5.0kW, MFMA 2.5kW to 4.5kW
MGMA 2.0kW to 4.5kW
MFMCA0**3FCT
L(50)
L(50)
ø43.7
(ø14)
(ø
9.8
)
L(m)
3
5
10
20
Part No.
MFMCA0032FCD
MFMCA0052FCD
MFMCA0102FCD
MFMCA0202FCD
L(m)
3
5
10
20
Part No.
MFMCA0032FCT
MFMCA0052FCT
MFMCA0102FCT
MFMCA0202FCT
L(m)
3
5
10
20
Part No.
MFMCA0033FCT
MFMCA0053FCT
MFMCA0103FCT
MFMCA0203FCT
L(m)
3
5
10
20
Part No.
MFMCB0030GET
MFMCB0050GET
MFMCB0100GET
MFMCB0200GET
Title
Connector
Connector pin
Nylon insulated
round terminal
Cable
Manufacturer
Tyco
Electronics AMP
J.S.T Mfg. Co., Ltd.
Daiden Co.,Ltd.
Part No.
172157-1
170366-1,170362-1
N1.25-M4
ROBO-TOP 600V 0.75mm2
Fig. 5-1
Fig. 4-1
Fig. 4-2
Fig. 4-3
Title
Straight plug
Cable clamp
Rod terminal
Cable
Part No.
JL04V-6A20-18SE-EB-R
JL04-2022CK(14)-R
AI2.5-8BU
N2-M4
N1.25-M4
ROBO-TOP 600V 0.75mm2
and
ROBO-TOP 600V 2.0mm2
Manufacturer
Japan Aviation
Electronics Ind.
Phoenix
J.S.T Mfg. Co., Ltd.
Daiden Co.,Ltd.
Title
Straight plug
Cable clamp
Cable
Part No.
JL04V-6A20-18SE-EB-R
JL04-2022CK(14)-R
N2-5
N1.25-M4
ROBO-TOP 600V 0.75mm2
and
ROBO-TOP 600V 2.0mm2
Manufacturer
Japan Aviation
Electronics Ind.
J.S.T Mfg. Co., Ltd.
Daiden Co.,Ltd.
Nylon insulated
round terminal
Nylon insulated
round terminal
Earth
Brake
Earth
Brake
Nylon insulated
round terminal Earth
Brake
Title
Straight plug
Cable clamp
Cable
Part No.
JL04V-6A24-11SE-EB-R
JL04-2428CK(17)-R
N5.5-5
N1.25-M4
ROBO-TOP 600V 0.75mm2
and
ROBO-TOP 600V 3.5mm2
Manufacturer
Japan Aviation
Electronics Ind.
J.S.T Mfg. Co., Ltd.
Daiden Co.,Ltd.
Junction Cable for Brake (ROBO-TOP® 105˚C 600V•DP)
ROBO-TOP® is a trade mark of Daiden Co.,Ltd.
Junction Cable for Motor with Brake (ROBO-TOP® 105˚C 600V•DP)
ROBO-TOP® is a trade mark of Daiden Co.,Ltd.
317
[Supplement]
Supplement
1
2
3
4
5
6
7
8
9
10
Pin
No.
color 11
12
13
14
15
16
17
18
19
20
Orange (Black2)
Yellow (Black1)
Gray (Red2)
Gray (Black2)
White (Red2)
Yellow (Red2)
Pink (Red2)
White (Black2)
Orange (Red1)
Orange (Black1)
Gray (Red1)
Gray (Black1)
White (Red1)
White (Black1)
Yellow (Red1)
Pink (Red1)
Pink (Black1)
Orange (Red2)
Pin
No.
color 21
22
23
24
25
26
27
28
29
30
Orange (Red3)
Orange (Black3)
Gray (Red3)
Gray (Black3)
White (Red3)
White (Black3)
Yellow (Red3)
Yellow (Black3)
Pink (Red3)
Pink (Black3)
Pin
No.
color 31
32
33
34
35
36
37
38
39
40
Orange (Red4)
Orange (Black4)
Gray (Red4)
White (Red4)
White (Black4)
Yellow (Red4)
Yellow (Black4)
Pink (Red4)
Pink (Black4)
Gray (Black4)
Pin
No.
color 41
42
43
44
45
46
47
48
49
50
Orange (Red5)
Orange (Black5)
Gray (Red5)
White (Red5)
White (Black5)
Yellow (Red5)
Yellow (Black5)
Pink (Red5)
Pink (Black5)
Gray (Black5)
Pin
No.
color
Yel (Blk2)/
Pink (Blk2)
3) Pin disposition (50 pins) (viewed from the soldering side)
Connector
Connector cover
Title
54331-0501
QuantityPart No. Manufacturer Note
26
ZEROSPD/
VS-SEL
28
DIV/
INTSPD3
30
CL
INTSPD2
32
C-
MODE
34
S-
RDY
36
ALM 38
COIN
-
/
EX-COIN
-
/
AT-SPEED
-
40
TLC 42
IM 44
PULSH1
46
SIGNH1
48
OB
27
GAIN/
TL-SEL
29
SRV
-ON
31
A-
CLR
33
INH/
INTSPD1
35
S-
RDY
37
ALM 39
COIN
+
/
EX-COIN
+
/
AT-SPEED
+
41
COM 43
SP 45
PULSH2
47
SIGNH2
49
OB
1
OPC1 3
PULS1 5
SIGN1 7
COM 9
CCWL 11
BRK-
OFF
13
GND 15
GND 17
GND 19
CZ 21
OA 23
OZ
2
OPC2 4
PULS2 6
SIGN2 8
CWL 10
BRK-
OFF
12
ZSP 14
SPR/
TRQR/SPL
/TRQR
16
CCWTL18
CWTL 20
NC 22
OA 24
OZ
50
FG
25
GND
<Cautions>
1) Check the stamped pin-No. on the
connector body while making a wiring.
2) For the function of each signal title or
its symbol, refer to the wiring example
of the connector CN I/F.
3) Check the stamped pin-No. on the
connector body while making a wiring.
1) Par No. DV0P4360
2) Dimensions
3) Table for wiring Cable of 2m is connected.
1
25
50 26
(52.35)
2000+200
0
50+10
0
(39) 12.7
<Remarks>
Color designation of the cable
e.g.) Pin-1 Cable color : Orange
(Red1) : One red dot on the cable
Par No. DV0P1960 (DOS/V machine)
L[mm]
DVOP1970
DVOP1971
DVOP1972
Part No.
200
500
1000
Mini-DIN 8P
MD connector
L
1) Part No. DV0P4460 (English/Japanese version)
2) Supply media : CD-ROM
<Caution>
For setup circumstance, refer to the Instruction Manual of
[PANATERM
®
].
1
1
54306-5011 or
54306-5019 (lead-free)
For CN X5 (50-pins)
Molex Inc.
1) Par No. DV0P4350
2)
Components
D-sub connector 9P Mini-DIN 8P
MD connector
2000
33
18
Connector Kit for External Peripheral Equipments
Interface Cable
Communication Cable (for connection to PC)
Communication Cable (for RS485)
Setup Support Software “PANATERM®”
318
Options
1) Part No. DV0P4290
2) Components
( )
2500P/r incremental
encoder
Title
1
NumberPart No. Manufacturer
For CN X6 (6-pins)
172160-1
170365-1 1
6For junction cable to
encoder (6-pins)
172159-1 1
Note
170366-1 4 For junction cable to
encoder (4-pins)
Title Part No. Manufacturer
For brake, purchase our
optional brake cable.
3)
Pin disposition of connector, CN X6
4) Pin disposition of junction
cable for encoder 5) Pin disposition of junction
cable for motor power
6 PS5 PS
2 E0V1 E5V
4 E0V3 E5V
Case
FG
1
NC
2
PS
3
PS
4
E5V
5
E0V
6
FG
1
U
2
V
3
W
4
E
3)
Pin disposition of connector, CN X6
*When you connect the battery for absolute encoder, refer to P.270,
"When you make your own cable for 17-bit absolute encoder"
4) Pin disposition of junction cable
for encoder 5) Pin disposition of junction cable
for motor power
Title
55100-0600 or
55100-0670 (lead-free)
55100-0600 or
55100-0670 (lead-free)
NumberPart No. Manufacturer
172161-1
170365-1
172159-1
Note
170366-1
1) Part No. DV0P4380
2) Components
For brake, purchase our
optional brake cable.
6 PS5 PS
2 E0V1 E5V
4 E0V3 E5V
Case
FG
1
BAT+
2
BAT–
3
FG
4
PS
5
PS
6
NC
7
E5V
8
E0V
9
NC
1
U
2
V
3
W
4
E
17-bit absolute
• Applicable motor models :
• Applicable motor models :
Connector
Connector
Connector
Connector pin
Connector pin
Molex Inc.
Tyco Electronics AMP
Tyco Electronics AMP
For CN X6 (6-pins)
For junction cable to
encoder (9-pins)
For junction cable to
motor (4-pins)
1
1
1
9
4
( )
Connector
Connector
Connector
Connector pin
Connector pin
For DVOP2490, DV0P3480,
• recommended manual
crimp tool
(to be prepared by customer)
Tyco Electronics AMP
Tyco Electronics AMP
Tyco Electronics AMP
Molex Inc.
For junction cable to encoder
For junction cable to motor
755330 - 1
755331 - 1
MSMD 50W to 750W
MQMA 100W to 400W
MAMA 100W to 750W
MSMD 50W to 750W
MQMA 100W to 400W
MAMA 100W to 750W
Connector Kit for Motor/Encoder Connection
These are required when you make your own encoder and motor cables.
319
[Supplement]
Supplement
Note
For CN X6 (6-pins)
For junction cable to
encoder
For junction cable to
motor power
Number
1
1
1
1
1
Title
Connector
Straight plug
Cable clamp
Straight plug
Cable clamp
Part No.
55100-0600 or 55100-0670
(lead-free)
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B24-11S
N/MS3057-16A
Without brake
Note
For CN X6 (6-pins)
For junction cable to
encoder
For junction cable to
motor power
Number
1
1
1
1
1
Title
Connector
Straight plug
Cable clamp
Straight plug
Cable clamp
Part No.
55100-0600 or 55100-0670
(lead-free)
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B20-18S
N/MS3057-12A
Note
For CN X6 (6-pins)
For junction cable to
encoder
For junction cable to
motor power
Number
1
1
1
1
1
Title
Connector
Straight plug
Cable clamp
Straight plug
Cable clamp
Part No.
55100-0600 or 55100-0670
(lead-free)
N/MS3106B-20-29S
N/MS3057-12A
N/MS3106B22-22S
N/MS3057-12A
Note
For CN X6 (6-pins)
For junction cable to
encoder
For junction cable to
motor power
Manufacturer
Molex Inc.
Japan Aviation Electronics
Industry Ltd.
Japan Aviation Electronics
Industry Ltd.
Manufacturer
Molex Inc.
Japan Aviation Electronics
Industry Ltd.
Japan Aviation Electronics
Industry Ltd.
Manufacturer
Molex Inc.
Japan Aviation Electronics
Industry Ltd.
Japan Aviation Electronics
Industry Ltd.
Manufacturer
Molex Inc.
Japan Aviation Electronics
Industry Ltd.
Japan Aviation Electronics
Industry Ltd.
Number
1
1
1
1
1
Title
Connector
Straight plug
Cable clamp
Straight plug
Cable clamp
Part No.
55100-0600 or 55100-0670
(lead-free)
N/MS3106B20-29S
N/MS3057-12A
N/MS3106B20-4S
N/MS3057-12A
17-bit absolute incremental encoder,
2500P/r incremental encoder
Without brake
17-bit absolute incremental encoder,
2500P/r incremental encoder
With brake
17-bit absolute incremental encoder,
2500P/r incremental encoder
Without brake
With brake
17-bit absolute incremental encoder,
2500P/r incremental encoder
With brake
17-bit absolute incremental encoder,
2500P/r incremental encoder
Without brake
With brake
17-bit absolute incremental encoder,
2500P/r incremental encoder
1) Part No. DV0P4310
2) Components
• Applicable motor models : MSMA 1.0kW to 2.0kW
MDMA 1.0kW to 2.0kW
MHMA 500W to 1.5kW
MGMA 900W
1) Part No. DV0P4320
2) Components
• Applicable motor models : MSMA 3.0kW to 5.0kW
MDMA 3.0kW to 5.0kW
MHMA 2.0kW to 5.0kW
MGMA 2.0kW to 4.5kW
1) Part No. DV0P4330
2) Components
• Applicable motor models : MSMA 1.0kW to 2.0kW
MDMA 1.0kW to 2.0kW
MHMA 0.5kW to 1.5kW
MGMA 900W
MFMA 0.4kW to 1.5kW
1) Part No. DV0P4340
2) Components
• Applicable motor models : MSMA 3.0kW to 5.0kW
MDMA 3.0kW to 5.0kW
MHMA 2.0kW to 5.0kW
MGMA 2.0kW to 4.5kW
MFMA 2.5kW to 4.5kW
320
Options
<Caution>
For E and F-frame, you con make a front end and back end mounting by changing the mounting direction of L-shape bracket (attachment).
