Instruction Manual AC Servo Motor and Driver MINAS A4 Series *Thank you for buying and using Panasonic AC Servo Motor and Driver, 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 accessible place so as to be referred anytime as necessary. This product is for industrial equipment. Don't use this product at general household. Content [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 2 page Control Block Diagram of Position Control Mode ................. 82 Wiring to the Connector, CN X5 .............................................. 83 Trial Run (JOG Run) at Position Control Mode.................... 104 Real-Time Auto-Gain Tuning ................................................. 106 Parameter Setup .................................................................... 108 [Connection and Setup of Velocity Control Mode] page 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 Inspection Before Trial Run ........................................................................................................................ 138 Trial Run by Connecting the Connector, CN X5 ......................................................................................... 139 Real-Time Auto-Gain Tuning ................................................. 140 3 Supplement Outline ........................................................................................................................................................ 140 Applicable Range ....................................................................................................................................... 140 How to Operate .......................................................................................................................................... 140 Adaptive Filter ............................................................................................................................................. 141 Parameters Which are Automatically Set up .............................................................................................. 141 When in Trouble Trial Run (JOG Run) at Velocity Control Mode .................... 138 Adjustment Control Block Diagram of Velocity Control Mode ............... 126 Wiring to the Connector, CN X5 ............................................ 127 Full-Closed Control Mode 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 Torque Control Mode Outline ........................................................................................................................................................ 106 Applicable Range ....................................................................................................................................... 106 How to Operate .......................................................................................................................................... 106 Adaptive Filter ............................................................................................................................................. 107 Parameters Which are Automatically Set ................................................................................................... 107 Connection and Setup of Velocity Control Mode Inspection Before Trial Run ........................................................................................................................ 104 Trial Run by Connecting the Connector, CN X5 ......................................................................................... 104 Connection and Setup of Position Control Mode 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 Preparation [Connection and Setup of Position Control Mode] Before Using the Products EEPROM Writing Mode ................................................................................................................................ 70 Auto-Gain Tuning Mode ............................................................................................................................... 71 Auxiliary Function Mode ............................................................................................................................... 73 Copying Function (Console Only) ................................................................................................................ 79 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 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 [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 4 Parameter Setup .................................................................... 208 page Fit-Gain Function ........................................................................................................................................ 231 Manual Auto-Gain Tuning (Application) ............................... 249 Instantaneous Speed Observer .................................................................................................................. 249 Damping Control ......................................................................................................................................... 250 page When in Trouble ..................................................................... 252 Troubleshooting .................................................................... 260 5 Supplement 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(R) . ............................................................................................................................................. 264 When in Trouble What to Check ? ......................................................................................................................................... 252 Protective Function (What is Error Code ?) ............................................................................................... 252 Protective Function (Details of Error Code) ............................................................................................... 253 Adjustment [When in Trouble] Full-Closed Control Mode 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 Connection and Setup of Torque Control Mode Adaptive Filter ........................................................................ 234 Normal Auto-Gain Tuning...................................................... 236 Release of Automatic Gain Adjusting Function .................. 239 Manual Auto-Gain Tuning (Basic) ......................................... 240 Connection and Setup of Velocity Control Mode Gain Adjustment .................................................................... 226 Real-Time Auto-Gain Tuning ................................................. 228 Connection and Setup of Position Control Mode [Adjustment] Preparation 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 Before Using the Products How to Operate .......................................................................................................................................... 206 Adaptive Filter ............................................................................................................................................. 207 Parameters Which are Automatically Set up .............................................................................................. 207 [Supplement] page Absolute System ................................................................... 266 Outline of the Setup Support Software, PANATERM(R) ......... 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 6 [Before Using the Products] page Safety Precautions .................................................... 8 Maintenance and Inspection .................................. 12 Introduction ............................................................. 14 Outline ......................................................................................... On Opening the Package ............................................................ Check of the Driver Model ........................................................... Check of the Motor Model ........................................................... Check of the Combination of the Driver and the Motor ............... 14 14 14 15 16 Parts Description .................................................... 18 Driver ........................................................................................... 18 Motor ........................................................................................... 20 Console ....................................................................................... 21 Installation ............................................................... 22 Driver ........................................................................................... 22 Motor ........................................................................................... 24 Console ....................................................................................... 26 7 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. DANGER Indicates a potentially hazardous situation which, if not avoided, will result in death or serious injury. CAUTION Indicates a potentially hazardous situation which, if not avoided, will result in minor injury or property damage. * 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 water, corrosive or flammable gases, and combustibles. Failure to observe this instruction could result in fire. 8 Do not subject the cables to excessive force, heavy object, or pinching force, nor damage the cables. Failure to observe this instruction could result in electrical shocks, damages and breakdowns. Do not put your hands in the servo driver. Do not touch the rotating portion of the motor while it is running. Failure to observe this instruction could result in burn and electrical shocks. Rotating portion Failure to observe this instruction could result in injuries. Do not drive the motor with external power. Do not touch the motor, servo driver and external regenerative resistor of the driver, since they become very hot. Failure to observe this instruction could result in fire. Failure to observe this instruction could result in burns. [Before Using the Products] DANGER Do not place combustibles near by the motor, driver and regenerative resistor. Failure to observe this instruction could result in fire. Do not place the console close to a heating unit such as a heater or a large wire wound resistor. Failure to observe this instruction could result in fire and breakdowns. Failure to observe this instruction could result in electrical shocks. Install an over-current protection, earth leakage breaker, over-temperature protection and emergency stop apparatus without fail. Failure to observe this instruction 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. 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 instruction could result in electrical shocks. Install and mount the Product and machinery securely to prevent any possible fire or accidents incurred by earthquake. Failure to observe this instruction could result in electrical shocks, injuries and fire. Turn off the power and make it sure that there is no risk of electrical shocks before transporting, wiring and inspecting the motor. Failure to observe this instruction could result in electrical shocks. Check and confirm the safety of the operation after the earthquake. Wiring has to be carried out by the qualified and authorized specialist. Failure to observe this instruction could result in electrical shocks, injuries and fire. Failure to observe this instruction could result in electrical shocks. Mount the motor, driver and regenerative resistor on incombustible material such as metal. 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. Ground the earth terminal of the motor and driver without fail. Failure to observe this instruction could result in fire. 9 Safety Precautions Observe the Following Instructions Without Fail CAUTION Do not hold the motor cable or motor shaft during the transportation. 