Frame symbol
of applicable
driver
part No.
Mounting
screw Dimensions
Upper side Bottom side
A-frame
M4 x L6
Pan head
4pcs
M4 x L6
Pan head
4pcs
M4 x L6
Pan head
4pcs
M4 x L6
Pan head
4pcs
B-frame
C-frame
D-frame DV0P
4274
DV0P
4273
DV0P
4272
DV0P
4271
2-M4, Pan head
5.2
11 ±0.2
9.5
21
15
2.6
17
10
2.6
7
2.6R
2-M4, Pan head
2.6
10
17
2.6
7
15
21
9.5
11 ±0.2
ø5.2
2-M4, Pan head
2.6
10
17
2.6
15
28
9.5
18 ±0.2 5.2
7
2.6
R
2-M4, Pan head
18 ±0.2
28
15
2.6
10
2.6
17
9.5
7
ø5.2
2-M4, Pan head
5.2 2.6
10
17
2.6
15
40
9.5
30 ±0.2
20
2-M4, Pan head
30 ±0.2
9.5
40
15
2.6
17
10
2.6
20
ø5.2
2-M4, Pan head
5.2
5
17
9.5
36 ±0.2
40 ±0.2
10
5.2 2.6
10
2.6
15
60
2-M4, Pan head
4010
17
9.5
36 ±0.2
60
15
2.6
10
2.6
19
5.2
2-ø
Mounting Bracket
Console
Part No. DV0P4420
Name plate
(62)
(15)
(24)
M3 L5
(15)
(114)
(1500)
MD connector
Mini DIN-8P
Tightening torque for the insert screw
shall be 0.5N
•
m or less.
321
[Supplement]
Supplement
C
B
A
(Mounting pitch)
D
6-1
RST
NP
XYZ
B
CD
2-1
G
4-H
E
G
4-H
E
Fig.1
Fig.2
DV0P220
DV0P221
DV0P222
DV0P223
DV0P224
DV0P225
DV0P226
DV0P227
DV0P228
DV0P229
65
60
60
60
60
60
55
55
55
55
125
150
150
150
150
150
80
80
80
80
83
113
113
113
113
113
68
68
68
68
118
137
137
137
137
137
90
90
90
90
145
120
130
140
145
160
90
90
95
105
70
60
70
79
84
100
41
41
46
56
85
75
95
95
100
115
55
55
60
70
7(w) x 12(L)
7(w) x 12(L)
7(w) x 12(L)
7(w) x 12(L)
7(w) x 12(L)
7(w) x 12(L)
ø7.0
ø7.0
ø7.0
ø7.0
M4
M4
M4
M4
M4
M5
M4
M4
M4
M4
6.81
4.02
2
1.39
0.848
0.557
6.81
4.02
2
1.39
3
5
8
11
16
25
3
5
8
11
Fig.2 Fig.1
Part No. A B C D E F G H I
Inductance
(mH) Rated
current
(A)
F
(Mounting pitch)
F
(Mounting pitch)
A
(Mounting pitch)
MGMA
MSMA
MDMA
MHMA
MFMA
MSMA
MDMA
MHMA
MGMA
MFMA
MSMA
MDMA
MHMA
MGMA
MSMA
MDMA
MHMA
3-phase,
200V
900W
1.0kW
1.5kW
1.5kW
2.0kW
2.5kW
3.0kW
4.0kW
DV0P222
DV0P223
DV0P224
DV0P225
Motor
series Power
supply Rated
output Part No.
MSMD
MQMA
MSMD
MQMA
MSMD
MQMA
MAMA
MFMA
MHMA
MSMD
MQMA
MAMA
MAMA
MFMA
MHMA
MSMD
MAMA
Single
phase,
100V
Single
phase,
200V
3-phase,
200V
50W to 100W
100W
200W to 400W
50W to 200W
100W to 200W
400W
500W
400W to 750W
400W
400W to 750W
400W
500W
750W
DV0P227
DV0P228
DV0P220
DV0P221
DV0P220
DV0P221
Motor
series Power
supply Rated
output Part No.
Reactor
Harmonic restraint
On September, 1994, “Guidelines for harmonic restraint on heavy consumers who receive power through
high voltage system or extra high voltage system” and “Guidelines for harmonic restraint on household
electrical appliances and general-pur pose articles” established by the Agency for Natural Resources and
Energy of the Ministry of Economy, Trade and Industry (the ex-Ministry of International Trade and Industry).
According to those guidelines, the Japan Electrical Manufacturers’ Association (JEMA) have prepared tech-
nical documents (procedure to execute harmonic restraint: JEM-TR 198, JEM-TR 199 and JEM-TR 201)
and have been requesting the users to understand the restraint and to cooper ate with us . On Jan uary, 2004,
it has been decided to exclude the general-purpose inverter and servo driver from the “Guidelines for har-
monic restraint on household electrical appliances and general-purpose articles”. After that, the “Guidelines
for harmonic restraint on household electrical appliances and general-purpose articles” was abolished on
September 6, 2004.
We are pleased to infor m you that the procedure to execute the harmonic restraint on general-pur pose
inverter and servo driver was modified as follows.
1.All types of the general-purpose inverters and servo drivers used by specific users are under the control of
the “Guidelines for harmonic restraint on heavy consumers who receive power through high voltage sys-
tem or extra high voltage system”. The users who are required to apply the guidelines must calculate the
equivalent capacity and harmonic current according to the guidelines and must take appropriate counter-
measures if the harmonic current exceeds a limit value specified in a contract demand. (Refer to JEM-TR
210 and JEM-TR 225.)
2.The “Guidelines for harmonic restraint on household electrical appliances and general-purpose articles”
was abolished on September 6, 2004. However, based on conventional guidelines, JEMA applies the
technical documents JEM-TR 226 and JEM-TR 227 to any users who do not fit into the “Guidelines for
harmonic restraint on heavy consumers who receive power through high voltage system or extra high
voltage system” from a perspective on enlightenment on general harmonic restraint. The purpose of these
guidelines is the execution of harmonic restraint at every device by a user as usual to the utmost extent.
322
Options
DV0P4282
DV0P4283
DV0P4284
Part No.
RF18B
RF18B
RF240
RH450F
25
50
30
Specifications Activation
temperature of
built-in thermostat
DV0P4280
DV0P4281
RF70M
RF70M
50 10
10
17
17
40
52
25
25
50
50
100
130
100
DV0P4285 20
Manufacturer : Iwaki Musen Kenkyusho
DV0P4280, DV0P4281 DV0P4282,DV0P4283
DV0P4284 DV0P4285
Battery
(1) Part No. DV0P2990
(2) Lithium battery by Toshiba Battery Co.
ER6V, 3.6V 2000mAh
DV0P2990
00090001
84
18
Paper insulator
Lead wire length 50mm
ZHR-2
(J.S.T Mfg. Co., Ltd.)
1
BAT+
14.5
<Remarks>
Thermal fuse is installed for safety. Compose the circuit so that the power
will be turned off when the thermostat is activated. The thermal fuse may
blow due to heat dissipating condition, working temperature, supply voltage
or load fluctuation.
Make it sure that the surface temperature of the resistor may not exceed
100˚C at the worst running conditions with the machine, which brings large
regeneration (such case as high supply voltage, load inertia is large or decel-
eration time is short) Install a fan for a forced cooling if necessary.
Take preventive measures for fire and
burns.
Avoid the installation near inflammable
objects, and easily accessible place by
hand.
<Caution>
Regenerative resistor gets very hot.
<Caution>
This battery is categorized as hazardous substance, and you may be required to present an application
of hazardous substance when you transport by air (both passenger and cargo airlines).
Resistance
Rated power (reference) *
140±5˚C
B-contact
Open/Close capacity
(resistance load)
4A 125VAC 10000 times
2.5A 250VAC 10000 times
35
35
60
60
120
160
45
45
75
75
150
200
Free air
[W]Ω
with fan [W]
1m/s 2m/s 3m/s
2-Ø4.5
65
0
6
30
71
21
8
3
1
3
1
3
1
7
5
.
1
XAM0
125
57
300
450
Drawing process
thermostat
(light yellow x2)
(2mm MAX)
5.
28.6
XAM01
5.52 7
10
32
170±1
160±0.5 55
82 ±5
.0
65 ±5.
0
5.4
1
24
5
8±1
300±30
450
6-Ø4.5
300
XA
M
0
1
XA
M9
5
15
1
300
0
0
1
5
2
10 71 10
4
1
53
0
7
(5)
5
.
4
290
280
450
300
5
.
4
Ø
4-Ø4.5
450
450
300
0
5
0
2 0
0
1
1
1
8
10
4
1
278
0
3
1
288
thermostat
(light yellow x2)
thermostat
(light yellow x2)
thermostat
(light yellow x2)
* Power with which the driver can be used without activating
the built-in thermostat.
2
BAT–
Manufacturer's
part No.
Frame
A
B
C
D
E
F
Power supply
Single phase, 200V
3-phase, 200V
DV0P4281
DV0P4283
DV0P4284
DV0P4285
Single phase, 100V
DV0P4280
DV0P4283
DV0P4282
–Arrange 2
DV0P4285
in a parallel
External Regenerative Resistor
Battery For Absolute Encoder
323
[Supplement]
Supplement
Surge absorber for motor brake
Motor
Manufacturer
Okaya Electric Industries Co. Ltd.
Nippon Chemi_Con Corp.
Ishizuka Electronics Corp.
Japan Aviation Electronics Industry, Ltd.
Sumitomo 3M
Tyco Electronics AMP k.k,
TDK Corp.
• C-5A2 or Z15D151
Ishizuka Electronics Co.
• C-5A3 or Z15D151
Ishizuka Electronics Co.
• TNR9V820K
Nippon Chemi_Con Co.
Iwaki Musen Kenkyusho Co., Ltd.
Peripheral components
Surge absorber
Noise filter
Surge absorber for holding brake
Connector
Noise filter for signal lines
Regenerative resistor
Linear scale
Tel No./URL
Automation Controls Company
Matsushita Electric Works, Ltd.
Non-fuse breaker
Magnetic contactor
Surge absorber
81-6-6908-1131
http://www.mew.co.jp
Japan Molex Inc.
Hirose Electric Co., Ltd.
J.S.T Mfg. Co., Ltd.
Daiden Co., Ltd.
Renesas Technology Corp.
Mitutoyo Corp.
Cable
* The above list is for reference only. We may change the manufacturer without notice.
As of Nov.2004
81-44-833-4311
http://www.iwakimusen.co.jp/
81-3-5436-7608
http://www.chemi_con.co.jp/
81-3-3621-2703
http://www.semitec.co.jp/
81-6-6233-9511
http://www.renesas.com/jpn/
81-3-5201-7229
http://www.tdk.co.jp/
81-3-3424-8120
http://www.okayatec.co.jp/
81-3-3780-2717
http://www.jae.co.jp
81-3-5716-7290
http://www.mmmco.jp
81-44-844-8111
http://www.tycoelectronics.com/japan/amp
81-462-65-2313
http://www.molex.co.jp
81-3-3492-2161
http://www.hirose.co.jp/
81-45-543-1271
http://www.jst-mfg.com/
81-3-5805-5880
http://www.dyden.co.jp/
81-44-813-5410
http://www.mitutoyo.co.jp
MSMD 50W to 1.0kW
MAMA 100W to 750W
MHMA 2.0kW to 5.0kW
MGMA 900W to 2.0kW
MSMA 1.5kW to 5.0kW
MDMA 4.0kW to 5.0kW
MFMA 1.5kW
MGMA 3.0kW to 4.5kW
MDMA 1.0kW to 3.0kW
MFMA 400W
MFMA 2.5kW to 4.5kW
MHMA 500W to 1.5kW
Surge Absorber for Motor Brake
List of Peripheral Equipments (reference only)
Recommended components
324
Dimensions (Driver)
A-frame
B-frame
Rack mount type
(Option : Front-end mounting) Base mount type
(Standard : Back-end mounting)
130
22
5.2
28 6
Mounting bracket
(Option)
130
22
Mounting bracket
(Option)
Mass 0.8kg
Mass 1.1kg
R2.6
180
170
150
180
170
150
5.2
7
Ø5.2
2140
1405
7
Main power
input terminals
CN X1 RS485
communication
terminal, CN X3
RS232/RS485
communication
terminal, CN X4
Control signal
terminals, CN X5
Encoder
terminals, CN X6
Control power
input terminals
CN X1
Regenerative resistor
connecting terminals
CN X2
(Do not use RB3.)
Motor connecting
terminals
CN X2 External scale
terminals, CN X7
R2.6
5.2
7
Ø5.2
28 55
7
5.2
43 6
R2.6
1405
Ø
5.2
Ø
5.2
(75)
(75)
R2.6
* Refer to P.322, "Mounting bracket for driver"of Options,
when you use the optional mounting bracket.
Name plate
Rack mount type
(Option : Front-end mounting)
Main power
input terminals
CN X1 RS485
communication
terminal, CN X3
RS232/RS485
communication
terminal, CN X4
Control signal
terminals, CN X5
Encoder
terminals, CN X6
Control power
input terminals
CN X1
Regenerative resistor
connecting terminals
CN X2
(Do not use RB3.)
Motor connecting
terminals
CN X2 External scale
terminals, CN X7
Mounting bracket
(Option)
Mounting bracket
(Option)
Name plate
Base mount type
(Standard : Back-end mounting)
Connector at driver side
* Refer to P.322, "Mounting bracket for driver"of Options,
when you use the optional mounting bracket.
Connector sign
CN X7
CN X6
CN X5
CN X4
CN X3
CN X2
CN X1
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
Connector type
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529865079 (or equivalent)
MD-S8000-10 (or equivalent)
MD-S8000-10 (or equivalent)
S06B-F32SK-GGXR (or equivalent)
S04B-F32SK-GGXR (or equivalent)
Connector at driver side
Connector sign
CN X7
CN X6
CN X5
CN X4
CN X3
CN X2
CN X1
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
Connector type
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529865079 (or equivalent)
MD-S8000-10 (or equivalent)
MD-S8000-10 (or equivalent)
S06B-F32SK-GGXR (or equivalent)
S04B-F32SK-GGXR (or equivalent)
Mounting bracket
(Option)
Mounting bracket
(Option)
41
Mounting bracket
(Option)
Mounting bracket
(Option)
325
[Supplement]
Supplement
C-frame
D-frame
Mass 1.5kg
Mass 1.7kg
170
22
170
22
R2.6
180
170
150
5.2
40
20
5.2
40 65
20
Ø
180
170
150
5.2 5.2
10 40
5.2
60
40
85
10
Ø
5.2
Ø
R2.6
R2.6
5.2
50 7.5
R2.6
1405
5.2
70 7.5
R2.6
140
5
Ø5.2
Ø5.2
(75)
Rack mount type
(Option : Front-end mounting)
Main power
input terminals
CN X1 RS485
communication
terminal, CN X3
RS232/RS485
communication
terminal, CN X4
Control signal
terminals, CN X5
Encoder
terminals, CN X6
Control power
input terminals
CN X1
Regenerative resistor
connecting terminals
CN X2
(Do not use RB3.)
Motor connecting
terminals
CN X2 External scale
terminals, CN X7
* Refer to P.322, "Mounting bracket for driver"of Options,
when you use the optional mounting bracket.
* Refer to P.322, "Mounting bracket for driver"of Options,
when you use the optional mounting bracket.
(75)
Mounting bracket
(Option)
Mounting bracket
(Option)
Name plate
Base mount type
(Standard : Back-end mounting)
Rack mount type
(Option : Front-end mounting)
Air movement
(inside out)
Air movement
(inside out)
Main power
input terminals
CN X1
RS485
communication
terminal, CN X3
RS232/RS485
communication
terminal, CN X4
Control signal
terminals, CN X5
Encoder
terminals, CN X6
Control power
input terminals
CN X1
Regenerative resistor
connecting terminals
CN X2
(Do not use RB3.)
Motor connecting
terminals
CN X2
External scale
terminals, CN X7
Mounting bracket
(Option)
Mounting bracket
(Option)
Name plate
Base mount type
(Standard : Back-end mounting)
Connector at driver side
Connector sign
CN X7
CN X6
CN X5
CN X4
CN X3
CN X2
CN X1
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
Connector type
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529865079 (or equivalent)
MD-S8000-10 (or equivalent)
MD-S8000-10 (or equivalent)
S06B-F32SK-GGXR (or equivalent)
S05B-F32SK-GGXR (or equivalent)
Connector at driver side
Connector sign
CN X7
CN X6
CN X5
CN X4
CN X3
CN X2
CN X1
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
Connector type
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529865079 (or equivalent)
MD-S8000-10 (or equivalent)
MD-S8000-10 (or equivalent)
S06B-F32SK-GGXR (or equivalent)
S05B-F32SK-GGXR (or equivalent)
Mounting bracket
(Option)
Mounting bracket
(Option)
Mounting bracket
(Option)
Mounting bracket
(Option)
326
Dimensions (Driver)
3.5
3.5
E-frame
F-frame
5.2
Mass 3.2kg
Earth terminals
Ø5.2
50 17.5
42.5
5.2
Ø5.2
50 17.5
85
42.5 5.2
5.2
(88)
188
168
198
32.1 200
2.6
Mounting bracket
(Standard)
Mounting bracket
(install the standard to back end)
Motor connecting
terminals
Main power
input terminals
Control power
input terminals
Regenerative
resistor connecting
terminals
(Short between B1
and B2 in normal
operation)
Mass 6.0kg
85
Ø5.2
100 15
130
65 5.2
5.2
240
220
250
5.2
Ø5.2
100 15
65
5.2 (75)
32.3 200
2.6
RS485
communication
terminal, CN X3
RS232/RS485
communication
terminal, CN X4
Control signal
terminals, CN X5
Encoder
terminals, CN X6
External scale
terminals, CN X7
Name plate
Mounting bracket
(Standard)
Air movement
(from front to back)
Mounting bracket
(install the standard to back end)
Name plate
(75)
Air movement
(inside out)
Air movement
(inside out)
Connector at driver side
Connector sign
CN X7
CN X6
CN X5
CN X4
CN X3
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
Connector type
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529865079 (or equivalent)
MD-S8000-10 (or equivalent)
MD-S8000-10 (or equivalent)
Connector at driver side
Connector sign
CN X7
CN X6
CN X5
CN X4
CN X3
Manufacturer
Molex Inc.
Molex Inc.
Molex Inc.
J.S.T. Mfg.Co., Ltd.
J.S.T. Mfg.Co., Ltd.
Connector type
53460-0629 (or equivalent)
53460-0629 (or equivalent)
529865079 (or equivalent)
MD-S8000-10 (or equivalent)
MD-S8000-10 (or equivalent)
Earth terminals
Motor connecting
terminals
Main power
input terminals
Control power
input terminals
Regenerative
resistor connecting
terminals
(Short between B1
and B2 in normal
operation)
RS485
communication
terminal, CN X3
RS232/RS485
communication
terminal, CN X4
Control signal
terminals, CN X5
Encoder
terminals, CN X6
External scale
terminals, CN X7
327
[Supplement]
Supplement
Dimensions (Motor)
•
MAMA 100W to 750W
MAMA series
(Ultra low inertia)
012P1 * 012S1 * 022P1 * 022S1 * 042P1 * 042S1 * 082P1 * 082S1 *
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
MAMA 100W 200W 400W 750W
Motor model
Motor output
Mass (kg)
Connector/Plug specifications Refer to P.318, "Options".
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL 110.5
138 127
154.5 111
139 126
154 139
167 154
182 160
192.5 175
207.5
24
8
48
22
42
2
7
34
3.4
14
12.5
3h9
3
6.2
0.65
0.85 0.71
0.91 1.1
1.5 1.2
1.6 1.5
1.9 1.6
2.0 3.3
4.0 3.4
4.1
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LZ
LW
LK
KW
KH
RH
Key way
dimensions
30
11
70
50
60
3
7
43
4.5
20
18
4h9
4
8.5
30
14
70
50
60
3
7
43
4.5
25
22.5
5h9
5
11
35
19
90
70
80
3
8
53
6
25
22
6h9
6
15.5
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
ØLA
LC
LH
4-ØLZ
230
200
LELF
LL
ØSh6
ØLBh7
LR
Motor connector
Encoder
connector
LK
LW KW
RH
Brake connector
(Key way dimensions)
Motor
cable
KH
328
Dimensions (Motor)
•
MSMD 50W to 100W
MSMD series (low inertia)
5A * P1 * 5A * S1 * 01 * P1 * 01 * S1 *
MSMD 50W 100W
25
8
45
30
38
3
6
32
26.5
3.4
14
12.5
3h9
3
6.2
M3 x 6 (depth)
25
8
45
30
38
3
6
32
46.5
3.4
14
12.5
3h9
3
6.2
M3 x 6 (depth)
0.32
0.53 0.47
0.68
72
102 92
122
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
230
200
LELF
LL LR
ØSh6
ØLBh7
LH
LN
ØLA
Brake connector
Motor connector
Encoder
connector
LW
KW
TP
KH
RH
LK
(Key way dimensions)
4-ØLZ
2500P/r Incremental 17-bit Absolute/
Incremental 2500P/r Incremental 17-bit Absolute/
Incremental
Refer to P.318, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LN
LZ
LW
LK
KW
KH
RH
TP
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
LC
329
[Supplement]
Supplement
•
MSMD 200W to 750W
02 * P1 * 02 * S1 * 04 * P1 * 04 * S1 * 08 * P1 * 08 * S1 *
200W 400W 750W
79
115.5
30
11
70
50
60
3
6.5
43
4.5
20
18
4h9
4
8.5
M4 x8 (depth)
30
14
70
50
60
3
6.5
43
4.5
25
22.5
5h9
5
11
M5 x 10 (depth)
35
19
90
70
80
3
8
53
6
25
22
6h9
6
15.5
M5 x 10 (depth)
0.82
1.3 1.2
1.7 2.3
3.1
98.5
135 112
149
MSMD series (low inertia)
MSMD
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
220
200
LELF
LL LR
ØSh6
ØLBh7
LH
ØLA
Brake connector
Motor connector
Encoder
connector
LW
KW
TP
KH
RH
LK
(Key way dimensions)
4-ØLZ LC
Refer to P.318, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LN
LZ
LW
LK
KW
KH
RH
TP
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
330
Dimensions (Motor)
•
MQMA 100W to 400W
01 * P1 * 01 * S1 * 02 * P1 * 02 * S1 * 04 * P1 * 04 * S1 *
100W 200W 400W
60
84 25
8
70
50
60
3
7
43
4.5
14
12.5
3h9
3
6.2
M3 x 6(depth)
30
11
90
70
80
5
8
53
5.5
20
18
4h9
4
8.5
M4 x 8(depth)
30
14
90
70
80
5
8
53
5.5
25
22.5
5h9
5
11
M5 x 10(depth)
87
111
0.65
0.90 0.75
1.00 1.3
2.0 1.4
2.1 1.8
2.5 1.9
2.6
67
99.5 94
126.5 82
114.5 109
141.5
MQMA series (low inertia)
MQMA
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
LL LR
LE
LF
200
220
Ø
LBh7
LH
Ø
Sh6
øLA
Brake connector
Motor connector
4-
Ø
LZ
(7) (7)
Encoder
connector
LW
KW
TP
KH
RH
LK
(Key way dimensions)
LC
Refer to P.318, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LZ
LW
LK
KW
KH
RH
TP
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
331
[Supplement]
Supplement
•
MSMA 1.0kW to 2.0kW
MSMA series
(low inertia)
10 * P1 * 10 * S1 * 15 * P1 * 15 * S1 * 20 * P1 * 20 * S1 *
MSMA 1.0kW 1.5kW 2.0kW
175
200 55
19
100
80
90
120
3
7
84
98
6.6
45
42
6h9
6
15.5
55
19
115
95
100
135
3
10
84
103
9
45
42
6h9
6
15.5
55
19
115
95
100
135
3
10
84
103
9
45
42
6h9
6
15.5
175
200
4.5
5.1 4.5
5.1 5.1
6.5 5.1
6.5 6.5
7.9 6.5
7.9
180
205 180
205 205
230 205
230
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LZ
LW
LK
KW
KH
RH
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Key way dimensions)
LW
LK KW
KHRH
LL LR
LF LE
Ø
LBh7
LH
LG
Ø
Sh6
4-
Ø
LZ
Ø
LA
Ø
LD
Encoder
connector
LC
Refer to P.312, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