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 instruction 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 give strong impact shock to the motor shaft. Do not turn on and off the main power of the driver repeatedly. Failure to observe this instruction could result in 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. 10 Failure to observe this instruction could result in breakdowns. Do not make an extreme gain adjustment or change of the drive. Do not keep the machine running/operating unstably. Failure to observe this instruction could result in injuries. 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 give strong impact shock to the Product. Do not modify, disassemble nor repair the Product. Failure to observe this instruction could result in fire, electrical shocks and injuries. Do not pull the cables with excessive force. Failure to observe this instruction could result in breakdowns. Failure to observe this instruction could result in breakdowns. [Before Using the Products] CAUTION Use the motor and the driver in the specified combination. Make a wiring correctly and securely. Failure to observe this instruction could result in fire. 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 transportation of the machine. Failure to observe this instruction could result in injuries and breakdowns. Observe the specified mounting method and direction. Make an appropriate mounting of the Product matching to its weight and output rating. Observe the specified voltage. Failure to observe this instruction could result in breakdowns. Failure to observe this instruction could result in injuries and breakdowns. Failure to observe this instruction could result in electrical shocks, injuries and fire. Keep the ambient temperature below the permissible temperature for the motor and driver. 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 breakdowns. 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. 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. Failure to observe this instruction could result in injuries and breakdowns. When you dispose the batteries, observe any applicable regulations or laws after insulating them with tape. This Product shall be treated as Industrial Waste when you dispose. 11 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 even after power-off. Turn off the power and allow 15 minutes or longer after LED display of the front panel has gone off, before performing maintenance and inspection. 3) Disconnect all of the connection to the driver when performing megger test (Insulation resistance measurement) to the driver, otherwise it could result in breakdown of the driver. Inspection Items and Cycles General and normal running condition Ambient conditions : 30C (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. Type Cycles Daily inspection Daily Periodical inspection Annual Items to be inspected * 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 <Note> Inspection cycle may change when the running conditions of the above change. 12 [Before Using the Products] 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. Disassembling for inspection and repair should be carried out only by authorized dealers or service company. Prohibited Product Component Smoothing capacitor Cooling fan Aluminum electrolytic capacitor (on PCB) Driver Rush current preventive relay Rush current preventive resistor Bearing Oil seal Encoder Motor Battery for absolute encoder Motor with Gear reducer gear reducer Standard replacement cycles (hour) Note 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. These hours or cycles are reference. When you experience any error, replacement is required even before this standard replacement cycle. 10,000 hours 13 Before Using the Products Guideline for Parts Replacement 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 new powerful CPU, A4 Series now realize 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-friendliness by offering a console (option) which enables you to monitor the rotational speed display, set up parameters, trial run (JOG running) and copy parameters. A4 Series can support various applications and their requirement by featuring automated gain tuning function, damping control which achieves a stable "Stop Performance" 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 Model number AC SERVO Model No. MADDT1205 INPUT Rated input/output voltage Rated input/output current Voltage Phase F.L.C Freq. Power Serial No.P04110001Z OUTPUT 200-240V 1o 1.3A 50/60Hz 69V 3o 1.2A 0~333.3Hz 100W Serial Number e.g.) : P0411 0001Z Lot number Month of production Year of production (Lower 2 digits of AD year) Rated output of applicable motor Model Designation M A D D T 1 2 0 5 1 to 4 Frame-size symbol Frame Symbol MADD A4-series, A-frame MBDD A4-series, B-frame MCDD A4-series, C-frame MDDD A4-series, D-frame MEDD A4-series, E-frame MFDD A4-series, F-frame 14 5 to 6 7 Max. current rating of power device Symbol Current rating T1 10A T2 15A T3 30A T5 50A T7 70A TA 100A TB 150A 8 to 9 10 to 12 Power supply Symbol Specifications 1 Single phase, 100V 2 Single phase, 200V 3 3-phase, 200V Single/3-phase, 5 200V Special specifications (letters and numbers) Current detector rating Symbol Current rating 05 5A 07 7.5A 10 10A 15 15A 20 20A 30 30A 40 40A 64 64A 90 90A A2 120A [Before Using the Products] Before Using the Products Check of the Motor Model Contents of Name Plate Model Rated input voltage/current Rated output AC SERVO MOTOR MODEL No. MSMD5AZS1S INPUT 3OAC 92 V 1.6 A RATED OUTPUT 0.2 kW Hz RATED FREQ. 200 RATED REV. 3000 r/min CONT. TORQUE 0.64 Nm RATING S1 INS. CLASS B (TUV) A (UL) IP65 CONNECTION SER No. 04110001 Serial Number e.g.) : 04 11 0001 Lot number Month of production Year of production (Lower 2 digits of AD year) Rated rotational speed Model Designation M S M D 5 A Z S 1 S 1 to 4 Symbol MAMA MQMA MSMD MSMA MDMA MHMA MFMA MGMA 5 to 6 Type 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) 7 8 9 10 11 to 12 Special specifications (letters and numbers) Motor structure Design order 1: Standard Voltage specifications Symbol Motor rated output Symbol Output 5A 50W 01 100W 02 200W 04 400W 05 500W 08 750W 09 900W 10 1.0kW Symbol 15 20 25 30 40 45 50 Specifications Output 1 100 V 1.5kW 2.0kW 2.5kW 3.0kW 4.0kW 4.5kW 5.0kW 2 200 V Z 100/200 common (50W only) Rotary encoder specifications Symbol P S Specifications Format Pulse count Resolution Wire count 2500P/r Incremental 10,000 5-wire 17bit Absolute/Incremental common 131,072 7-wire Motor structure MSMD, MQMA Shaft Holding brake Oil seal Symbol Round Key way Without With Without With*1 A B *2 S *2 T *1 The product with oil seal is a special order product. *2 Key way with center tap. Products are standard stock items or build to order items. For details, inquire of the dealer. MAMA Symbol Shaft Holding brake Oil seal Round Key way Without With Without With A B E F MSMA, MDMA, MFMA, MGMA, MHMA Shaft Holding brake Oil seal Symbol Round Key way Without With Without With C D G H 15 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. Check 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. Power supply Single phase, 200V 3-phase, 200V Single phase, 100V Single phase, 200V Applicable motor Motor series Rated rotational speed MAMA Ultra low inertia 5000r/min MAMA Low inertia 3000r/min Single phase, 100V Single phase, 200V MSMD Low inertia 3000r/min 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 MSMA Low inertia MDMA Middle inertia MHMA High inertia 3000r/min 2000r/min 2000r/min MFMA Middle inertia 2000r/min MGMA Middle inertia 1000r/min Model 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* Applicable driver Rated output 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 <Note> Suffix of " * " in the applicable motor model represents the motor structure. 16 Model Frame MADDT1207 MBDDT2210 MCDDT3520 MDDDT5540 MADDT1107 MBDDT2110 MCDDT3120 MADDT1205 MADDT1207 MBDDT2210 MADDT1105 MADDT1107 MBDDT2110 MCDDT3120 A-frame B-frame C-frame D-frame A-frame B-frame C-frame A-frame A-frame B-frame MADDT1205 A-frame B-frame C-frame A-frame MADDT1207 MBDDT2210 MCDDT3520 B-frame C-frame MDDDT5540 D-frame MEDDT7364 MFDDTA390 E-frame MFDDTB3A2 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MCDDT3520 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MCDDT3520 MDDDT5540 MEDDT7364 MFDDTB3A2 MDDDT5540 MFDDTA390 MFDDTB3A2 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 [Before Using the Products] Before Using the Products Absolute/Incremental Specifications, 17-bit <Remarks> Do not use in other combinations than those listed below. Power supply Single phase, 200V 3-phase, 200V Single phase, 100V Single phase, 200V Applicable motor Motor series Rated rotational speed MAMA Ultra low inertia 5000r/min MAMA Low inertia 3000r/min Single phase, 100V Single phase, 200V MSMD Low inertia 3000r/min 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 MSMA Low inertia MDMA Middle inertia MHMA High inertia 3000r/min 2000r/min 2000r/min MFMA Middle inertia 2000r/min MGMA Middle inertia 1000r/min Model 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* Applicable driver Rated output 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 Model Frame MADDT1207 MBDDT2210 MCDDT3520 MDDDT5540 MADDT1107 MBDDT2110 MCDDT3120 MADDT1205 MADDT1207 MBDDT2210 MADDT1105 MADDT1107 MBDDT2110 MCDDT3120 A-frame B-frame C-frame D-frame A-frame B-frame C-frame A-frame A-frame B-frame MADDT1205 A-frame B-frame C-frame A-frame MADDT1207 MBDDT2210 MCDDT3520 B-frame C-frame MDDDT5540 D-frame MEDDT7364 MFDDTA390 E-frame MFDDTB3A2 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MCDDT3520 MDDDT3530 MDDDT5540 MEDDT7364 MFDDTA390 MFDDTB3A2 MCDDT3520 MDDDT5540 MEDDT7364 MFDDTB3A2 MDDDT5540 MFDDTA390 MFDDTB3A2 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 <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. 17 Parts Description Driver * A and B-frame Mode switching button Set button MODE SET Display LED (6-digit) Rotary switch (ID) Data setup button : SHIFT : UP : DOWN Torque monitor check pin (IM) Velocity monitor check pin (SP) Check pin (G : GND) Connector Connector, CN X1 for power input connection 04JFAT-SAXGF (JST) Connector, CN X2 for motor connection 06JFAT-SAXGF (JST) Main power input terminals (L1,L2) Communication connector 1, CN X3 X3 Communication connector 2, CN X4 X4 Control power input terminals (L1C, L2C) Connector, CN X5 for host connection Terminals for external regenerative resistor (RB1,RB2,RB3) Connector,CN X6 for encoder connection Terminals for motor connection (U,V,W) X6 Screws for earth (x2) Connector, CN X7 for external scale connection X7 e.g.) : MADDT1207 (Single phase, 200V, 200W : A-frame) * C and D-frame Mode switching button Set button MODE SET Display LED (6-digit) Rotary switch (ID) Data setup button : SHIFT : UP : DOWN Torque monitor check pin (IM) Velocity monitor check pin (SP) Check pin (G : GND) Connector Connector, CN X1 for main power connection 05JFAT-SAXGF (JST) Connector, CN X2 for motor connection 06JFAT-SAXGF (JST) Main power input terminals (L1,L2,L3) X3 X4 Control power input terminals (L1C, L2C) Terminals for external regenerative resistor (RB1,RB2,RB3) Terminals for motor connection (U,V,W) Screws for earth (x2) X5 Communication connector 1, CN X3 Communication connector 2, CN X4 Connector, CN X5 for host connection Connector,CN X6 for encoder connection X6 X7 Connector, CN X7 for external scale connection e.g.) : MCDDT1207 (Single/3-phase, 200V, 750W : C-frame) <Note> X1 and X2 are attached in A to D-frame driver. 