Motor/Brake
connector
332
Dimensions (Motor)
•
MSMA 3.0kW to 5.0kW
30 * P1 * 30 * S1 * 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1 *
3.0kW 4.0kW 5.0kW
217
242 55
22
130/145 (slot)
110
120
162
3
12
84
111
9
45
41
8h9
7
18
65
24
145
110
130
165
6
12
84
118
9
55
51
8h9
7
20
65
24
145
110
130
165
6
12
84
118
9
55
51
8h9
7
20
217
242
09.3
11.0 9.3
11.0 12.9
14.8 12.9
14.8 17.3
19.2 17.3
19.2
240
265 240
265 280
305 280
305
MSMA series (low inertia)
MSMA
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LZ
LW
LK
KW
KH
RH
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
Ø
145
LZ
Ø
135
Ø
LD
(Key way dimensions)
LW
LK KW
KHRH
LL LR
LF LE
Ø
LBh7 LH
LG
Ø
Sh6
4-
Ø
LZ
Ø
LA
Ø
LD
Motor/Brake
connector
Encoder
connector
LC
LC
Refer to P.312, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
333
[Supplement]
Supplement
•
MDMA 1.0kW to 1.5kW
MDMA series
(Middle inertia)
10 * P1 * 10 * S1 * 15 * P1 * 15 * S1 *
MDMA 1.0kW 1.5kW
55
22
145
110
130
165
6
12
84
118
9
45
41
8h9
7
18
55
22
145
110
130
165
6
12
84
118
9
45
41
8h9
7
18
6.8
8.7 6.8
8.7 8.5
10.1 8.5
10.1
150
175 150
175 175
200 175
200
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LZ
LW
LK
KW
KH
RH
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Key way dimensions)
LW
LK KW
KHRH
LL LR
LF LE
Ø
LBh7 LH
LG
Ø
Sh6
4-
Ø
LZ
Ø
LD
Ø
LA
Motor/Brake
connector
Encoder
connector
LC
Refer to P.312, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
2500P/r Incremental 17-bit
Absolute/Incremental 2500P/r Incremental 17-bit
Absolute/Incremental
334
Dimensions (Motor)
•
MDMA 2.0kW to 3.0kW
20 * P1 * 20 * S1 * 30 * P1 * 30 * S1 *
2.0kW 3.0kW
200
225 55
22
145
110
130
165
6
12
84
118
9
45
41
8h9
7
18
65
24
145
110
130
165
6
12
84
118
9
55
51
8h9
7
20
200
225
10.6
12.5 10.6
12.5 14.6
16.5 14.6
16.5
250
275 250
275
MDMA series
(Middle inertia)
MDMA
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LZ
LW
LK
KW
KH
RH
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Key way dimensions)
LW
LK KW
KHRH
LL LR
LF LE
Ø
LBh7 LH
LG
Ø
Sh6
4-
Ø
LZ
Ø
LD
Ø
LA
Motor/Brake
connector
Encoder
connector
LC
Refer to P.312, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
2500P/r Incremental 17-bit
Absolute/Incremental 2500P/r Incremental 17-bit
Absolute/Incremental
335
[Supplement]
Supplement
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
•
MDMA 4.0kW to 5.0kW
MDMA series
(Middle inertia)
40 * P1 * 40 * S1 * 50 * P1 * 50 * S1 *
MDMA 4.0kW 5.0kW
242
267 242
267 225
250 225
250
65
28
165
130
150
190
3.2
18
84
128
11
55
51
8h9
7
24
70
35
200
114.3
176
233
3.2
18
84
143
13.5
55
50
10h9
8
30
18.8
21.3 18.8
21.3 25.0
28.5 25.0
28.5
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LZ
LW
LK
KW
KH
RH
(Key way dimensions)
LW
LK KW
KHRH
LL LR
LF LE
Ø
LBh7 LH
LG
Ø
Sh6
4-
Ø
LZ
Ø
LD
Ø
LA
Motor/Brake
connector
Encoder
connector
LC
Refer to P.312, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
2500P/r Incremental 17-bit
Absolute/Incremental 2500P/r Incremental 17-bit
Absolute/Incremental
336
Dimensions (Motor)
•
MGMA 900W to 2.0kW
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
MGMA series (Middle inertia)
09 * P1 * 09 * S1 * 20 * P1 * 20 * S1 *
MGMA 900W 2.0kW
70
22
145
110
130
165
6
12
84
118
9
45
41
8h9
7
18
80
35
200
114.3
176
233
3.2
18
84
143
13.5
55
50
10h9
8
30
8.5
10.0 8.5
10.0 17.5
21.0 17.5
21.0
175
200 175
200 182
207 182
207
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LZ
LW
LK
KW
KH
RH
MGMA 900W to 2.0kW
4-
Ø
LZ LW
KW
LK
KHRH
Ø
LA
Ø
LD
Ø
Sh6
LR
LE
LL
LF
LH
LG
(Key way dimensions)
Motor/Brake connector
Encoder connector
LC
Refer to P.312, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
2500P/r Incremental 17-bit
Absolute/Incremental 2500P/r Incremental 17-bit
Absolute/Incremental
337
[Supplement]
Supplement
•
MGMA 3.0kW to 4.5kW
MGMA series (Middle inertia)
30 * P1 * 30 * S1 * 45 * P1 * 45 * S1 *
MGMA 3.0kW 4.5kW
222
271 222
271 300.5
337.5 300.5
337.5
80
35
200
114.3
176
233
3.2
18
84
143
13.5
55
50
10h9
8
30
113
42
200
114.3
176
233
3.2
24
84
143
13.5
96
90
12h9
8
37
25.0
28.5 25.0
28.5 34.0
39.5 34.0
39.5
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LZ
LW
LK
KW
KH
RH
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
MGMA 3.0kW
MGMA 4.5kW
4-
Ø
LZ
Ø
LA
Ø
LD
ØSh6
Ø
L Bh7
LR
LE
LL
LF
LH
LG
4-
Ø
LZ
Ø
LA
Ø
LD
LW
KW
LK
KHRH
Eye bole (Thread 10)
Ø
L Bh7
Ø
Sh6
LR
LL
LFLE
LH
LG
(Key way dimensions)
Motor/Brake connector
Encoder connector
Motor/Brake connector
Encoder connector
LC
LC
Refer to P.312, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
2500P/r Incremental 17-bit
Absolute/Incremental 2500P/r Incremental 17-bit
Absolute/Incremental
338
Dimensions (Motor)
•
MFMA 400W to 1.5kW
MFMA series
(Middle inertia)
04 * P1 * 04 * S1 * 15 * P1 * 15 * S1 *
MFMA 400W 1.5kW
120
145 55
19
145
110
130
165
6
12
84
118
9
45
42
6h9
6
15.5
65
35
200
114.3
176
233
3.2
18
84
143
13.5
55
50
10h9
8
30
120
145
4.7
6.7 4.7
6.7 11.0
14.0 11.0
14.0
145
170 145
170
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LZ
LW
LK
KW
KH
RH
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Key way dimensions)
Motor/Brake connector
Encoder connector
LL LR
LF LE
Ø
LBh7
Ø
Sh6
LH
LG
4-
Ø
LZ
Ø
LD
Ø
LA
LW
LK KW
KHRH
LC
Refer to P.312, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
2500P/r Incremental 17-bit
Absolute/Incremental 2500P/r Incremental 17-bit
Absolute/Incremental
339
[Supplement]
Supplement
•
MFMA 2.5kW to 4.5kW
25 * P1 * 25 * S1 * 45 * P1 * 45 * S1 *
2.5kW 4.5kW
139
166 65
35
235
200
220
268
4
16
84
164
13.5
55
50
10h9
8
30
70
35
235
200
220
268
4
16
84
164
13.5
55
50
10h9
8
30
139
166
14.8
17.5 14.8
17.5 19.9
24.3 19.9
24.3
163
194 163
194
MFMA series
(Middle inertia)
MFMA
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LZ
LW
LK
KW
KH
RH
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Key way dimensions)
LL LR
LF LE
ØLBh7 ØSh6
LH
LG
4-ØLZ
ØLD
ØLA
LW
LK KW
KHRH
Motor/Brake connector
Encoder connector
LC
Refer to P.312, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
2500P/r Incremental 17-bit
Absolute/Incremental 2500P/r Incremental 17-bit
Absolute/Incremental
340
Dimensions (Motor)
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
•
MHMA 500W to 1.5kW
MHMA series
(High inertia)
05 * P1 * 05 * S1 * 10 * P1 * 10 * S1 * 15 * P1 * 15 * S1 *
MHMA 500W 1.0kW 1.5kW
150
175 70
22
145
110
130
165
6
12
84
118
9
45
41
8h9
7
18
70
22
145
110
130
165
6
12
84
118
9
45
41
8h9
7
18
70
22
145
110
130
165
6
12
84
118
9
45
41
8h9
7
18
150
175
5.3
6.9 5.3
6.9 8.9
9.5 8.9
9.5 10.0
11.6 10.0
11.6
175
200 175
200 200
225 200
225
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LZ
LW
LK
KW
KH
RH
(Key way dimensions)
LW
LK KW
KHRH
LL LR
LF LE
ØLBh7
LH
LG
ØSh6
4-ØLZ
Ø
LD
ØLA
Motor/Brake connector
Encoder connector
LC
Refer to P.312, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
341
[Supplement]
Supplement
•
MHMA 2.0kW to 5.0kW
MHMA series
(High inertia)
20 * P1 * 20 * S1 * 30 * P1 * 30 * S1 * 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1 *
MHMA 2.0kW 3.0kW 4.0kW 5.0kW
190
215 190
215 205
230 205
230 230
255 230
255 255
280 255
280
80
35
200
114.3
176
233
3.2
18
84
143
13.5
55
50
10h9
8
30
80
35
200
114.3
176
233
3.2
18
84
143
13.5
55
50
10h9
8
30
80
35
200
114.3
176
233
3.2
18
84
143
13.5
55
50
10h9
8
30
80
35
200
114.3
176
233
3.2
18
84
143
13.5
55
50
10h9
8
30
16.0
19.5 16.0
19.5 18.2
21.7 18.2
21.7 22.0
25.5 22.0
25.5 26.7
30.2 26.7
30.2
LR
S
LA
LB
LC
LD
LE
LF
LG
LH
LZ
LW
LK
KW
KH
RH
* Dimensions are subject to change without notice. Contact us or a dealer for the latest information.
(Key way dimensions)
LW
LK KW
KHRH
LL LR
LF LE
ØLBh7
LH
LG
ØSh6
4-ØLZ
Ø
LD
Ø LA
Motor/Brake connector
Encoder connector
LC
Refer to P.312, "Options".
Motor model
Motor output
Mass (kg)
Connector/Plug specifications
Rotary encoder specifications
Without brake
With brake
Without brake
With brake
LL
Key way
dimensions
<Cautions>
Reduce the moment of inertia ratio if high speed response operation is required.
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
2500P/r
Incremental
17-bit
Absolute/
Incremental
342
Permissible Load at Output Shaft
50W, 100W
200W, 400W
750W
1kW
1.5kW to 3.0kW
4.0kW to 5.0kW
100W
200W, 400W
1.0kW to 2.0kW
3.0kW
4.0kW
5.0kW
500W to 1.5kW
2.0kW to 5.0kW
400W
1.5kW
2.5kW, 4.5kW
900W
2.0kW
3.0kW, 4.5kW
MSMD
MSMA
MQMA
MDMA
MHMA
MFMA
MGMA
Motor
series Motor output Radial thrust Radial thrust
Thrust load A
and B-direction
During runningAt assembly
Thrust load
A-direction B-direction
147
392
686
686
980
147
392
980
1666
980
1666
980
1862
980
1666
2058
88
147
294
392
588
88
147
588
784
588
784
588
686
588
784
980
117.6
196
392
490
686
117.6
196
686
980
686
980
686
980
1176
68.6
245
392
392
490
784
68.6
245
490
784
490
784
392
490
784
686
1176
1470
58.8
98
147
147
196
343
58.8
98
196
343
196
343
147
196
294
196
490
50W
100W
200W
400W
750W
MSMD
Motor
series Motor
output Formula of Load and
load point relation
P = 3533
L+39
Unit : N (1kgf=9.8N)
L
P
<Note>
When the load point varies, calculate the permissible radial
load, P (N) from the distance of the load point, L (mm) from
the mounting flange based on the formula of the right table,
and make it smaller than the calculated result.
P = 4905
L+59
P = 14945
L+46
P = 19723
L+65.5
P = 37044
L+77
L
L/2 P
A
M
B
Radial load (P) direction Thrust load (A and B) direction
343
[Supplement]
Supplement
Motor Characteristics (S-T Characteristics)
• Note that the motor characteristics may vary due to the existence of oil seal or brake.
• Continuous torque vs. ambient temperature characteristics have been measured with an aluminum
flange attached to the motor (approx. twice as large as the motor flange).