18 [Before Using the Products] Before Using the Products Set button Rotary switch (ID) * E and F-frame SET Mode switching button MODE Torque monitor check pin (IM) Velocity monitor check pin (SP) Display LED (6-digit) Data setup button : SHIFT : UP : DOWN Main power input terminals (L1,L2,L3) Check pin (G : GND) Control power input terminals (r, t) Screw for cover M3 X3 Communication connector 1, CN X3 X4 Terminals for external regenerative resistor (P, B1, B2) Communication connector 2, CN X4 Connector, CN X5 for host connection X5 Terminals for motor connection (U,V,W) Connector,CN X6 for encoder connection X6 Connector, CN X7 for external scale connection X7 Terminal cover Screws for earth (x2) Screw for cover M3 e.g.) : MEDDT7364 (3-phase, 200V, 2.0kW : E-frame) Torque monitor check pin (IM) Velocity monitor check pin (SP) Rotary switch (ID) Set button SET Mode switching button MODE Display LED (6-digit) Main power input terminals (L1,L2,L3) Data setup button : SHIFT : UP : DOWN Control power input terminals (r, t) Check pin (G : GND) Screw for cover M3 X3 Communication connector 1, CN X3 X4 Terminals for external regenerative resistor (P, B1, B2) Terminals for motor connection (U,V,W) Communication connector 2, CN X4 X5 Connector, CN X5 for host connection Connector,CN X6 for encoder connection X6 X7 Connector, CN X7 for external scale connection Terminal cover Screw for cover M3 Screws for earth (x2) e.g.) : MFDDTB3A2 (3-phase, 200V, 5.0kW : F-frame) <Note> For details of each model, refer to "Dimensions " (P.324 to 326) of Supplement. 19 Parts Description Motor * MSMD 50W to 750W * MAMA 100W to 750W * MQMA 100W to 400W Motor cable Encoder cable Rotary encoder Connector for brake cable (Only applicable to the motor with electromagnetic brake) Motor frame Flange Mounting holes (X4) e.g.) : Low inertia type (MSMD series, 50W) * MSMA 1.0kW to 5.0kW Connector for motor and brake * MDMA 1.0kW to 5.0kW Connector for encoder * MHMA 500W to 5.0kW * MFMA 400W to 4.5kW * MGMA 900W to 4.5kW Oil seal Flange Flange Mounting holes (X4) e.g.) : Middle inertia type (MDMA series, 1.0kW) <Note> For details of each model, refer to "Dimensions " (P.327 to P.341) of Supplement. 20 [Before Using the Products] Before Using the Products Console Main Body Connector Console body Display (7-segment LED) Cable Touch panel <Note> Console is an option (Part No.: DV0P4420). Display/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. 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 . 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 21 How to Install 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 waterproof. 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 Item Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Altitude Condition 0C to 55C (free from freezing) Less than 90% RH (free from condensation) -20C to 80C (free from freezing) Less than 90% RH (free from condensation) Lower than 5.9m/S2 (0.6G), 10 to 60Hz Lower than 1000m 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. A to D-frame e.g.) In case of C-frame MADD MBDD MCDD MDDD Mounting bracket (optional parts) Fastening torque of earth screws (M4) to be 0.39 to 0.59N * m. E and F-frame Mounting bracket 22 [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 40mm or more Fan 10mm or more 10mm or more 100mm or more 10mm or more 40mm or more 100mm 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. 23 How to Install Motor Installation Place Since the conditions of location affect a lot to the motor life, 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 waterproof. 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 Item Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Motor only Impact Motor only Enclosure rating Motor only Condition 0C to 40C (free from freezing) *1 Less than 85% RH (free from condensation) -20C to 80C (free from freezing) *2 Less than 85% RH (free from condensation) Lower than 49m/s2 (5G) at running, 24.5m/s2 (2.5G) at stall Lower than 98m/s2 (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 horizontally 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. 24 Cable Oil, water Motor [Before Using the Products] 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 Motor 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 flexible coupling with high stiffness designed exclusively for 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 Supplement. 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. 25 Before Using the Products Stress to Cables How to Install Console Installation Place 1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not waterproof. 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 Item Ambient temperature Ambient humidity Storage temperature Storage humidity Vibration Impact Altitude Condition 0C to 55C (free from freezing) Less than 90% RH (free from condensation) -20C to 80C (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 <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 Connect to CN X4. M MOD E S SET SHIF T <Remarks> * Connect the console connector securely to CN X4 connector of the driver * Never pull the cable to plug in or plug out. 26 [Preparation] page System Configuration and Wiring ......................... 28 Overall Wiring (Connecting Example of C-frame, 3-phase) ........ Overall Wiring (Connecting Example of E-frame) ....................... Driver and List of Peripheral Equipments.................................... Wiring of the Main Circuit (A to D-frame) .................................... Wiring of the Main Circuit (E and F-frame).................................. Wiring to the Connector, CN X6 (Connection to Encoder) .......... Wiring to the Connector, CN X3 and 4 (Connection to PC, Host Controller or Console) ......................... Wiring to the Connector, CN X5 (Connection to Host Controller) 28 30 32 34 35 38 40 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 ................................................................... How to Set ................................................................................... How to Connect ........................................................................... Composition and List of Parameters ........................................... Setup of Torque Limit .................................................................. 51 51 51 52 57 How to Use the Front Panel and Console ............. 58 Setup with the Front Panel .......................................................... Setup with the Console ............................................................... Initial Status of the Front Panel Display(7 Segment LED) .......... Initial Status of the Console Display(7 Segment LED) ................ Structure of Each Model .............................................................. Monitor Mode .............................................................................. Parameter Setup Mode ............................................................... EEPROM Writing Mode ............................................................... Auto-Gain Tuning Mode .............................................................. Auxiliary Function Mode .............................................................. Copying Function (Console Only) ............................................... 58 58 59 59 60 63 69 70 71 73 79 27 System Configuration and Wiring Overall Wiring (Connecting Example of C-frame, 3-phase) * Wiring of the Main Circuit (see P.32, 33 and 309.) Circuit Breaker (NFB) Use the circuit breaker matching capacity of the power source to protect the power lines. (see P.309) Noise Filter (NF) Prevents external noise from the power lines. And reduces an effect of the noise generated by the servo driver. (see P.32 and 33.) 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. * Connection to the Connector, CN X1 (connection to input power) L1 (Pin-5) L2 (Pin-4) (see P.321) Reactor (L) Reduces harmonic current of the main power. 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 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. 28 * Connection to the Connector, CN X2 (connection to external components) RB1 (Pin-6) RB2 (Pin-4) Ground (earth) Handle lever Use this for connector connection. Store this after connection for other occasions. (see page for connection.) 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 regenerative resistor (Option). If the thermal fuse is activated, it will not resume. [Preparation] PC (to be supplied by customer) Console (option) DV0P4420 X3 X1 X4 X5 X2 * Wiring to Connector, CN X3/X4 (option) (Connection to PC or host controller) * Wiring to Connector, CN X5 (Connection to host controller) Junction cable for encoder * Wiring to Connector, CN X6 (Connection to encoder) X6 X7 * Wiring to Connector, CN X7 (Connection to external scale) Short bar U-phase (red) V-phase (white) W-phase (black) Junction cable for motor * Wiring to Connector, CN X2 (Connection to motor driving phase and ground) Junction cable for brake DC Power supply for brake DC24V (to be supplied by customer) : High voltage 29 Preparation Setup support software "PANATERM(R) " DV0P4460 (English, Japanese version/option) System Configuration and Wiring Overall Wiring (Connecting Example of E-frame) * Wiring of the Main Circuit (see P.32, 33 and 309.) Circuit Breaker (NFB) Use the circuit breaker matching capacity of the power source to protect the power lines. (see P.309) Noise Filter (NF) Prevents external noise from the power lines. And reduces an effect of the noise generated by the servo driver. (see P.32 and 33.) 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. * Connection with input power supply L1 L2 L3 (see P.321) Reactor (L) Reduces harmonic current of the main power. 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. 30 r t * Connection to external components P B2 Ground (earth) 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 regenerative resistor (Option). If the thermal fuse is activated, it will not resume. [Preparation] PC (to be supplied by customer) Console (option) DV0P4420 X3 * Wiring to Connector, CN X3/X4 (option) (Connection to PC or host controller) X4 * Wiring to Connector, CN X5 (Connection to host controller) X5 * Wiring to Connector, CN X6 (Connection to encoder) X6 X7 Junction cable for encoder * Wiring to Connector, CN X7 (Connection to external scale) Short bar From a top U-phase V-phase W-phase * Connection to motor driving phase and ground Junction cable for motor Junction cable for brake DC Power supply for brake DC24V (to be supplied by customer) : High voltage 31 Preparation Setup support software "PANATERM(R) " DV0P4460 (English, Japanese version/option) System Configuration and Wiring Driver and List of Applicable Peripheral Equipments Driver Applicable Rated Voltage output motor 50W MSMD Single -100W phase, MQMA 100V 100W Required Circuit Power breaker (at the rated (rated load) current) approx. 0.4kVA approx. 0.4kVA 50W approx. MSMD -200W 0.5kVA MADD approx. Single 100W 0.3kVA MQMA phase, approx. 200V 200W 0.5kVA approx. 100W 0.3kVA MAMA MSMD Single phase, MQMA 100V approx. 0.5kVA 400W approx. 0.9kVA 200W approx. 0.5kVA 400W approx. 0.9kVA 750W approx. 1.3kVA MBDD MSMD Single MQMA phase, 200V MAMA MQMA Single phase, 100V MSMD MCDD MAMA Single/ 3- phase, 400W MFMA 200V 500W MAMA 750W approx. 1.1kVA approx. 1.6kVA 1.0kW approx. 1.8kVA MHMA BMFT61041N (3P+1a) BMFT61542N (3P+1a) DV0P4170 DV0P4190 10A BMFT61041N (3P+1a) BMFT61541N (3P+1a) DV0P4180 15A DV0P1450 900W 20A MDMA MSMA 0.75mm2 AWG18 DV0P1460 BMFT61542N (3P+1a) approx. 1.8kVA Single/ approx. MDDD MSMA 3- phase, 1.0kW 1.8kVA 200V MHMA MGMA 0.75 to 2.0mm2 AWG 14 to 18 BMFT61542N (3P+1a) approx. 0.9kVA MHMA MDMA Cable Cable Surge Noise filter Magnetic diameter diameter Connection contactor absorber for signal (main circuit) (control circuit) Connection to exclusive connector 200W Noise filter approx. 1.5kW 2.3kVA BMFT61842N (3P+1a) 2.0mm2 AWG14 DV0P4220 MFMA MDMA MSMA MEDD 3- phase, MHMA 200V MFMA 32 2.0kW 2.5kW approx. 3.3kVA approx. 3.8kVA 30A 2.0mm2 BMF6352N AWG14 (3P+2a2b) 3.5mm2 AWG12 Terminal block M5 11.0 or smaller o5.3 [Preparation] Driver Applicable Rated Voltage output motor MGMA Required Circuit Power breaker (at the rated (rated load) current) Noise filter Cable Cable Surge Noise filter Magnetic diameter diameter Connection absorber for signal contactor (main circuit) (control circuit) approx. 2.0kW 3.8kVA MDMA MSMA BMF6352N (3P+2a2b) approx. 3.0kW 4.5kVA 3.5mm2 AWG12 MGMA Terminal block M5 MDMA MFDD MHMA 3- phase, approx. 200V 4.0kW 6kVA 50A 0.75mm2 AWG18 DV0P3410 DV0P1450 DV0P1460 11.0 or smaller MSMA MFMA MGMA approx. 6.8kVA 4.5kW approx. 7.5kVA 5.3mm2 AWG10 MDMA MHMA o5.3 BMF6652N (3P+2a2b) approx. 5.0kW 7.5kVA MSMA * Select a single and 3-phase common specifications according to the power source. * Manufacturer of circuit breaker and magnetic contactor : Matsushita Electric Works. To comply to EC Directives, install a circuit breaker between the power 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 Applicable 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 60C 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 screws for connector (CN X5) for 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. 33 Preparation MHMA 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. 8 to 9mm 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. Power supply NF NFB MC Yellow (X2) U Red V White Black W 2 DC 24V 34 6 5 4 3 2 1 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. L1 L2 L3 L1C L2C RB1 RB3 RB2 U V W CN X2 3 4 DC power supply for brake Surge absorber Fuse (5A) CN X1 5 4 3 2 1 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 Ground resistance : 100 max. For applicable wire, refer to P32 and 33. slot, nor make them touch. Green/ E Yellow Motor 1 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 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. 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. [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 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 Peripheral 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. L1 Power supply NFB NF MC L L2 L3 r t P B1 B2 Yellow (X2) Red White Black U U V V W W Green/ E Yellow Motor Ground resistance : 100 max. For applicable wire, refer to P32 and 33. DC 24V DC power supply for brake Surge absorber 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. 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. 35 Preparation 1) Take off the cover fixing screws, and detach the terminal cover. 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) +10% +10% Power supply Single phase, 100V -15% to 115V -15% L1 L3 L1C L2C External regenerative resistor 172167-1 Tyco Electronics AMP Red 1 White 2 Black 3 Green 4 Built-in thermostat of an external regenerative resistor (light yellow) ON OFF ALM MC Surge absorber MC L Noise filter NFB RB1 RB3 RB2 U V W 1 2 3 4 MC CN X1 Main power supply Control power supply CN X2 Motor connection Motor +10% NFB ON OFF ALM MC Surge absorber MC L L1 L3 L1C L2C Use a reactor for 3-phase External regenerative resistor 172167-1 Tyco Electronics AMP Red 1 White 2 Black 3 Green 4 RB1 RB3 RB2 U V W 1 2 3 4 MC CN X1 Main power supply Control power supply CN X2 Motor connection Motor 37 CN X5 ALM+ 36 ALM- In Case of Single Phase, 200V (C and D-frame) +10% +10% Power supply Single phase, 200V -15% to 240V -15% Built-in thermostat of an external regenerative resistor (light yellow) ON OFF ALM MC MC Surge absorber <Remarks> When you use single phase, connect the main power between L1 and L3 terminals. CN X1 MC L NFB Noise filter L1 L2 L3 Use a reactor for 3-phase L1C L2C (Remove the short wire when you connect the external regenerative resistor.) External regenerative resistor 172167-1 Tyco Electronics AMP Red 1 White 2 Black 3 Green 4 RB1 RB3 RB2 U V W *1 2 3 4 DC12 to 24V (5%) CN X5 ALM+ 36 ALM- +10% +10% Power supply 3-phase, 200V -15% to 240V -15% Built-in thermostat of an external regenerative resistor (light yellow) ON OFF ALM MC MC Surge absorber <Remarks> When you use single phase, connect the main power between L1 and L3 terminals. CN X2 Motor connection CN X1 MC L NFB L1 L2 L3 L1C L2C Control power supply (Remove the short wire when you connect the external regenerative resistor.) External regenerative resistor 172167-1 Tyco Electronics AMP Red 1 White 2 Black 3 Green 4 RB1 RB3 RB2 *1 Main power supply Control power supply CN X2 U 2 3 4 V W Motor connection Motor ALM 37 CN X5 ALM+ 36 ALM- D A * When you use motor model of MSMA, MDMA, MFMA, MHMA and C B MGMA, use the connections as the JL04V-2E20-4PE-B-R right table shows.. JL04HV-2E22-22PE-B-R [Motor portion] Connector : by Japan Aviation Electronics Ind. <Remark> Do not connect anything to NC. 37 In Case of 3-Phase, 200V (C and D-frame) Main power supply Motor 172159-1 Tyco Electronics AMP ALM 172159-1 Tyco Electronics AMP DC12 to 24V (5%) Noise filter ALM 172159-1 Tyco Electronics AMP DC12 to 24V (5%) 36 +10% Power supply Single phase, 200V -15% to 240V -15% Noise filter Built-in thermostat of an external regenerative resistor (light yellow) In Case of Single Phase, 200V (A and B-frame) 172159-1 Tyco Electronics AMP DC12 to 24V (5%) ALM 37 CN X5 ALM+ 36 ALM- PIN No. Application PIN No. G A Brake Brake H B G H A A B C NC A C U-phase F D F I B D E F PIN No. Application V-phase I E A U-phase W-phase B F E D C G H I V-phase B Ground E G W-phase JL04V-2E20-18PE-B-R C Ground JL04V-2E24-11PE-B-R D H Ground NC D C I Application Brake Brake NC U-phase V-phase W-phase Ground Ground NC [Preparation] In Case of 3-Phase, 200V (E and F-frame) +10% +10% [Motor portion] Connector : by Japan Aviation Electronics Ind. Built-in thermostat of an external regenerative resistor (light yellow) ON OFF ALM Surge absorber MC L NFB Noise filter L1 L2 Main power supply L3 r A C B JL04V-2E20-4PE-B-R JL04HV-2E22-22PE-B-R PIN No. Application A U-phase V-phase B W-phase C Ground D MC MC D Preparation Power supply 3-phase, 200V -15% to 230V -15% Control power supply t External regenerative resistor P (Remove the short wire when you connect the external regenerative resistor.) B1 G F A I A B B D C E F B2 Red U White V Black E Motor connection W Green Motor ALM DC12 to 24V (5%) H 37 ALM+ 36 ALM- D C G H I JL04V-2E20-18PE-B-R JL04V-2E24-11PE-B-R PIN No. Application G Brake H Brake A NC F U-phase V-phase I B W-phase E Ground D Ground C NC PIN No. Application A Brake Brake B NC C U-phase D V-phase E W-phase F Ground G Ground H NC I <Remark> Do not connect anything to NC. Wiring method to connector (A to D-frame) * Follow the procedures below for the wiring connection to the Connector CN X1 and X2 . How to connect 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 (a) Using handle lever 1 Attach the handle lever to the handling slot on the upper portion. Press down the lever to push down the spring. 2 Insert the peeled cable while pressing down the lever, until it hits the insertion slot (round hole). 3 Release the lever. * You can pull out the cable by pushing down the spring as the above. (b) Using screw driver 1 Press the screw driver to the handling slot on the upper portion to push down the spring. 2 Insert the peeled cable while pressing down the screw driver, until it hits the insertion slot (round hole). 3 Release the screw driver. * 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. 37 System Configuration and Wiring Wiring to the Connector, CN X6 (Connection to Encoder) Tips on Wiring 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. Power supply Motor Encoder 30cm or more 20m max. Connector Encoder outlets are different by the motors, flyer leads + connecter and cannon plug type. Junction cable 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 0.18mm2 or larger (AWG24), and with higher bending resistance. 20m max. Cannon plug Junction cable 20m max. 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 encoder) : 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. Encoder junction cable E5V E0V 1 2 5 6 E5V E0V PS PS PS PS Encoder side connector (Cannon plug) Driver side CN X6 Wiring Diagram In case of 2500P/r incremental encoder * MSMD 50W to 750W * MAMA 100W to 750W * MQMA 100W to 400W White E5V Black E0V CN X6 1 E5V +5V 0V 2 E0V 3 4 5 Regulator 4 Light Blue Purple PS PS FG 2 3 5 6 PS 6 Twisted pair 172168-1 PS Case 172160-1 (by Tyco Electronics, AMP) (by Tyco Electronics, AMP) motor 38 Motor side Junction cable Driver side [Preparation] * MSMA 1kW to 5kW * MDMA 1kW to 5kW * MHMA 500W to 5kW * MFMA 400W to 4.5kW * MGMA 900W to 4.5kW Pin No. of connector CN X6 1 E5V +5V 0V Regulator 2 E0V E5V H E0V G 3 PS PS FG K 5 L J 6 Straight plug N/MS3106B20-29S Cable clamp N/MS3057-12A PS PS Case Twisted pair (by Japan Aviation Electronics Ind.) motor Preparation 4 Junction cable Motor side Driver side Wiring Diagram In case of 17-bit absolute/incremental encoder * MSMD 50W to 750W * MAMA 100W to 750W * MQMA 100W to 400W White Black E5V E0V CN X6 1 E5V +5V 0V 2 E0V 7 8 Regulator 3 4 Red BAT+ Pink BAT- Light Blue PS FG Yellow/Green 2 5 PS 6 PS 4 5 PS Purple battery 1 3 Case Twisted pair 172169-1 172161-1 (by Tyco Electronics, AMP) motor * MSMA * MDMA * MHMA * MFMA * MGMA (by Tyco Electronics, AMP) Junction cable Motor side 1kW to 5kW 1kW to 5kW 500W to 5kW 400W to 4.5kW 900W to 4.5kW E5V E0V H G Driver side Pin No. of connector CN X6 +5V 1 E5V 0V 2 E0V 3 Regulator 4 BAT+ BAT- PS Straight plug Cable clamp battery T 6 S K L PS J FG N/MS3106B20-29S N/MS3057-12A Motor side PS PS Case (Japan Aviation Electronics Industry, Ltd.) motor 5 Twisted pair Junction cable Driver side 39 System Configuration and Wiring Wiring to the Connectors, 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(R)" (option). "PANATERM "offers useful functions such as monitoring of various status, setup/change of parameters and waveform graphic display and so on. [How to connect] Shut off both powers of Exclusive connecting the PC and the driver cable before inserting/pulling Refer to "Options". out the connector. Tighten the stop screw securely. CN X4 Connector for RS232 (back side) You can set the rotary switch (ID) to any of 0 to F. 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.. RS485 RS485 Host controller (PC controller) RS232 CN X3 Set up the rotary switch (ID) to 1 to F. CN X4 Set up the rotary switch (ID) to 0. 