With and without oil seal
MQMA series (100W to 400W)
without oil seal
MAMA series (100W to 750W)
• MAMA012 * 1 *
Input voltage to driver: AC200V
• MAMA022 * 1 *
Input voltage to driver: AC200V
• MAMA042 * 1 *
Input voltage to driver: AC200V
• MAMA082 * 1 *
Input voltage to driver: AC200V
• MQMA011 * 1 *
• MQMA021 * 1 *
• MQMA042 * 1 *
• MQMA041 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
• MQMA012 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MQMA022 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
torque
speed
Continuous running range
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
* These are subject to change. Contact
us when you use these values for your
machine design.
* Ratio to the rated torque at ambient
temperature of 40˚C is 100% in case
of without oil seal, without brake.
• When you lower the
torque limit setup (Pr5E
and 5F), running range
at high speed might be
lowered as well.
torque
[N
•
m]
* Continuous torque vs.
ambient temp. torque
[N
•
m]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
* Continuous torque vs.
ambient temp.
1.0
0 1000 2000 3000 4000 5000
2.0
torque
[N
•
m]
speed [r/min]
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
(1.91)
(0.64)
0.5
0 1000 2000 3000 4000 5000
1.0
torque
[N
•
m]
speed [r/min]
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
(0.95)
(0.32)
2.0
0 1000 2000 3000 4000 4500
4.0
torque
[N
•
m]
speed [r/min]
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
(3.82)
(1.3)
0.5
0 1000 2000 3000 4000 5000
1.0
torque
[N
•
m]
speed [r/min]
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
1.0
0 1000 2000 3000 4000 5000
2.0
torque
[N
•
m]
speed [r/min]
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
2.0
0 1000 2000 3000 4000 5000
4.0
torque
[N
•
m]
speed [r/min]
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
(0.95)
(0.32)
(1.91)
(0.64)
(3.82)
(1.3)
0.5
(0.19)
(5000)
(0.95)
0 2000 4000 6000
1.0
speed [r/min]
Peak running range
010203040
100
50
ambient temp. [˚C]
Continuous running range
ratio vs. rated torque [%]
1.0
(0.38)
(5000)
(1.91)
0 2000 4000 6000
2.0
speed [r/min]
Peak running range
010203040
100
50
ambient temp. [˚C]
Continuous running range
ratio vs. rated torque [%]
4.0
(1.43)
(5000)
(7.16)
0 2000 4000 6000
8.0
speed [r/min]
Peak running range
010203040
100
50
ambient temp. [˚C]
Continuous running range
ratio vs. rated torque [%]
2.0
(0.76)
(5000)
(3.82)
0 2000 4000 6000
4.0
speed [r/min]
Peak running range
010203040
100
50
ambient temp. [˚C]
Continuous running range
ratio vs. rated torque [%]
344
Motor Characteristics (S-T Characteristics)
MSMD series
(50W to 100W)
* These are subject to change. Contact us when you use these values for your machine design.
* Ratio to the rated torque at ambient temperature of 40˚C is 100% in case of without oil seal, without brake.
without oil seal with oil seal
• MSMD5AZ * 1 *
Input voltage to driver: AC100V/200V
(Dotted line represents torque at 10% less voltage.)
• MSMD5AZ * 1 *
Input voltage to driver: AC100V/200V
(Dotted line represents torque at 10% less voltage.)
• MSMD011 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
• MSMD011 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
• MSMD012 * 1 *
Input voltage to driver: AC200V
• MSMD012 * 1 *
Input voltage to driver: AC200V
0.25
0 1000 2000 3000 4000 5000
0.5
torque
[N
•
m]
Peak running range
speed [r/min]
95
50
010203040
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
Continuous running range
with brake
ratio vs. rated torque [%]
95
50
010203040
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
0.5
0 1000 2000 3000 4000 5000
1.0
torque
[N
•
m]
speed [r/min]
Peak running range
Continuous running range
with brake
ratio vs. rated torque [%]
0.5
0 1000 2000 3000 4000 5000
1.0
torque
[N
•
m]
speed [r/min]
75
70
50
010203040
100
ambient temp. [˚C]
Peak running range
Continuous running range
* Continuous torque vs.
ambient temp.
with brake
without brake
ratio vs. rated torque [%]
0.25
0 1000 2000 3000 4000 5000
0.5
torque
[N
•
m]
speed [r/min]
70
60
50
010203040
100
ambient temp. [˚C]
Peak running range
Continuous running range
* Continuous torque vs.
ambient temp.
with brake
without brake
ratio vs. rated torque [%]
(0.48)
(0.95)
(0.32)
(0.95)
(0.32)
(0.16)
(0.48)
(0.16)
0.5
0 1000 2000 3000 4000 5000
1.0
torque
[N
•
m]
speed [r/min]
Peak running range
Continuous running range
* Continuous torque vs.
ambient temp.
95
50
010203040
100
ambient temp. [˚C]
with brake
ratio vs. rated torque [%]
(0.95)
(0.32)
75
70
50
010203040
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
0.5
0 1000 2000 3000 4000 5000
1.0
torque
[N
•
m]
speed [r/min]
Peak running range
Continuous running range
with brake
without brake
ratio vs. rated torque [%]
(0.95)
(0.32)
• When you lower the torque limit setup (Pr5E and 5F),
running range at high speed might be lowered as well.
torque
speed
Continuous running range
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
345
[Supplement]
Supplement
MSMD series (200W to 750W)
* These are subject to change. Contact us when you use these values for your machine design.
• MSMD021 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
• MSMD022 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MSMD041 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
• MSMD041 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
• MSMD042 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MSMD042 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MSMD082 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MSMD082 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MSMD022 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MSMD021 * 1 *
Input voltage to driver: AC100V
(Dotted line represents torque at 10% less voltage.)
without oil seal With oil seal
1.0
0 1000 2000 3000 4000 5000
2.0
torque
[N
•
m]
speed [r/min]
Continuous running range
Peak running range
50
010203040
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
(1.91)
(0.64)
speed [r/min]
80
70
50
010203040
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
1.0
0 1000 2000 3000 4000 5000
2.0
torque
[N
•
m]
Continuous running range
Peak running range
(1.91)
(0.64)
2.0
0 1000 2000 3000 4000 5000
4.0
torque
[N
•
m]
speed [r/min]
90
50
010203040
100
ambient temp. [˚C]
Peak running range
Continuous running range
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
(3.8)
(1.3)
2.0
0 1000 2000 3000 4000 5000
4.0
torque
[N
•
m]
speed [r/min]
Peak running range
Continuous running range
75
50
010203040
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
(3.8)
(1.3)
2.0
0 1000 2000 3000 4000 5000
4.0
torque
[N
•
m]
speed [r/min]
Peak running range
Continuous running range
75
50
010203040
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
speed [r/min]
50
0102030
40
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
4.0
0 1000 2000 3000 4000 5000
8.0
torque
[N
•
m]
Peak running range
Continuous running range
4.0
0 1000 2000 3000 4000 5000
8.0
torque
[N
•
m]
speed [r/min]
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
(7.1)
(2.4)
(7.1)
(2.4)
(3.8)
(1.3)
1.0
0 1000 2000 3000 4000 5000
2.0
torque
[N
•
m]
Peak running range
speed [r/min]
Continuous running range
50
010203040
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
(1.91)
(0.64)
80
70
010203040
100
ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
1.0
0 1000 2000 3000 4000 5000
2.0
torque
[N
•
m]
Peak running range
speed [r/min]
Continuous running range
ratio vs. rated torque [%]
(1.91)
(0.64)
2.0
0 1000 2000 3000 4000 5000
4.0
torque
[N
•
m]
speed [r/min]
90
50
010203040
100
ambient temp. [˚C]
Peak running range
Continuous running range
* Continuous torque vs.
ambient temp.
ratio vs. rated torque [%]
(3.8)
(1.3)
without brake
with brake
without brake
with brake
346
Motor Characteristics (S-T Characteristics)
• MSMA202 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MSMA402 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MSMA502 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MSMA102 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MSMA152 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
MSMA series (1.0kW to 5.0kW)
With oil seal
• MSMA302 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
* These are subject to change. Contact us when you use these values for your machine design.
• MDMA102 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MDMA152 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MDMA202 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
MDMA series (1.0kW to 2.0kW)
With oil seal
torque
[N
•
m]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
* Continuous torque vs.
ambient temp.
5
0 1000 2000 3000 4000 5000
10
speed [r/min]
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
ratio vs. rated torque [%]
7.5
0 1000 2000 3000
(3500)
4000 5000
15
speed [r/min]
Peak running range
010203040
100
85
50
ambient temp. [˚C]
Continuous running range
ratio vs. rated torque [%]
(9.5) (14.3)
(4.77)
(3.18)
10
0 1000 2000 3000 4000 5000
20
speed [r/min]
010203040
100
85
70
50
ambient temp. [˚C]
Peak running range
Continuous running range
ratio vs. rated torque [%]
(19.1)
(6.36)
15
0 1000 2000 3000 4000 5000
30
speed [r/min]
Peak running range
010203040
100
90
85
50
ambient temp. [˚C]
Continuous running range
ratio vs. rated torque [%]
25
0 1000 2000 3000 4000 5000
50
speed [r/min]
010203040
100
70
50
ambient temp. [˚C]
Peak running range
Continuous running range
ratio vs. rated torque [%]
(28.6)
(9.54)
(47.6)
(15.8)
20
0 1000 2000 3000 4000 5000
40
speed [r/min]
010203040
100
90
85
50
ambient temp. [˚C]
Peak running range
Continuous running range
ratio vs. rated torque [%]
(37.9)
(12.6)
0
speed [r/min]
1000 2000
(2200)
3000
5
10
15
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
ratio vs. rated torque [%]
10
0
20
speed [r/min]
1000 2000 3000
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
ratio vs. rated torque [%]
(14.4)
(4.8)
(21.5)
(7.15)
15
0
30
speed [r/min]
1000 2000 3000
(2200)
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
ratio vs. rated torque [%]
(28.5)
(9.54)
without
brake
with
brake
without
brake
with
brake
without
brake
with
brake
without
brake
with
brake
347
[Supplement]
Supplement
* These are subject to change. Contact us when you use these values for your machine design.
• MDMA302 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MDMA402 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MDMA502 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MFMA042 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
MDMA series (3.0kW to 5.0kW)
With oil seal
MFMA series (400W to 4.5kW)
With oil seal
• MFMA152 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MFMA252 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MFMA452 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
torque
[N
•m] * Continuous torque vs.
ambient temp.
* Continuous torque vs.
ambient temp.
torque
[N
•m]
torque
[N
•m] * Continuous torque vs.
ambient temp.
torque
[N
•m] * Continuous torque vs.
ambient temp. * Continuous torque vs.
ambient temp.
torque
[N
•m]
torque
[N
•m] * Continuous torque vs.
ambient temp. torque
[N
•m] * Continuous torque vs.
ambient temp.
25
0
50
speed [r/min]
1000 2000 3000
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
ratio vs. rated torque [%]
(42.9)
(14.3)
010203040
100
85
70
50
ambient temp. [˚C]
25
0
50
speed [r/min]
1000 2000 3000
without
brake
with
brake
Peak running range
Continuous running range
ratio vs. rated torque [%]
35
0
70
speed [r/min]
1000 2000 3000 010203040
100
90
85
50
ambient temp. [˚C]
Peak running range
Continuous running range
ratio vs. rated torque [%]
(18.8)
(56.4)
(71.4)
(23.8)
2.5
0
5
speed [r/min]
1000 2000 3000
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
ratio vs. rated torque [%]
50
0102030
40
100
ambient temp. [˚C]
ratio vs. rated torque [%]
10
0
20
speed [r/min]
1000 2000 3000
Peak running range
Continuous running range
(5.3) (21.5)
(7.15)
(1.9)
15
0
30
speed [r/min]
1000 2000 3000
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
ratio vs. rated torque [%]
25
0
50
speed [r/min]
1000 2000 3000
Peak running range
Continuous running range
50
0102030
40
100
ambient temp. [˚C]
ratio vs. rated torque [%]
(30.4)
(11.8)
(54.9)
(21.5)
• When you lower the torque limit setup (Pr5E and 5F),
running range at high speed might be lowered as well.
torque
speed
Continuous running range
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
without
brake
with
brake
348
Motor Characteristics (S-T Characteristics)
* These are subject to change. Contact us when you use these values for your machine design.
• MGMA202 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MGMA092 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MGMA452 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MGMA302 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
With oil seal
MHMA series (500W to 5.0kW)
• MHMA052 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MHMA102 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MHMA502 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MHMA152 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MHMA202 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MHMA302 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
• MHMA402 * 1 *
Input voltage to driver: AC200V
(Dotted line represents torque at 10% less voltage.)