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 Connect to CN X4 40 M MOD E S SET SHIF T [Preparation] Wiring to the Connector, CN X5 (Connection to Host Controller) * Tips on wiring 3m or shorter Peripheral apparatus such as host controller should be located within 3m. 30cm or longer Preparation Controller Separate the main circuit at least 30cm away. Don't pass them in the same duct, nor bind them together. Power supply Motor Power supply for control signals (VCC) between COM+ and COM- (VDC) should be prepared by customer. COM+ 1 2 GND 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. VDC COM- FG CN X5 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 Connector at driver side 52986-5071 Connecter to be prepared by customer Part name Part No. 54306-5011 or Connecter (soldering type) 54306-5019 (lead-free) Connector cover 54331-0501 or 10150-3000VE Connecter (soldering type) 10350-52A0-008 Connector cover Manufacturer Molex Inc. Sumitomo 3M <Note> For details, refer to P.312, "Options" of Supplement. <Remarks> * Tightening torque of the screws for connector (CN X5) for the connection to the host to be 0.3 to 0.35N * m. Larger tightening torque than these may damage the connector at the driver side. 41 Timing Chart Timing Chart Control power supply (L1C,L2C) Internal control power supply OFF ON approx.100 to 300 ms OFF approx.2s established approx.1.5s Action of driver CPU reset (initialization) *3 usually operation 0s or longer Main power supply (L1,L2,L3) S-RDY output (X5, Pin-34 and 35) Servo-ON input (X5, Pin-29) OFF OFF *2 10ms or longer 10ms or longer *2 OFF ON ON 0ms or longer ON approx.2ms Dynamic brake engaged released approx.40ms Motor energization not-energized energized approx.2ms BRK-OFF output (X5, Pin-10 and 11) Position/Speed/ Torque command OFF (brake engaged) No command entry ON (brake released) 100ms or longer Command *1 entry <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 term 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 completed 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 overtravel inhibit input (CWL,CCWL) or external scale input, so as to decide their logic until this term. 42 [Preparation] When an Error (Alarm) Has Occurred (at Servo-ON Command) Alarm alarm normal Dynamic brake Servo-Ready output (S-RDY) energized Preparation Motor energization engaged *2 non-energized 0.5 to 5 ms not ready ready Servo-Alarm output not alarm (ALM) Setup value of Break release output Pr6B released (ON) engaged (OFF) (BRK-OFF) t1 *1 motor speed approx.30r/min Setup value of Pr6B released (ON) engaged t1 *1 motor speed (OFF) approx.30r/min alarm when setup value of Pr6B is shorter, when time to fall below 30r/min is shorter, <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. When an Alarm Has Been Cleared (at Servo-ON Command) 120ms or longer Alarm-clear input (A-CLR) Dynamic brake Motor energization clear engaged not-energized approx.2ms approx.40ms released energized Brake release output (BRK-OFF) engaged (OFF) Servo-Ready output (S-RDY) not ready ready Servo-Alarm output (ALM) alarm not alarm released (ON) approx.2ms 100ms or longer Position/Speed/ Torque command no input entry input enabled 43 Timing Chart Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) Servo-ON input (SEV-ON) OFF OFF ON approx.2ms Dynamic brake engaged *3 released 1 to 5ms engaged *2 t1 *1 Motor energization not-energized approx.40ms energized not-energized approx.2ms Brake release output (BRK-OFF) engaged (OFF) released (ON) engaged (OFF) <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. 44 [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.) Servo-ON input (SEV-ON) OFF at Servo-OFF OFF ON *4 Dynamic brake Motor energization Preparation at Servo-ON 1 to 5ms engaged *3 released not-energized energized engaged *3 not-energized *5 approx.40ms Brake release output (BRK-OFF) engaged (OFF) approx.2ms released (ON) Setup value of Pr6B engaged (OFF) t1 *1 Motor rotational speed Motor rotational speed approx.30r/min approx.30r/min Motor rotational speed Setup value of Pr6B servo validated released (ON) No servo-ON until the motor speed falls below approx. 30r/min. when setup value of Pr6B is shorter, engaged (OFF) t1 *1 Motor rotational speed approx.30r/min when time to fall below 30r/min is shorter, <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. For the motor energization during deceleration at Servo-OFF, refer to an explanation of Pr69, "Sequence at Serve-OFF ("Parameter setup" at each control mode) as well. 45 Built-in Holding Brake 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 servo is shut off. <Caution> 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. Connecting Example The following shows the example when the brake is controlled by using the brake release output signal (BRK-OFF) of the driver. Relays to be shut off at emergency stop Surge absorber Driver RY 11 BRK-OFF+ 12 to 24V BRK-OFF- 10 41 COM- Motor Brake coil RY VDC Power supply for brake DC24V Fuse (5A) CN X5 <Notes, Cautions> 1. The brake coil has no polarity. 2. Power supply for the brake 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 builtin 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. 46 [Preparation] Specifications of Built-in Holding Brake Motor series MSMD MQMA MSMA MDMA Static friction Rotor inertia torque X10-4 * Nm kg * m2 Engaging time ms 50W, 100W 0.29 or more 0.002 35 or less 200W, 400W 1.27 or more 0.018 50 or less 750W 2.45 or more 0.075 70 or less 100W 0.29 or more 0.03 50 or less 200W, 400W 1.27 or more 0.09 60 or less 0.25 1.0kW 4.9 or more 1.5kW, 2.0kW 7.8 or more 3.0kW 11.8 or more 4.0kW, 5.0kW 16.1 or more 1.0kW 4.9 or more 1.5kW, 2.0kW 13.7 or more 3.0kW 16.1 or more 0.33 1.35 50 or less 80 or less 110 or less 80 or less 1.35 100 or less 110 or less 4.0kW 21.5 or more 4.25 5.0kW 24.5 or more 4.7 90 or less 4.9 or more MFMA MGMA 1.5kW 13.7 or more 2.0kW to 5.0kW 24.5 or more 4.7 400W 4.9 or more 1.35 1.5kW 7.8 or more 4.7 2.5kW 21.6 or more 4.5kW 31.4 or more 900W 13.7 or more 2.0kW 24.5 or more 100 or less 8.75 1.35 58.8 or more 15 or less 15 or less (100) 50 or less 80 or less 150 or less or more 4.9 137 44.1 196 147 0.29 DC1V 137 44.1 0.41 or more 196 147 196 0.74 392 0.81 490 0.59 588 780 50 or less 0.79 1176 1470 (130) 0.90 1470 2156 1.10 1078 2450 1.30 1372 2940 588 784 1176 1470 1.30 1372 2940 0.59 588 784 0.83 1372 2940 0.75 1470 0.79 1176 1470 1372 2940 70 or less (200) 35 or less (150) (200) 70 or less 50 or less (130) 70 or less (200) (150) 100 or less 0.35 39.2 2156 35 or less 150 or less 0.30 DC2V 1470 (200) 80 or less 0.25 0.90 (130) 25 or less 4.7 3.0kW, 4.5kW 20 or less (200) 1.35 MHMA 10 or less 25 or less 80 or less 500W, 1.0kW Releasing Exciting Permissible Permissible time current DC A Releasing work (J) per total work ms* (at cool-off) voltage one braking x 103J 100 or less (450) 50 or less (130) 25 or less (200) 50 or less (130) 0.59 0.79 Preparation MAMA Motor output DC2V or more 1470 2156 1.3 1.4 * Excitation voltage is DC2410%. * * 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.) 47 Dynamic Brake 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. 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. The motor becomes a dynamo when driven externally, and shorting current runs while this dynamic brake is activated and might cause smoking or fire. 2. Dynamic brake is a short-duration rating, and designed for only emergency stop. Allow approx. 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) Sequence at main power-off (Pr67) Driving condition during deceleration after stalling Contents of deviation counter Setup value of Pr67 0 D B D B Clear 1 Free-run D B Clear 2 D B Free-run Clear 3 Free-run Free-run Clear 4 D B D B Hold 5 Free-run D B Hold 6 D B Free-run Hold 7 Free-run Free-run Hold 8 Emergency stop D B Clear 9 Emergency stop Free-run Clear 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. 48 [Preparation] 2) Setup of driving condition from deceleration to after stop by Servo-OFF (Pr69) Sequence at main Servo-OFF (Pr69) Driving condition During deceleration after stalling Contents of deviation counter Setup value of Pr69 D B D B Clear 1 Free-run D B Clear 2 D B Free-run Clear 3 Free-run Free-run Clear 4 D B D B Hold 5 Free-run D B Hold 6 D B Free-run Hold 7 Free-run Free-run Hold 8 Emergency stop D B Clear 9 Emergency stop Free-run Clear Preparation 0 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. 3) Setup of driving condition from deceleration to after stop by activation of protective function (Pr68) Sequence at main Servo-OFF (Pr68) Driving condition During deceleration after stalling Contents of deviation counter Setup value of Pr68 0 D B D B Hold 1 Free-run D B Hold 2 D B Free-run Hold 3 Free-run Free-run Hold Deviation counter at activation of protective function will be cleared at alarm-clear. 4) Setup of driving condition from deceleration to after stop by validation of over-travel inhibit input (Pr66) Sequence at over-travel inhibit input (Pr66) Driving condition During deceleration After stalling Contents of deviation counter Setup value of Pr66 0 DB Torque command to inhibited direction is 0 Hold 1 Torque command to inhibited direction is 0 Torque command to inhibited direction is 0 Hold 2 Emergency stop Torque command to inhibited direction is 0 clear 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. 49 Caution on Homing Operation * In homing action by using the host controller, stop position might not be stabilized if the origin input (Zphase 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 deceleration. Take 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 input proximity dog speed origin input encoder 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 dog proximity input speed origin input encoder Z-phase 50 Setup of Parameter and Mode [Preparation] Outline of Parameter This driver is equipped with various parameters to set up its characteristics and functions. This section describes the function and purpose of each parameter. Read and comprehend very well so that you can adjust this driver in optimum condition for your running requirements. * 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 support software, "PANATERM(R)" (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(R)". How to Connect RS232 connection cable (option) * DV0P1960 (for DOS/V machines) Connect to CN X4 Console * DV0P4420 M MODE S SHIFT SET Setup disc of setup support software, "PANATERM(R)" * DV0P4460 : English/Japanese version (option) Connect to CN X4 <Remarks> * Connect the console connector to the connector, CN X4 of the driver securely. * Do not pull the cable to insert/unplug. 51 Preparation How to Set Setup of Parameter and Mode Composition and List of Parameters Parameter No. Outline (Pr ) You can select a control mode, designate I/O signals and set up a baud Functional selection 00 to 0F Group rate. Adjustment 10 to 1F, 27 to 2E 20 to 26, 2F 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. Position (Step) Control 30 to 3F 40 to 4F 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. Velocity Control, Torque Control 50 to 5A, 74 to 77 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. 5B to 5F You can set an input gain, reverse polarity and set up a torque limit of torque command. Sequence 60 to 6F 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. Full-Closed Control 70 to 73 78 to 7F You can set up actions of protective functions. You can set up dividing of external scale. For details, refer to "Parameter Setup" of each control mode. * In this document, following symbols represent each mode. Symbol Control mode Setup value of Pr02 Symbol Control mode Setup value of Pr02 P Position control 0 P/S Position (1st)/Velocity (2nd) control 3* S Velocity control 1 P/T Position (1st)/Torque (2nd) control 4* T Torque control 2 S/T Velocity (1st)/Torque (2nd) control 5* F Full-Closed control 6 * 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. 52 [Preparation] Parameters for Functional Selection Set up of parameter Range Default Unit Related Control Mode 00 *1 01 *1 02 *1 03 04 *1 05 06 07 08 09 0A 0B *1 0C *1 0D *1 0E *1 0F 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) 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 - Preparation Parameter No. (Pr ) * For parameters with suffix of "*1", change will be validated after the reset of the control power. Parameters for Adjustment of Time Constant for Gains and Filters Parameter No. (Pr ) 10 11 12 13 14 15 16 17 18 19 1A 1B 1C 1D 1E 1F 27 28 29 2A 2B 2C 2D 2E Set up 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 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 Range Default A to C-frame D to F-frame Unit 0 to 3000 <63> <32> 1/s 1 to 3500 <35> <18> Hz 1 to 1000 <16> <31> ms 0 to 5 <0> - 0 to 2500 <65> <126> 0.01ms -2000 to 2000 <300> 0.1% <50> 0 to 6400 0.01ms - - - 0 to 3000 <73> <38> 1/s 1 to 3500 <35> <18> Hz 1 to 1000 <1000> ms 0 to 5 <0> - 0 to 2500 <65> <126> 0.01ms 100 to 1500 1500 Hz 0 to 4 2 - - - - 0 to 1 <0> - 100 to 1500 1500 Hz 0 to 4 2 - 0 to 99 0 - 0 to 2000 0 0.1Hz -200 to 2000 0 - 0 to 2000 0 0.1Hz -200 to 2000 0 - Related Control Mode 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 * 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. 