With oil seal
MGMA series (900W to 4.5kW)
• When you lower the torque limit setup (Pr5E and 5F),
running range at high speed might be lowered as well.
torque
speed
Continuous running range
Running range (Torque limit setup : 300%)
Running range (Torque limit setup : 200%)
Running range (Torque limit setup : 100%)
torque
[N
•
m]
speed [r/min] ambient temp. [˚C]
* Continuous torque vs.
ambient temp. torque
[N
•
m]
speed [r/min] ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
speed [r/min] ambient temp. [˚C]
* Continuous torque vs.
ambient temp. torque
[N
•
m]
speed [r/min] ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
speed [r/min] ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
speed [r/min] ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
speed [r/min] ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
speed [r/min] ambient temp. [˚C]
* Continuous torque vs.
ambient temp. torque
[N
•
m]
speed [r/min] ambient temp. [˚C]
* Continuous torque vs.
ambient temp.
torque
[N
•
m]
speed [r/min] ambient temp. [˚C]
* Continuous torque vs.
ambient temp. * Continuous torque vs.
ambient temp.
torque
[N
•
m]
speed [r/min] ambient temp. [˚C]
2.5
0
5.0
1000 2000 3000
Peak running range
Continuous running range
50
0102030
40
100
ratio vs. rated torque [%]
(6.0)
(2.38)
0 1000 2000
(2200)
3000
5
10
15
Peak running range
Continuous running range
50
0102030
40
100
ratio vs. rated torque [%]
(14.4)
(4.8)
10
0
20
1000 2000 3000
Peak running range
Continuous running range
50
0102030
40
100
ratio vs. rated torque [%]
(21.5)
(7.15)
15
0
30
1000 2000 3000
(2200)
Peak running range
Continuous running range
50
0102030
40
100
ratio vs. rated torque [%]
(28.5)
(9.54)
25
0
50
1000 2000 3000
Peak running range
Continuous running range
50
0102030
40
100
ratio vs. rated torque [%]
(42.9)
(14.3)
25
0
50
1000 2000 3000
Peak running range
Continuous running range
85
50
010203040
100
ratio vs. rated torque [%]
(56.4)
(18.8)
35
0
70
1000 2000 3000
Peak running range
Continuous running range
85
50
010203040
100
ratio vs. rated torque [%]
(71.4)
(23.8)
25
0
50
1000 2000
Peak running range
Continuous running range
50
0102030
40
100
ratio vs. rated torque [%]
(44)
(19.1)
10
0
20
1000 2000
Peak running range
50
010203040
100
ratio vs. rated torque [%]
Continuous running range
(19.3)
(8.62)
35
0
70
1000 2000
Peak running range
Continuous running range
50
0102030
40
100
ratio vs. rated torque [%]
(63.7)
(28.4)
50
0
100
1000 2000
Peak running range
Continuous running range
50
010203040
100
ratio vs. rated torque [%]
(107)
(42.9)
349
[Supplement]
Supplement
Motor with Gear Reducer
Model No. of Motor with Gear Reduce
Model Designation
Combination of Driver and Motor with Gear Reducer
This driver is designed to be used in the combination with the specified motor model.
Check the series name, rated output and voltage specifications and the encoder specifications of the applicable motor.
Incremental Specifications, 2500P/r
<Remark>
Do not use the driver and the motor with gear reducer in other combinations than the one in the following table.
MSMD011P31N
1~4 5~6 7 8 9 10
Rotary encoder specifications
Voltage
specifications
P
SIncremental
Absolute/Incremental common
Specifications
Symbol
Format 2500P/r
17bit
Pulse count
Motor rated output
1
2
Specifications
Symbol
100V
200V
10,000
131,072
Resolution 5-wire
7-wire
Wire count
01
02
04
08
Output
Symbol
100W
200W
400W
750W
Reduction ratio
1N
2N
3N
4N
Reduction
ratio
Symbol
1/5
1/9
1/15
1/25
Motor structure
3
4
Holding brake
Shaft
Without
With
Key way
Symbol
MSMD Type
Symbol
Low inertia
MSMD011P * 1N
MSMD021P * 1N
MSMD041P * 1N
MSMD012P * 1N
MSMD022P * 1N
MSMD042P * 1N
MSMD082P * 1N
MSMD082P * 1N
Single phase,
100V
Single phase,
200V
3-phase, 200V
• Incremental specifications, 2500P/r
MADDT1107
MBDDT2110
MCDDT3120
MADDT1205
MADDT1207
MBDDT2210
MCDDT3520
MCDDT3520
A-frame
B-frame
C-frame
A-frame
B-frame
C-frame
C-frame
Power
supply Rated
output
of motor Model No.
of driver Frame
of driver
100W
200W
400W
100W
200W
400W
750W
750W
Reduction ratio
of 1/5
MSMD011P * 2N
MSMD021P * 2N
MSMD041P * 2N
MSMD012P * 2N
MSMD022P * 2N
MSMD042P * 2N
MSMD082P * 2N
MSMD082P * 2N
Reduction ratio
of 1/9
MSMD011P * 3N
MSMD021P * 3N
MSMD041P * 3N
MSMD012P * 3N
MSMD022P * 3N
MSMD042P * 3N
MSMD082P * 3N
MSMD082P * 3N
Reduction ratio
of 1/15
MSMD011P * 4N
MSMD021P * 3N
MSMD041P * 4N
MSMD012P * 4N
MSMD022P * 3N
MSMD042P * 4N
MSMD082P * 4N
MSMD082P * 4N
Reduction ratio
of 1/25
Applicable motor with gear reducer Applicable driver
MSMD011S * 1N
MSMD021S * 1N
MSMD041S * 1N
MSMD012S * 1N
MSMD022S * 1N
MSMD042S * 1N
MSMD082S * 1N
MSMD082S * 1N
Single phase,
100V
Single phase,
200V
3-phase, 200V
• Absolute/Incremental specifications, 17bit
MADDT1107
MBDDT2110
MCDDT3120
MADDT1205
MADDT1207
MBDDT2210
MCDDT3520
MCDDT3520
A-frame
B-frame
C-frame
A-frame
B-frame
C-frame
C-frame
100W
200W
400W
100W
200W
400W
750W
750W
MSMD011S * 2N
MSMD021S * 2N
MSMD041S * 2N
MSMD012S * 2N
MSMD022S * 2N
MSMD042S * 2N
MSMD082S * 2N
MSMD082S * 2N
MSMD011S * 3N
MSMD021S * 3N
MSMD041S * 3N
MSMD012S * 3N
MSMD022S * 3N
MSMD042S * 3N
MSMD082S * 3N
MSMD082S * 3N
MSMD011S * 4N
MSMD021S * 3N
MSMD041S * 4N
MSMD012S * 4N
MSMD022S * 3N
MSMD042S * 4N
MSMD082S * 4N
MSMD082S * 4N
<Note>
• "*" of the model No. represents the structure of the motor.
Power
supply Rated
output
of motor Model No.
of driver Frame
of driver
Reduction ratio
of 1/5 Reduction ratio
of 1/9 Reduction ratio
of 1/15 Reduction ratio
of 1/25
Applicable motor with gear reducer Applicable driver
350
Motor with Gear Reducer
MSMD01 * P31N
MSMD01 * P32N
MSMD01 * P33N
MSMD01 * P34N
MSMD02 * P31N
MSMD02 * P32N
MSMD02 * P33N
MSMD02 * P34N
MSMD04 * P31N
MSMD04 * P32N
MSMD04 * P33N
MSMD04 * P34N
MSMD082P31N
MSMD082P32N
MSMD082P33N
MSMD082P34N
MSMD01 * P41N
MSMD01 * P42N
MSMD01 * P43N
MSMD01 * P44N
MSMD02 * P41N
MSMD02 * P42N
MSMD02 * P43N
MSMD02 * P44N
MSMD04 * P41N
MSMD04 * P42N
MSMD04 * P43N
MSMD04 * P44N
MSMD082P41N
MSMD082P42N
MSMD082P43N
MSMD082P44N
MSMD Without brakeWith brake
Model
Motor
output
Reduction
rati0
LLLLMLTKB1 LF LR LQ LB S LP LH J (LG) LE (G)
100W
200W
400W
750W
100W
200W
400W
750W
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
191.5
202
234
183.5
218.5
229
238
248.5
263.5
255.5
270.5
283
221.5
232
264
220
255
265.5
274.5
285
300
292.5
307.5
320
92
79
98.5
112
122
115.5
135
149
68
56.5
76
86.5
98
93
112.5
123.5
24
22.5
25.5
24
22.5
25.5
40.8
22.5
42
52.2
40.8
22.5
42
52.2
6
6.5
8
6
6.5
8
32
50
32
50
61
50
61
32
50
32
50
61
50
61
20
30
20
30
40
30
40
20
30
20
30
40
30
40
50
70
50
70
90
70
90
50
70
50
70
90
70
90
12
19
12
19
24
19
24
12
19
12
19
24
19
24
45
62
45
62
75
62
75
45
62
45
62
75
62
75
10
17
10
17
18
17
18
10
17
10
17
18
17
18
14
22
14
22
28
22
28
14
22
14
22
28
22
28
67.5
78
92
72.5
89.5
100
89.5
100
104
93.5
97.5
110
67.5
78
92
72.5
89.5
100
89.5
100
104
93.5
97.5
110
3
5
3
5
3
5
3
5
25
34
25
34
(unit : mm)
øSh6
øJ
øLP
øLBh7
LN
LL (LG) LR LQ
LH
LE
L
LMLT KB1
LF
*(220)
230
200
(G)
LK
Rotary encoder lead wire
Motor
lead wire
Dimensions/Motor with Gear Reducer
351
[Supplement]
Supplement
T
H
B
øLA
4-LZ Depth L LC
Moment of inertia is combined value of the motor and the gear reducer, and converted to that of the motor shaft .
MSMD Without brakeWith brake
LC LA LZ LD Kew way dimensions
(B x H x LK) TLN
Mass (kg)
Moment of inertia (x 10–4kg•m2)
52
78
52
78
98
78
98
52
78
52
78
98
78
98
60
90
60
90
115
90
115
60
90
60
90
115
90
115
M5
M6
M5
M6
M8
M6
M8
M5
M6
M5
M6
M8
M6
M8
12
20
12
20
12
20
12
20
4 x 4 x 16
6 x 6 x 22
4 x 4 x 16
6 x 6 x 22
8 x 7 x 30
6 x 6 x 22
8 x 7 x 30
4 x 4 x 16
6 x 6 x 22
4 x 4 x 16
6 x 6 x 22
8 x 7 x 30
6 x 6 x 22
8 x 7 x 30
2.5
3.5
2.5
3.5
4
3.5
4
2.5
3.5
2.5
3.5
4
3.5
4
32
43
53
32
43
53
1.02
1.17
2.17
1.54
2.52
2.9
3.3
4.4
5.7
6.1
1.23
1.38
2.38
2.02
3.00
3.4
3.8
4.9
5.2
6.5
6.9
0.0910
0.0853
0.0860
0.0885
0.258
0.408
0.440
0.428
0.623
0.528
0.560
0.560
1.583
1.520
1.570
1.520
0.0940
0.0883
0.0890
0.0915
0.278
0.428
0.460
0.448
0.643
0.548
0.580
0.580
1.683
1.620
1.670
1.620
(unit : mm)
352
Permissible Load at Output Shaft
Remarks on installation
(1) Do not hit the output shaft of the gear reducer when attaching a pulley or sprocket to it. Or it may cause
an abnormal noise.
(2) Apply the load of the pulley or the sprocket to as close to the base of the output shaft as possible.
(3) Check the mounting accuracy and strength of the stiff joint, when you use it.
(4) The encoder is built in to the motor. If an excessive impact is applied to the motor while assembling it to
the machine, the encoder might be damaged. Pay an extra attention at assembly.