53 Setup of Parameter and Mode Parameters for Auto-Gain Tuning Parameter No. (Pr ) Set up of parameter Range 20 21 22 23 24 25 26 2F *3 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 0 to 10000 0 to 7 0 to 15 0 to 2 0 to 2 0 to 7 0 to 1000 0 to 64 Default A to C-frame D to F-frame <250> 1 4 1 1 0 0 10 0 Unit Related Control Mode % - - - - - 0.1rev - All All All P, S, F P, F All P, F P, S, F *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. Parameters for Adjustment (2nd Gain Switching Function) Parameter No. (Pr ) 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F Set up of parameter 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) Range 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 - - Default <1> <0> <30> <50> <33> <20> <0> 0 0 0 - - - 300 - - Unit Related Control Mode - - 166S - - All All All All All P, F S, T S, T S, T S, T - - - All - - (1+setup value) x 166s - 166S - - - - - r/min - - * 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. * 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 54 [Preparation] Parameters for Position Control Set up of parameter Range Default Unit Related Control Mode 40*1 41*1 42*1 43 44*1 45*1 46*1 47*1 48 49 4A 4B 4C 4D*1 4E 4F 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) 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 - Preparation Parameter No. (Pr ) * For parameters with suffix of "*1", change will be validated after the reset of the control power. Parameters for Velocity/Torque control Parameter No. (Pr ) 50 51 52 53 54 55 56 74 75 76 77 57 58 59 5A 5B 5C 5D 5E 5F Set up of parameter 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 Range Default Unit 10 to 2000 500 (r/min)/V 0 to 1 1 - 0 0.3mV -2047 to 2047 -20000 to 20000 0 r/min -20000 to 20000 0 r/min -20000 to 20000 0 r/min -20000 to 20000 0 r/min -20000 to 20000 0 r/min -20000 to 20000 0 r/min -20000 to 20000 0 r/min -20000 to 20000 0 r/min 0 to 6400 0 0.01ms 0 to 5000 0 2ms/(1000r/min) 0 to 5000 0 2ms/(1000r/min) 2ms 0 to 500 0 - 0 to 1 0 0.1V/rated torque 10 to 100 30 - 0 to 1 0 % 0 to 500 <500>*2 % 0 to 500 <500>*2 Related Control Mode S, T S S, T S S S S, T S S S S S, T S S S T T T all P, S, F *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". 55 Setup of Parameter and Mode Parameters for Sequence Parameter No. (Pr ) 60 61 62 63 64 65 66*1 67 68 69 6A 6B 6C*1 6D*1 6E 6F 70 71 72 73 Set up of parameter Range In-position (positioning complete) range 0 to 32767 Zero speed 10 to 20000 At-speed (arrived speed) 10 to 20000 Setup of in-position output 0 to 3 (For manufacturer's use) - Selection of LV-trip at main power off 0 to 1 Sequence at run-prohibition 0 to 2 Sequence at main power off 0 to 9 Sequence at alarm 0 to 3 Sequence at servo-off 0 to 9 0 to 100 Setup of mechanical brake action at stall 0 to 100 Setup of mechanical brake action in motion 0 to 3 Selection of external regenerative resister 35 to 1000 Detection time of main power shut-off 0 to 500 Setup to torque at emergency stop - (For manufacturer's use) 0 to 32767 Excess setup of positional deviation 0 to 100 Excess setup of analog input 0 to 500 Setup of over-load level 0 to 20000 Setup of over-speed level Default Unit Related Control Mode 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 A, B-frame : 3, C,D,E-frame : 0 Parameters for Full-Closed Control Parameter No. (Pr ) Set up of parameter Range Default Unit Related Control Mode 78*1 79*1 7A*1 7B*1 7C*1 7D 7E 7F 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 to 32767 0 to 17 1 to 32767 1 to 10000 0 to 1 - - - 0 0 10000 100 0 - - - - - - F F F F F - - - 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 56 [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. Frame Cframe MADDT1207 MBDDT2210 MCDDT3520 Applicable motor MAMA012P1* MAMA012S1* MAMA022P1* MAMA022S1* MAMA042P1* MAMA042S1* MHMA052P1* MHMA052S1* Max. value of Frame torque limit 500 500 D500 frame 500 500 500 255 F255 frame Model No. Applicable motor MDDDT5540 MFDDTA390 MFDDTB3A2 MGMA092P1* MGMA092S1* MAMA082P1* MAMA082S1* MGMA202P1* MGMA202S1* MGMA302P1* MGMA302S1* MGMA452P1* MGMA452S1* Max. value of torque limit 225 225 500 500 230 230 235 235 255 255 * The above 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) e.g.1) before replacing the motor MADDT1207 after replacing the motor MADDT1207 MSMD022P1A MAMA012P1A Rated torque 0.64N * m Rated torque 0.19N * m Pr5E Setup range : 0 to 300% Setup value : 100%. Torque limit value 0.64N * m x 100% = 0.64N * m Pr5E Setup range : Change to 0 to 500%. Setup value : Keep 100%. Torque limit value 0.19N * m x 100% = 0.19N * m Set up Pr5E to 337 to make torque limit value to 0.64N * m (0.19N * m x 337% = 0.64N* m) 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.2) before replacing the motor MADDT1207 after replacing the motor MADDT1207 MSMD022P1A MAMA012P1A Rated torque 0.19N * m Pr5E Setup range : 0 to 300% Setup value : 300%. Pr5E Setup range : change to 0 to 500% Setup value : Keep 300%. Set up Pr5E to 500 to obtain the max. output torque. 57 Preparation Aframe Bframe Model No. How to Use the Front Panel and Console Setup with the Front Panel Composition of Touch Panel and Display 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. Mode switching button (valid at SELECTION display) Press this to switch 5 kinds of mode. 4) Auto-Gain Tuning Mode 1) Monitor Mode 5) Auxiliary Function Mode 2) Parameter Set up Mode 3) EEPROM Write Mode 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 58 [Preparation] Initial Status of the Front Panel Display (7 Segment LED) Front panel display shows the following after turning on the power of the driver. Preparation 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".) Initial Status of the Console Display (7 Segment LED) Turn on the power of the driver while inserting the console connector to the driver main body, or inserting the console connector to CN X4 connector. approx. 0.6 sec approx. 0.6 sec approx. 0.6 sec [flashes for approx. 0.6 sec each for initialization of the console] When ID No. of the driver is other than "0" When ID No. of the driver is "0" * In case of communication with RS232 only * In case of communication with other drivers which are connected via RS485 Displays version No. of micro computer of the console. (Displayed figures vary depending on the version) 1 sec Displays ID No. of the Driver. (data of Parameter, Pr00) 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. (Displays the version No. of this product.) Dot flashes when RS485 is connected. Set up ID of the connecting Driver with and . (Displays the version No. of this product.) (ID of the selected driver) Press (approx.0.6sec) Initial Status of LED (ID of the selected driver) * Release of RS485 communication error When RS485 communication error occurs as the Fig, below shows, release it by pressing and at the same time. 59 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. SELECTION display Monitor mode (SET button) Initial status of the Console LED (Mode switching button) <Note> You can change the flashing decimal point with , then shift the digit for data change " " Parameter set up mode (Mode switching button) EEPROM writing mode (Mode switching button) Auto-gain tuning mode (Mode switching button) Auxiliary function mode (Front panel) [Console only] (Mode switching button) Copy function (Mode switching button) 60 [Preparation] EXECUTION display Preparation ......P.63 (SET button) (SET button) ......P.69 * For details of parameters, refer to "Parameter setup" of each mode. ......P.70 (SET button) ......P.71 (SET button) (SET button) (SET button) ......P.73 * Alarm clear ......P.74 * Auto-offset adjustment (front panel only) ......P.77 * Clear of absolute encoder ......P.75 * Trial run (JOG) ......P.78 * Clear of external scale error (front panel only) ......P.79 * Copying of parameters from the driver to the console ......P.80 * Copying of parameters from the console to the driver 61 How to Use the Front Panel and Console How to Set 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. After the writing completes, return to SELECTION display by referring to "Structure of each mode" (P.60 and 61). <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. and . If the connector * Do not disconnect the console connector from the driver between is disconnected, insert the connector and repeat the procedure from the beginning. 62 [Preparation] Monitor 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.) SELECTION display EXECUTION display [Console] Pages to refer Positional deviation (5 deviation pulses) P.64 Motor rotational speed (1000r/min) P.64 Torque output (Torque output 100%) P.64 Control mode (Position control mode) P.64 I/O signal status (Input signal No.0 : Active) P.64 Error factor, history (No error currently) P.65 Software version (Software version of 0.23) P.66 Alarm (No alarm) P.66 Regenerative load factor (30% of permissible regenerative power) P.66 (28% of overload factor) P.66 Inertia ratio (Inertia ratio 100%) P.66 Feedback pulse sum (Feedback pulse sum is 50 pulses.) P.66 Command pulse sum (Command pulse sum is 10 pulses.) P.66 External scale deviation (External scale deviation is 5 pulses.) P.66 External scale feedback pulse sum External scale feedback pulse sum is 500 pulses. P.67 Automatic motor recognizing function (Automatic motor recognizing P.67 function is validated.) Overload factor Selection of communication Description (SET button) [Front panel] Analog input value Factor for No-Motor Running Display shifts toward the arrowed direction by pressing and reversed direction by pressing (RS232 communication) P.67 (SPR input +10.00V) P.67 (No Servo-ON input) P.68 . (Mode switch button) To Parameter Setup Mode P.69 63 Preparation Display example How to Use the Front Panel and Console Display of Position Deviation, Motor Rotational Speed and Torque Output Data ..........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 <Note> " + " is not displayed on LED, but only " - " appears. Display of Control Mode .....Position control mode .....Torque control mode .....Velocity 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. Select the signal No. to be monitored by pressing (Lowest place No. of input signal) .....Active (This signal is valid) .....Inactive (This signal is invalid) Transition when pressing . Signal No. (Hexadecimal number, 0-1F) .....Input signal (Highest place No. of input signal) (Lowest place No. of output signal) (Highest place No. of output signal) .....Output signal <Note> * Shift the flashing decimal point with . (Right side of decimal point : Signal selection mode) (Left side of decimal point : Input/Output selection mode) 64 * The other way to change signal No. at I/O selection mode Signal selection mode. . [Preparation] * Signal No. and its title Input signal Signal No. Title 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 Symbol Pin No. 29 SRV-ON 31 A-CLR 8 CWL 9 CCWL 32 C-MODE 26 ZEROSPD 28 DIV 33 INH 27 GAIN 30 CL 33 INTSPD1 30 INTSPD2 26 VS-SEL 28 INTSPD3 27 TL-SEL 0 1 2 3 4 5 6 9 A Title 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 Symbol Pin No. S-RDY 35/34 ALM 37/36 COIN 39/38 BRK-OFF 11/10 ZSP 12 TLC 40 V-COIN 12/40 COIN 39/38 EX-COIN 39/38 Reference of Error Factor and History * You can refer the last 14 error factors (including present one) Press to select the factor to be referred. Error code No. ( appears if no error occurs) ........Present error ........History 0 (latest error) ........History 13 (oldest error) * Error code No. and its content Error code No. 11 12 13 14 15 16 18 21 23 24 25 26 27 28 29 34 35 36 37 38 <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 content Error code No. Under-voltage protection for control power 39 Over-voltage protection 40 Under-voltage protection for main power 41 Over-current protection 42 Overheat protection 44 Overload protection 45 Over-regenerative load protection 47 Encoder communication error protection 48 Encoder communication data error protection 49 Excess positional deviation protection 50 Excess hybrid deviation error protection 51 Over-speed protection 52 Command pulse multiplication error protection 53 External scale communication data error protection 54 Deviation counter overflow protection 55 Software limit protection 65 External scale communication data error protection 66 EEPROM parameter error protection 95 EEPROM parameter error protection others Run-inhibition input protection Error content 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 65 Preparation 0 1 2 3 4 5 6 8 9 A C D 13 14 15 Input signal Signal No. How to Use the Front Panel and Console Software Version Displays the software version of the driver. Alarm Display .......