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
1/5
1/9
1/15
1/25
Motor output
100W
200W
400W
750W
Motor output Radial thrust
Permissible load at shaft
Thrust load A
and B-direction
490
588
784
1670
490
1180
1470
1670
980
1180
1470
2060
980
1470
1760
2650
245
294
392
833
245
588
735
833
490
588
735
1030
490
735
882
1320
Unit : N (1kgf=9.8N)
LR
LR/2 P
A
MGH GH
B
Radial load (P) direction Thrust load (A and B) direction
353
[Supplement]
Supplement
Characteristics of Motor with Gear Reducer
Supply
voltage
to driver
Reduction
ratio 1/5
MSMD011 * * 1N MSMD011 * * 2N MSMD011 * * 3N MSMD011 * * 4N
MSMD021 * * 1N MSMD021 * * 2N MSMD021 * * 3N MSMD021 * * 4N
MSMD041 * * 1N MSMD041 * * 2N MSMD041 * * 3N MSMD041 * * 4N
MSMD012 * * 1N MSMD012 * * 2N MSMD012 * * 3N MSMD012 * * 4N
MSMD022 * * 1N MSMD022 * * 2N MSMD022 * * 3N MSMD022 * * 4N
MSMD042 * * 1N MSMD042 * * 2N MSMD042 * * 3N MSMD042 * * 4N
MSMD082 * * 1N MSMD082 * * 2N MSMD082 * * 3N MSMD082 * * 4N
1/9 1/251/15
Motor
output
100W
100V
200V
100W
200W
200W
400W
750W
400W
Dotted line represents the torque at 10% less supply voltage.
Peak running
range
Peak running
range
Peak running
range
Peak running
range
Peak running
range
Peak running
range
Peak running
range Peak running
range
Peak running
range
Peak running
range
Peak running
range
Peak running
range
Peak running
range
Peak running
range
Peak running
range
Peak running
range Peak running
range
Peak running
range
Peak running
range
Peak running
range
Peak running
range
Peak running
range
Peak running
range Peak running
range
Peak running
range
Peak running
range
Peak running
range
Peak running
range
0500 600 1000
speed [r/min] 0333 400 555
speed [r/min]
4.0
torque
[N•m]
2.0
(3.72)
(1.18)
8.0
torque
[N•m]
4.0
(6.86)
(2.25)
0200 333
speed [r/min]
16.0
torque
[N•m]
8.0
(11.4)
(3.72)
0100 120 200
speed [r/min]
20.0
(19.0)
torque
[N•m]
10.0
(6.72)
0500 600 1000
speed [r/min] 0333 400 555
speed [r/min]
8.0
(8.04)
(2.65)
torque
[N•m]
4.0
16.0
torque
[N•m]
8.0
(11.3)
(3.72)
0200 333
speed [r/min]
20.0
(18.8)
torque
[N•m]
10.0
(6.27)
0100 120 200
speed [r/min]
40.0
torque
[N•m]
20.0
(33.3)
(11.1)
0500 600 1000
speed [r/min] 0333 400 555
speed [r/min]
20.0
torque
[N•m]
10.0
(16.2)
(5.39)
40.0
torque
[N•m]
20.0
(28.5)
(9.51)
0200 333
speed [r/min]
60.0
torque
[N•m]
30.0
(47.5)
(15.8)
0100 120 200
speed [r/min]
80.0
(79.2)
torque
[N•m]
40.0
(26.4)
0500 600 1000
speed [r/min] 0333 400 555
speed [r/min]
20.0
torque
[N•m]
10.0
(16.2)
(5.39)
40.0
torque
[N•m]
20.0
(28.5)
(9.51)
0200 333
speed [r/min]
60.0
torque
[N•m]
30.0
(15.8)
(47.5)
0100 120 200
speed [r/min]
80.0
torque
[N•m]
40.0
(79.2)
(26.4)
0500 600 900
speed [r/min] 0333 400 500
speed [r/min]
40.0
(32.1)
(10.7)
torque
[N•m]
20.0
80.0
(54.7)
(18.2)
torque
[N•m]
40.0
0200 300
speed [r/min]
120.0
torque
[N•m]
60.0
(30.4)
(91.2)
0100 120 180
speed [r/min]
160.0
torque
[N•m]
80.0
(50.7)
(152.0)
Continuous
running range
Continuous
running range Continuous
running range Continuous
running range
0500 600 1000
speed [r/min] 0333 400 555
speed [r/min]
4.0
torque
[N•m]
2.0
(3.72)
(1.18)
8.0
torque
[N•m]
4.0
(6.86)
(2.25)
0200 333
speed [r/min]
16.0
torque
[N•m]
8.0
(11.4)
(3.72)
0100 120 200
speed [r/min]
20.0
(19.0)
torque
[N•m]
10.0
(6.27)
0500 600 1000
speed [r/min] 0333 400 555
speed [r/min]
8.0
(8.04)
(2.65)
torque
[N•m]
4.0
16.0
torque
[N•m]
8.0
(11.3)
(3.72)
0200 333
speed [r/min]
20.0
(18.8)
torque
[N•m]
10.0
(6.27)
0100 120 200
speed [r/min]
40.0
(33.3)
torque
[N•m]
20.0
(11.1)
Continuous
running range Continuous
running range Continuous
running range
Continuous
running range
Continuous
running range
Continuous
running range
Continuous
running range Continuous
running range
Continuous
running range
Continuous
running range Continuous
running range
Continuous
running range
Continuous
running range
Continuous
running range
Continuous
running range
Continuous
running range
Continuous
running range
Continuous
running range
Continuous
running range
Continuous
running range
Continuous
running range
Continuous
running range
Continuous
running range
Continuous
running range
354
Internal Block Diagram of MINAS-A4 Driver
L 1
L 2
L 3
DC/DC
L1C
L2C
RB1
RB3
X3
X4
X6
U
V
W
M
RE
X5
N
P
+
±12V
+5V
PS for gate drive Gate drive
PS for RE
Front panel
Alarm
signal
RS485
RS232
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Division/
mulitiplication
++
–
+
–
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Division
processing
Position
deviation amp.
Display
operation
control
Parameter control
Protective
curcuit
Error
detection
Voltage
detection
EEPROM
Sequence control
Speed
deviation
amp. Torque
limit Current
control PWM
circuit
Encoder signal
processing
limit
Control
output
RB2
DL1
DL2
(A, B, C and D-frame)
Fuse
Fan
(D-frame only)
Block Diagram of Driver
355
[Supplement]
Supplement
L 1
L 2
L 3
DC/DC
r
t
P
B1
X3
X4
X6
U
V
W
M
RE
X5
N
P
+±12V
+5V
PS for gate drive
PS for RE
+
Fuse
(F-frame only)
Fuse
(F-frame only)
Fuse
Parameter control
EEPROM
Sequence control
B2
Fan
Front panel
RS485
RS232
Internal Block Diagram of MINAS-A4 Driver
Display
operation
control
Protective
curcuit
Error
detection
Alarm
signal
Pulse train
command
Pusle
output
Analog
velocity
command
Control
input
Control
output
(E and F-frame)
Voltage
detection
Division/
mulitiplication
++
– –
A/D
A/D
16-bit
Position
Speed
Velocity
Torque
Internal
External
Deviation
counter
Internal speed
command Speed
detection
Division
processing
Position
deviation amp. Speed
deviation
amp. Torque
limit Current
control PWM
circuit
Encoder signal
processing
limit
Gate drive
356
Block Diagram by Control Mode
Position Control Mode
• when Pr02 (Setup of control mode) is 0 ,
when Pr02 (Setup of control mode) is 3 and 1st control mode
when Pr02 (Setup of control mode) is 4 and 1st control mode
Velocity Contr ol Mode
• when Pr02 (Setup of control mode) is 1 ,
when Pr02 (Setup of control mode) is 3 and 2nd control mode
when Pr02 (Setup of control mode) is 5 and 1st control mode
PULS
SIGN
Input setup
Pulse
train
Positional deviation
monitor
Actual speed monitor
Command speed
monitor
Feedback pulses Serial communication
data
OA/OB/OZ
Pr40
Input
selection
Pr41
Reversal
Pr42Mode
Division/
Multiplication
Pr48
1st
numerator
Pr49
2nd
numerator
Pr4A
Multiplier
Pr4B
Denominator
Damping control
Pr2B
1st
frequency
Pr2C1st filter
Pr2D
2nd
frequency Pr2E2nd filter Velocity control
Pr11
1st
proportion
Pr12
1st
integration
Pr19
2nd
proportion
Pr1A
2nd
integration
Pr20
Inertia ratio
Notch filter
Pr1D
1st
frequency
Pr1E1st width
Pr28
2nd
frequency
Pr292nd width
Pr2A2nd depth
Pr2F
Adaptation
Torque filter
Motor
Torque command monitor
Pr14
1st time
constant Pr1C
2nd time
constant Pr5E1st limit
Pr5F
2nd limit
Pr4D
Average
travel times
Primary delay
smoothing
Pr4C
Selection
Division
Pr44
Numerator
Pr45
Denominator
Pr46
Selection
Velocity feed
forward
Pr15Gain
Pr16Filter
Speed detection
filter
Pr131st
Pr1B2nd
Speed detection
Encoder reception
processing
Position control
Pr101st
+
++
–
+
– Pr182nd
Encoder
FIR smoothing
SPR
Acceleration/
Deceleration limit
Pr58Acceleration
Pr59Deceleration
Pr5ASigmoid
Input setup
Pr50Gain
Pr51Reversal
Pr52Offset
Pr57Filter
Internal velocity setup
Pr53
1st speed
Pr54
2nd speed
Pr55
3rd speed
Pr56
4th speed
Pr74
5th speed
Pr75
6th speed
Pr76
7th speed
Pr77
8th speed
Command
selection
Pr05
Selection
Torque commandCommand speed monitor
Velocity control
Pr11
1st
proportion
Pr12
1st
integration
Pr19
2nd
proportion
Pr1A
2nd
integration
Pr20Inertia ratio
Notch filter
Pr1D
1st frequency
Pr1E
1st
width
Pr28
2nd frequency
Pr29
2nd
width
Pr2A
2nd
depth
Pr2FAdaptation
Torque filter
Pr14
1st time const.
Pr1C
2nd time const.
Pr5E1st limit
Pr5F2nd limit
Motor
Encoder
Feedback pulses
OA/OB/OZ
Division
Pr44Numerator
Pr45Denominator
Pr46Selection
Actual speed monitor
Velocity
detection filter
Pr131st
Pr1B2nd
Velocity detection
+
–
16bit A/D
Analog
velocity
command
Serial
communication
data
Encoder reception
process
357
[Supplement]
Supplement
Torque Control Mode
• when Pr02 (Setup of control mode) is 2 ,
when Pr02 (Setup of control mode) is 4 and 2nd control mode
when Pr02 (Setup of control mode) is 5 and 2nd control mode
Full-closed Control Mode
• when Pr02 (Setup of control mode) is 6 ,
SPR/
TRQR
Torque command monitor
Command speed monitor
Velocity control
Pr11
Pr12
Pr19
Pr1A
Pr20
Torque filter
Pr14
Pr1C
Pr5E
Pr5F
Motor
Encoder
Feedback pulses
OA/OB/OZ
Division
Pr44
Pr45
Pr46
Monitor of actual speed
Velocity
detectionfilter
Multiplication
Pr131st
Internal velocity limit
Pr564th speed
Pr1B2nd
Speed detection
+
–
Input setup
Pr5CGain
Pr5DReversal
Pr52Offset
Pr57Filter
16bitA/D Sign(±)
Absolute value(magnitude)
Torque
limit
+
Notch filter
Pr1D
Pr1E
Pr28
Pr29
Pr2A
Analog
torque
command
Encoder reception
processing
Serial
communication
data
1st
proportion
1st
integration
2nd
proportion
2nd
integration
Inertia ratio
1st frequency
1st
width
2nd frequency
2nd
width
2nd
depth
1st time const.
2nd time const.
1st limit
2nd limit
Numerator
Denominator
Selection
PULS
SIGN
Input setup
Pulse
train
Full closed
position deviation monitor
Actual speed monitor
Command speed
monitor
Position deviation
monitor
Feedback pulses
OA/OB/OZ
Pr40
Input
selection Pr41Reversal
Pr42Mode
Division/Multiplication
Pr481st numerator
Pr492nd numerator
Pr4AMultiplier
Pr4BDenominator
Damping control
Pr2B1st frequency
Pr2C1st filter
Pr2D2nd frequency
Pr2E2nd filter
Motor
Torque command monitor
FIR smoothing
Pr4D
Average
travel times
1st delay
smoothing
Pr4CSelection
Division
Pr44Numerator
Pr45Denominator
Pr46Selection
Pr47Z-phase
Velocity
feed forward
Pr15Gain
Pr16Filter
Speed detection
filter
Pr131st
Pr1B2nd
Speed detection
Encoder reception
processing
Position
control
Pr101st
+
++
–
+
–
–
+
Pr182nd
Encoder
External
scale
External scale reception
processing
External scale correction
Pr78Numerator
Pr79Numerator multiplier
Pr7ADenominator
Velocity control
Pr11
1st
proportion
Pr12
1st
integration
Pr19
2nd
proportion
Pr1A
2nd
integration
Pr20
Inertia ratio
Notch filter
Pr1D
1st
frequency
Pr1E1st width
Pr28
2nd
frequency
Pr292nd width
Pr2A2nd depth
Pr2F
Adaptation
Torque filter
Pr14
1st time
constant Pr1C
2nd time
constant Pr5E1st limit
Pr5F
2nd limit
Serial
communication
data
Serial
communication
data
Pr7CReversal
358
Specifications
Basic specifications
Operating : 0 to 55˚C, Storage : –20 to +80˚C
Both operating and storage : 90%RH or less (free from condensation)
1000m or lower
5.88m/s2 or less, 10 to 60Hz (No continuous use at resonance frequency)
IGBT PWM Sinusoidal wave drive
17-bit (131072 resolution) absolute/incremental encoder,
2500P/r (10000 resolution) incremental encoder
AT500 series by Mitutoyo (Resolution 0.05[µm], max. speed 2[m/s])
ST771 by Mitutoyo (Resolution 0.5[µm], max. speed 2[m/s])
10 inputs
(1) Servo-ON, (2) Control mode switching, (3) Gain switching/Torque limit switching, (4) Alarm clear
Other inputs vary depending on the control mode.