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 85C or scale rigidity is not enough (adjustment is needed on mounting). Display of Regenerative Load Factor 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. Display of Over-load Factor Displays the ratio (%) against the rated load. Refer to P.258, "Overload Protection Time Characteristics" of When in Trouble. Display of Inertia Ratio Displays the inertia ratio (%) . Value of Pr20 (Inertia ratio) will be displayed as it is. Display of Feedback Pulse Sum, Command Pulse Sum and External Scale Feedback Pulse Sum Total sum of pulses after control power-ON. Display overflows as the figures show. 99999 99999 0 CW 99999 0 (at control power-ON) 0 CCW 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 ". [0-clear EXECUTION display] Keep pressing to shift the " " as the right fig. shows. <Cautions> * You can not clear the each date of [PANATERM(R) ] 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(R) ] is used, actual pulse input counts may differ from the displayed value of command pulse total sum. 66 [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. Preparation Automatic Motor Recognizing Function Automatic recognition is valid. Display of Analog Input Value (Front Panel Only) Input voltage value [V] Input signal *Select the signal No. to be monitored by pressings . (SPR analog input value, unit [V]) Displays the value after offset correction. (CCWTL analog input value, unit [V]) (CWTL analog input value, unit [V]) Note) Voltage exceeding 10V can not be displayed correctly. 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 . 67 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 .......Torque control ....... Velocity control ....... Full-closed control Factor No. Control mode * Explanation of factor No. Factor Factor No. flashing Occurrence of error/alarm 00 Control mode all Content An error is occurring, and an alarm is triggered. No factor is detected for No-motor run. No particular factor all 01 Main power shutoff all The main power of the driver is not turned on. 02 No entry of all The Servo-ON input (SRV-ON) is not connected to COM-. SRV-ON input While Pr04 is 0 (Run-inhibition input is valid), Over-travel 03 inhibition input all Torque limit setup is small * 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. is valid 04 The motor runs in normal case. all 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), 05 Analog torque limit input is valid. * CCW analog torque limit input (CCWTL) is negative voltage and speed command is CCW P,S,F direction. * CW analog torque limit input (CWTL) is positive voltage and speed command is CW direction. 06 INH input is valid. P,F The position command per each control cycle is 1 pulse or smaller due to, Command pulse 07 input frequency P,F is low. 08 09 10 11 12 CL input is valid. ZEROSPD input is valid. External speed command is small. Internal speed command is 0. Torque command is small. Pr43 is 0 (Command pulse inhibition input is valid.), and INH is open. * 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. P,F S,T S S T 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 13 Speed limit is small. T 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]. 14 Other factor all 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.) <Note> * Motor might run even though the other number than 0 is displayed. 68 [Preparation] Parameter Setup Mode Operation at SELECTION display Press once after pressing from Preparation initial status of LED to change the display to Parameter setup mode, 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. Press or to select parameter No. to be referred/set. Press to shift to arrowed direction. Press to shift to reversed direction. Operation at EXECUTION display Press to change to EXECUTION display of You can change the value which digit has a flashing decimal point. <Note> Each parameter has a limit in number of places for upper-shifting. Parameter value (1) You can change the decimal point with then shift the digit for data change. (2) Press or , to set up the value of parameter. Value increases with decreases with . After setting up parameters, return to SELECT mode, referring to structure of each mode (P.60 and 61). <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). 69 How to Use the Front Panel and Console EEPROM Writing Mode EEPROM Writing Operation at SELECTION display Starting from the initial LED status, press two time after pressing then brings the display of EEPROM Writing Mode, , Operation at EXECUTION display Press to make EXECUTION DISPLAY to Keep pressing until the display changes to when you execute writing. " " increases while keep pressing (for approx. 5sec) as the right fig. shows. Starts writing. Finishes writing Writing completes Writing error * When you change the parameters which contents become valid after resetting, 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. 70 will be [Preparation] Auto-Gain Tuning Mode Normal Mode Auto-Gain Tuning Screen Operation at SELECTION display 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. machine stiffness No. (1 to 9, A (10) to F (15)) Operation at EXECUTION display Press , <Note> For machine stiffness No., refer to P.238. to make EXECUTION DISPLAY to After inhibiting command input, and during Servo-On status,keep pressing Console (LED) display changes to until . " " increases by pressing as the left fig. shows. (approx. 5sec) <Note> To prevent the loss of gain value due to the power shutdown, write into EEPROM. Starting of the motor Tuning finishes. Tuning completes Tuning error 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. 71 Preparation <Remarks> * For details of normal auto-gain tuning, refer to P.236, "Normal 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 pattern with Pr25 (Setup of action at normal 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). How to Use the Front Panel and Console Fit-Gain Screen Operation at SELECTION display Operation at EXECUTION display Press to call for EXECUTION DISPLAY. 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 (6) (5) (4) (3) (2) (1) decimal point to (1), (2), (4), (6) by pressing . (1) Stiffness setup of real time auto-gain tuning / Start of fit-gain Display Contents/Expansion function Stiffness 15 * * * * * * You can change with with each press of , stiffness changes in numerical/alphabetical order (0 to 9,A(10) to F(15). Stiffness 1 Stiffness 0 Fit gain function starts by pressing at stiffness 0. (2) Action setup of real time auto-gain tuning/Start of fit-gain Display You can change with Contents/Expansion function Valid No gain switching : Load inertia does not change. Valid Vertical axis mode : Load inertia changes rapidly. Valid Vertical axis mode : Load inertia changes slowly. Valid Vertical axis mode : Load inertia does not change. Valid Normal mode : Load inertia changes rapidly. Valid Normal mode : Load inertia changes slowly. Valid Normal mode : Load inertia does not change. Invalid Executes automatic gain setup by pressing for approx.3sec. in this status. (3) Status of real time auto-gain tuning action (display only) : Invalid : Valid or : Estimating load inertia (4) Switch of adaptive filter action and copy to 1st notch filter pf adaptive filter setup Display Contents/Expansion function Hold You can change with Save the present adaptive filter setup to Pr1D,Pr1E by pressing for approx. 3 sec. in this status. Valid Invalid Clears 1st notch filter (Pr1D, Pr1E) by pressing for approx. 3 sec. in this status. (5) Status of real time auto-gain tuning action (display only) : Invalid : Valid or : Adaptive action working (6) EEPROM writing Display Contents/Expansion function Write the present setup into EEPROM by pressing 72 approx. 3 sec. [Preparation] Auxiliary Function Mode Alarm Clear Screen Protective function will be activated and release the motor stall status (error status). Preparation Operation at SELECTION display Starting from the initial LED status, Press four time after pressing then press , to make a display to Operation at EXECUTION display 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. Alarm clear starts. Clearing finishes. Alarm clear completes Clear is not finished. Release the error by resetting the power. 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. 73 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). Operation at SELECTION display Operation at EXECUTION display * 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 . " " increases by pressing (approx. 5sec) as the right fig. shows. Automatic offset adjustment starts. Adjustment finishes. Automatic offset adjustment finishes. ( Error occurs. Invalid mode is selected, or offset value exceeds the setup range of Pr52. <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. 74 ) [Preparation] Trial Run (JOG Run) 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 ? Display LED Console Power supply (3) Fixing of the servo motor * Unstable mounting ? (4) Separation from the mechanical system (5) Release of the brake Machine CN X6 Motor ground (6) Turn to Servo-OFF after finishing the trial run by pressing . 75 Preparation 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. How to Use the Front Panel and Console 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 Press four time after pressing to setup auxiliary function mode, then with , make a display to , Operation at EXECUTION display Press to call for EXECUTION DISPLAY of Then keep pressing until increases by " the display of Console (LED) " changes to pressing . (approx. 5sec) as the left fig. shows. Preparation step 1 for trial run Not a servo-ready status. (Shuts off the main when error occurs.) Then keep pressing until the display of LED changes to Keep pressing . (approx. 5 sec) to shift the decimal point toward left as the left fig. shows. Turns to Servo-OFF by pressing . Preparation step 2 for trial run Servo-ON status Not a Servo-Ready. Or SRV-ON signal is not entered. 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. 76 [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. Press four time after pressing then with Preparation Operation at SELECTION display , to setup auxiliary function mode, , make a display to Operation at EXECUTION display 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. Clearing of absolute encoder starts Clearing finishes Clearing of absolute encoder Error occurs When non-applicable encoder is completes connected ( ) 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. 77 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. Operation at SELECTION display Press four time after pressing then with , to setup auxiliary function mode, , make a display to Operation at EXECUTION display 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. Clearing of absolute encoder starts Clearing finishes. Clearing of absolute encoder Error occurs completes (At other control mode than full-closed control, and when no external scale error has occurred) After cleaning of External scale Error, return to SELECTION display, referring to the structure of each mode (P.60 and 61). 78 [Preparation] Copying Function (Console Only) Copying of Parameters from the Driver to the Console Operation at SELECTION display Preparation Starting from initial LED status, Press five time after pressing then press , to make a display to , Operation at EXECUTION display Press to call for EXECUTION DISPLAY of Keep pressing " until " increases by the console display (LED) pressing (approx. 