6 outputs
(1) Servo alarm, (2) Servo ready, (3) Release signal of external brake (4) Zero speed detection,
(5) Torque in-limit. Other outputs vary depending on the control mode.
3 inputs (16Bit A/D : 1 input, 10Bit A/D : 2 inputs)
2 outputs (for monitoring)
(1) Velocity monitor (Monitoring of actual motor speed or command speed is enabled. Select the
content and scale with parameter.), (2) Torque monitor (Monitoring of torque command,
(approx.. 3V/rated torque)), deviation counter or full-closed deviation is enabled.
Select the content or scale with parameter.)
4 inputs
Select the exclusive input for line driver or photo-coupler input with parameter.
4 outputs
Feed out the encoder pulse (A, B and Z-phase) or external scale pulse (EXA, EXB and
EXZ-phase) in line driver. Z-phase and EXZ-phase pulse is also fed out in open collector.
1 : 1 communication to a host with RS23 interface is enabled.
1 : n communication up to 15 axes to a host with RS485 interface is enabled.
(1) 5 keys (MODE, SET, UP, DOWN, SHIFT), (2) LED (6-digit)
A and B-frame : no built-in regenerative resistor (external resistor only) C to F-frame :
Built-in regenerative resistor (external resistor is also enabled.)
Setup of action sequence at Power-OFF, Servo-OFF, at protective function activation and
over-travel inhibit input is enabled.
Switching among the following 7 mode is enabled, (1) Position control, (2) Velocity control,
(3) Toque control, (4) Position/Velocity control, (5) Position/Torque control,
(6) Velocity/Torque control and (7) Full-closed control.
+10%
–15%
Input power
100V
200V
Main circuit
Control circuit
Control circuit Main circuit
E and
F-frame
A to
D-frame
E and
F-frame
C and
D-frame
A and
B-frame
Environment
Temperature
Humidity
Altitude
Vibration
Control method
Encoder feedback
External scale feedback
Control
signal
Analog
signal
Pulse signal
Communication
function
Front panel
Regeneration
Dynamic brake
Control mode
Output
Input
Output
Input
Input
Output
RS232
RS485
Single phase, 200 – 230V 50/60Hz
+10%
–15%
Single phase, 200 – 240V 50/60Hz
+10%
–15%
3-phase, 200 – 230V 50/60Hz
+10%
–15%
Single/3-phase, 200 – 240V 50/60Hz
+10%
–15%
Single phase, 200 – 240V 50/60Hz
+10%
–15%
Single phase, 100 – 115V 50/60Hz
+10%
–15%
Single phase, 100 – 115V 50/60Hz
359
[Supplement]
Supplement
Function
Position control
Velocity controlTorque controlFull-closed controlCommon
Control input
Control input
Control output
Control input
Control output
Control input
Masking of unnecessary input
Division of encoder feedback pulse
Protective
function
Traceability of alarm data
Damping control function
Setup range of division/multiplication of
external scale
Control output
Speed control range
Internal velocity command
Soft-start/down function
Zero-speed clam
Control input
Control output
Speed limit function
Analog
input
Analog
input
Max. command pulse frequency
Input pulse signal format
Type of input pulse
Electronic gear (Division/
Multiplication of command pulse)
Electronic gear (Division/
Multiplication of command pulse)
Smoothing filter
Velocity command input
Torque limit command input
Velocity command input
Max. command pulse frequency
Real-time
Normal mode
Manual
Setup support software
Fit-gain function
Soft error
Hard error
Input pulse signal format
Smoothing filter
Torque limit command input
Speed limit input
Torque limit command input
Pulse
input
Pulse
input
Auto-gain
tuning
Setup
Analog
input
Analog
input
as a position command input
x(1 to 10000) x 2
(0 to 17)
Process the command
pulse frequency 1 to 10000
as a position command input
x(1 to 10000) x 2
(0 to 17)
Process the command
pulse frequency 1 to 10000
Inputs of 1) Servo-ON, 2) Alarm clear, 3) Gain switching, 4) Control mode switching,
5) CW over-travel inhibition and 7) CCW over-travel inhibition are common,
and other inputs vary depending on the control mode.
(1) Deviation counter clear, (2) Command pulse inhibition, (3) Damping control switching,
(4) Gain switching or Torque limit switching
Positioning complete (In-position)
Exclusive interface for line driver : 2Mpps, Line driver : 500kpps, Open collector : 200kpps
Support (1) RS422 line drive signal and (2) Open collector signal from controller.
(1) CW/CCW pulse, (2) Pulse signal/rotational direction signal, (3) 90˚C phase difference signal
Primary delay filter is adaptable to the command input
Selectable of (1) Position control for high stiffness machine and
(2) FIR type filter for position control for low stiffness machine.
Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)
(1) Speed zero clamp, (2) Selection of internal velocity setup,
(3) Gain switching or Torque limit switching input
(1) Speed arrival (at-speed)
Setup of scale and rotational direction of the motor against the command voltage is enabled with
parameter, with the permissible max. voltage input = Å} 10V and 6V/rated speed (default setup).
Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)
1 : 5000
8-speed with parameter setup
Individual setup of acceleration and deceleration is enabled, with 0 to 10s/1000r/min. Sigmoid
acceleration/deceleration is also enabled.
0-clamp of internal velocity command with speed zero clamp input is enabled.
(1) CW over-travel inhibition, (2) CCW over-travel inhibition, (3) Speed zero clamp
(1) Speed arrival (at-speed)
Setup of scale and CW/CCW torque generating direction of the motor against the command
voltage is enabled with parameter, with the permissible max. voltage input = Å} 10V and
3V/rated speed (default setup).
Speed limit input by analog voltage is enabled. Scale setup with parameter.
Speed limit value with parameter or analog input is enabled.
(1) CW over-travel inhibition, (2) CCW over-travel inhibition (3) Deviation counter clear, (4)
Command pulse input inhibition, (5) Electronic gear switching, (6) Damping control switching
(1) Full-closed positioning complete (in-position)
500kpps (photo-coupler input), 2Mpps (Exclusive input for line driver)
Differential input. Selectable with parameter ((1) CCW/CW, (2) A and B-phase, (3) Command
and direction
Primary delay filter is adaptable to the command input.
Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque)
Setting of ratio between encoder pulse (denominator) and external scale pulse (numerator) is
enabled within a range of (1 to 10000) x 2
(0 – 17)
/ (1 to 10000).
Corresponds to load inertia fluctuation, possible to automatically set up parameters related to
notch filter.
Estimates load inertia and sets up an appropriate servo gain.
Automatically searches and sets up the value which makes the fastest settling time with
external command input.
Masking of the following input signal is enabled.
(1) Over-travel inhibition, (2) Torque limit, (3) Command pulse inhibition, (4) Speed-zero clamp
Set up of any value is enabled (encoder pulses count is the max.).
Over-voltage, under-voltage, over-speed over-load, over-heat, over-current and encoder error etc.
Excess position deviation, command pulse division error, EEPROM error etc.
Traceable up to past 14 alarms including the present one.
Manual setup with parameter
5push switches on front panel
PANATERM
®
(Supporting OS : Windows95, Windows98, Windows ME, Windows2000,
Windows.NET and Windows XP)
MODE SET
360
“Hit & Stop” Homing and “Press & Hold” Control
Homing with Hit & Stop
You can set up the homing position with "Hit & Stop" where it is not easy to install a sensor due to environment.
(1) when you make a point where the work (load)
hits as an origin (2) when you stop the work (load) using Z-phase
after making a hitting point as a starting point,
then make that stopping point as an origin.
1st
origin origin
2nd torque limit 2nd torque limit
1st
Pin-40 TLC
(Torque in-limit)
Pin-27
(GAIN/TL-SEL)
Torque
Counter
clear
command
50%
Motor
speed
Pin-40 TLC
(Torque in-limit)
Pin-27
(GAIN/TL-SEL)
Torque
Counter
clear
command
Motor
speed
Z-phase
ON
ON
ON
ON
ON
ON
Parameter
No.
5F
70
73
03
09
<Remarks>
Make the Pin-27 H (Off=Open) after the Hit & Stop Homing is completed.
hits
hits
(1) (2) (1)
(1)
(1)
(2)
(2)
(2)
(3)
(3)
Title
Setup of 2nd torque limit
Excess setup of position deviation
Setup of over-speed level
Selection of torque limit
Selection of alarm output
Setup example
50 (Set up to less than 100%)
25000
0 (6000r/min)
3
0 (Torque in-limit)
361
[Supplement]
Supplement
Press & Hold Control
(1) (2) (3) (4) (5)
Holds the non-traveled portion
with deviation counter
C=A+B
Search speed (low speed)
B
A
Setup value of 2nd torque limit
Pin-27 (GAIN/TL, SEL)
: Torque limit switching input
Pin-40 (TLC)
: Torque in-limit output
Torque
Command
Motor speed
(1) (2) (3) (4) (5)
Press fit
machine
Application example
ON
ON
(+)
(+)
(+)
(–)
(–)
(–)
03
09
5E
5F
70
73
Setup of 2nd torque limit
Selection of alarm output
Setup of 1st torque limit
Setup of 2nd torque limit
Excess setup of position deviation
Setup of over-speed level
3
0
200
50
25000
0
Parameter
No.
Title
Setup
example
362
MEMO
363
Motor Company, Matsushita Electric Industrial Co.,Ltd.Marketeing Group
Tokyo: Kyobashi MID Bldg, 2-13-10 Kyobashi, Chuo-ku, Tokyo 104-0031 TEL (03)3538-2961
FAX (03)3538-2964
Osaka: 1-1, Morofuku 7-chome, Daito, Osaka 574-0044 TEL (072)870-3065
FAX (072)870-3151
Model No. M DD
M MD
Date of
purchase
Dealer
Tel : ( ) -
M MA
After-Sale Service (Repair)
IMC83
S1104-4046
© 2004 Matsushita Electric Industr ial Co., Ltd. All Rights Reserved.
Repair
Consult to a dealer from whom you have purchased the product for details of repair.
When the product is incorporated to the machine or equipment you have purchased, consult to the manufacture
or the dealer of the machine or equipment.
Cautions for Proper Use
•This product is intended to be used with a general industrial product, but not designed or manufactured to be
used in a machine or system that may cause personal death when it is failed.
•Install a safety equipments or apparatus in your application, when a serious accident or loss of property is
expected due to the failure of this product.
•Consult us if the application of this product is under such special conditions and environments as nuclear
energy control, aerospace, transportation, medical equipment, various safety equipments or equipments which
require a lesser air contamination.
•We have been making the best effor t to ensure the highest quality of the products, however, application of
exceptionally larger external noise disturbance and static electricity, or failure in input power, wir ing and com-
ponents may result in unexpected action. It is highly recommended that you make a fail-safe design and
secure the safety in the operative range.
•If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to the bearing, depending
on the condition of the machine and its mounting environment, and may result in the bearing noise. Checking
and verification by customer is required.
•Failure of this product depending on its content, may generate smoke of about one cigarette. Take this into
consideration when the application of the machine is clean room related.
•Please be careful when using in an environment with high concentrations of sulphur or sulphuric gases, as
sulphuration can lead to disconnection from the chip resistor or a poor contact connection.
•Take care to avoid inputting a supply voltage which significantly exceeds the rated range to the power supply
of this product. Failure to heed this caution may result in damage to the internal parts, causing smoking and/or
a fire and other trouble.
Technical information
Electric data of this product (Instruction Manual, CAD data) can be downloaded from the following web site.
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html
MEMO (Fill in the blanks for reference in case of inquiry or repair.)
Motor Company
Matsushita Electric Industrial Co., Ltd.
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan
Tel : (81)-72-871-1212