3sec) changes to as the left fig. shows. Initialization of EEPROM of the console starts. * * * * * Numeral decreases as time passes. Copying of parameters from the driver to the console starts. Writing of parameters into the console EEPROM starts. 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. 79 How to Use the Front Panel and Console Copying of Parameters from the Console to the Driver Operation at SELECTION display Starting from initial LED status, Press five time after pressing , then press to make a display to Operation at EXECUTION display 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. Reading of EEPROM of the console starts. ......Numeral decreases as time passes. Copying of parameters from the console to the driver starts. Writing of parameters into the driver EEPROM starts. Error display <Remarks> If error is displayed, repeat the procedures from the beginning. Press for releasing error. Copying completes normally. 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. 80 [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 ................................... Interface Circuit ........................................................................... Input Signal and Pin No. of the Connector, CN X5 ..................... Output Signal and Pin No. of the Connector, CN X5 .................. Connecting Example to Host Controller ...................................... 83 84 86 92 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 ....................................................................................... Applicable Range ...................................................................... How to Operate ......................................................................... Adaptive Filter ........................................................................... Parameters Which are Automatically Set .................................. 106 106 106 107 107 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 81 82 Pr42 Mode Denominator Pr4B Multiplier Pr4A Division/ Multiplication 1st numerator Pr48 2nd numerator Pr49 Pr41 Reversal Input setup Input Pr40 selection OA/OB/OZ Feedback pulses PULS SIGN Pulse train Selection Pr46 Denominator Pr45 Numerator Pr44 Division Selection Pr4C Primary delay smoothing Average travel times Pr4D FIR smoothing - Pr2E Pr16 Filter 2nd 1st Pr18 Pr10 Position control Pr15 Gain Positional deviation monitor 2nd filter Command speed monitor + Pr2C 2nd Pr2D frequency 1st filter Damping control 1st frequency Pr2B Velocity feed forward + - + Speed detection Pr13 Pr1B 1st 2nd Speed detection filter + Pr1E Adaptation Pr2F 2nd depth Pr2A 2nd width Pr29 2nd frequency Pr28 1st width Notch filter 1st frequency Pr1D 2nd limit 1st limit Pr5F Pr5E Torque filter 1st time Pr14 constant 2nd time Pr1C constant Serial communication data Encoder reception processing Actual speed monitor Inertia ratio Pr20 Velocity control 1st proportion Pr11 1st integration Pr12 2nd proportion Pr19 2nd integration Pr1A Encoder Motor Torque command monitor Control Block Diagram of Position Control Mode VDC 12 to 24V 30 28 DIV 36 37 ALM+ 35 S-RD Y+ 34 S-RDY- 9 CCWL 8 CWL Command pulse input B (Use with 2Mpps or less.) SIGNH1 PULSH2 PULSH1 50 FG 47 SIGNH2 13 GND 46 45 44 ALMPositioning complete output 39 COIN+ 38 COINBrake release output 11 BRKOFF+ 10 BRKOFFTorque in-limit output 40 TLC (Select with Pr09) Zero speed detection output 12 ZSP (Select with Pr0A) 41 COM- Servo-Alarm output Servo-Ready output CCW over-travel inhibition input CW over-travel inhibition input 26 VS-SEL 32 C-MODE Alarm clear input 31 A-CLR Electronic gear switching input Damping control switching input Control mode switching input Servo-ON input CL 29 SRV-ON Gain switching input 27 GAIN Command pulse inhibition input Deviation counter clear input 2k 43k 220 2k 43k 2k 43k 220 2k 43k 3.83k CN X5 SIGN 3.83k PULS 4.7k Divider 2.2k 1k 1k 10k 10k 20k 220 220 2.2k IM SP CWTL GND CCWTL/TRQR GND SPR/TRQR CZ GND OZ- OZ+ OB- OB+ OA- OA+ GND SIGN2 SIGN1 PULS2 PULS1 OPC2 OPC1 330 330 330 42 43 18 16 15 14 220 GND represents twisted pair.) Velocity monitor output Torque monitor output 13 SIGN2 6 220 2.2k OPC2 2 PULS2 4 2.2k OPC1 1 (2) When you do not use the external resistor with 24V power supply CW torque limit input (-10 to +10V) ( VDC R R 24VDC Specifications VDC -1.5 . =10mA R+220 . of R 12V 1k1/2W 24V 2k1/2W VDC 220 13 GND SIGN2 6 220 SIGN1 5 PULS2 4 PULS1 3 (1) When you use the external resistor with 12V and 24V power supply CCW torque limit input (0 to +10V) Z-phase output B-phase output A-phase output (Use with 500kpps or less.) Command pulse input A In case of open collector I/F 19 Z-phase output (open collector) 25 24 23 49 48 22 21 6 13 5 4 3 2 1 Connection and Setup of Position Control Mode 7 COM+ 33 INH Wiring to the Connector, CN X5 [Connection and Setup of Position Control Mode] Wiring Example to the Connector, CN X5 Wiring Example of Position Control Mode 83 Wiring to the Connector, CN X5 Interface Circuit Input Circuit SI Connection to sequence input signals * 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. 12 to 24V 7 COM+4.7k 12 to 24V 7 COM+4.7k SRV-ON etc. SRV-ON etc. Relay PI1 Connection to sequence input signals (Pulse train interface) AM26LS31 or equivalent (1) (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 VDC is required in this case. * Connect the specified resister as below. VDC 12V 24V Specifications 1k1/2W 2k1/2W 4 PULS2 220 5 SIGN1 H/L PULS H/L 6 SIGN2 220 13 GND H/L SIGN 3 PULS1 (2) R 220 5 SIGN1 R ON/OFF Max.input voltage : DC24V, Rated current : 10mA PI2 Connection to sequence input signals (Pulse train interface exclusive to line driver) VDC 1 OPC1 2.2k AI 220 2 OPC2 2.2k ON/OFF H/L L/H SIGN 6 SIGN2 13 220 GND VDC 43k 2k 44 220 AM26C32 or equivalent H/L 2k PULS SIGN 43k H/L 43k 2k 46 47 13 220 GND AM26C32 or equivalent H/L 2k PULS SIGN 43k Analog command input * 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 2k, B-characteristics, 1/2W or larger, R with 200, 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 84 L/H PULS 4 PULS2 ON/OFF 45 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. represents twisted pair. L/H SIGN 6 SIGN2 13 220 GND (3) (3)Open collector I/F (Input pulse frequency : max. 200kpps) * Connecting diagram when a current regulating resistor is not used with 24V power supply. L/H PULS 4 PULS2 ON/OFF VDC -1.5 . =. 10mA R+220 represents twisted pair. 3 PULS1 H/L SPR/TRQR 14 20k +12V R VR 20k - + ADC 1 15 GND +3.3V CCWTL 16 10k R 17 GND - + 1k 1k 3.83k +3.3V -12V CWTL 18 10k - + 3.83k 1k 1k ADC 2 [Connection and Setup of Position Control Mode] Output Circuit SO1 SO2 Sequence output circuit SO1 ALM+ etc. ALM- etc. 12 to 24V VDC SO2 ZSP, TLC Connection and Setup of Position Control Mode * 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, VCE (SAT) of approx. 1V at transistor-ON, due to the Darlington connection of the output or. Note that normal TTL IC cannot be directly connected 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 individually, and the one which is common to - side of the control power 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. Install toward the direction as the fig. shows without fail. 41 COM- R [k] = Max. rating 30V, 50mA - 2.5[V] VDC[V] 10 For the recommended primary current value, refer to the data sheet of apparatus or photo-coupler to be used. PO1 Line driver (Differential output) output AM26LS31 or equivalent AM26LS32 or equivalent * 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 terminal resistor (approx. 330) between line receiver inputs without fail. * These outputs are not insulated. represents twisted pair. 21 OA+ OA- 22 OB+ OB- 48 49 B OZ+ OZ- 23 24 Z GND 25 A Connect signal ground of the host and the driver without fail. PO2 Open collector output * 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 narrow. represents twisted pair. Max. rating 30V, 50mA 19 CZ 25 GND High speed photo-coupler (TLP554 by Toshiba or equivalent) AO Analog monitor output 43 SP 1k * There are two outputs, the speed monitor signal output (SP) Measuring instrument and the torque monitor signal output (IM) or * Output signal width is 10V. external 42 IM 1k * The output impedance is 1k. Pay an attention to the input circuit impedance of the measuring instrument or the external circuit 17 GND 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. 85 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 Function I/F circuit Pin No. Symbol 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 8 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) SI P.84 CCW over-travel inhibit input 9 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) SI damping control switching input 26 VS-SEL * Function varies depending on the control mode. * Becomes to a speed-zero clamp input (ZEROSPD). Velocity/ Torque control P.84 SI P.84 Content Pr06 Connection to COM- ZEROSPD input is invalid. 0 - Speed command is 0 open 1 Normal action close Speed command is to CCW open 2 Speed command is to CW. close * 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 Full-closed 1st damping filter (Pr2B, Pr2C) will be validated when you open this input, and the 2nd damping filter (Pr2D, Pr2E) control will be validated when you connect this input to COM-. Position/ Gain switching 27 GAIN input or Torque limit switching input TL-SEL * Function varies depending on the setups of Pr30 (2nd gain setup) and Pr03 (Selection of torque limit). Content Pr03 Pr30 Connection to COM- open Velocity loop : PI (Proportion/Integration) action 0 close Velocity loop : P (Proportion) action when the setups of Pr31 and Pr36 are 2 open 1st gain selection (Pr10,11,12,13 and 14) 0-2 close 2nd gain selection (Pr18,19,1A,1B and 1C) 1 when the setups of Pr31 and Pr36 are other than 2 invalid * Input of torque limit switching (TL-SEL) * Pr5E (Setup of 1st torque limit) will be validated when you 3 - open this input, and Pr5F (Setup of 2nd torque limit) will be validated when you connect this input to COM-. * For details of 2nd gain switching function, refer to P.243 "Gain Switching Function" of Adjustment. 86 SI P.84 [Connection and Setup of Position Control Mode] Title of signal Pin No. Electronic gear (division/ multiplication) switching input 28 Symbol DIV Function I/F circuit * Function varies depending on the control mode. SI * 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 Position/ Full-closed gear) to Pr49 (2nd numerator of electronic gear) * For the selection of command division/multiplication, refer control to the table of next page, "Numerator selection of command scaling" Velocity control P.84 Connection and Setup of Position Control Mode * 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". Torque control * This input is invalid. <Caution> Do not enter the command pulse 10ms before/after switching. * Numerator selection of electronic gear CN X5 Pin-28 DIV Setup of electronic gear 1st numerator of electronic gear (Pr48) x 2 Multiplier of command scaling (Pr4A) Denominator of electronic gear (Pr4B) Open or Encoder resolution* Command pulse counts per single turn (Pr4B) 2nd numerator of electronic gear (Pr49) x 2 * Automatic setup by setting up Pr48 to 0 Multiplier of command scaling (Pr4A) Denominator of electronic gear (Pr4B) Short or Encoder resolution* Command pulse counts per single turn (Pr4B) Servo-ON input 29 SRV-ON * Automatic setup by setting up Pr49 to 0 * 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. SI P.84 87 Wiring to the Connector, CN X5 Title of signal Deviation counter clear input Pin No. Symbol 30 CL Function I/F circuit * Function varies depending on the control mode. SI * 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). Pr4E Position/ Full-closed control 0 1 [Default] 2 Velocity control P.84 Content Clears the counter of positional deviation 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 * 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. Torque control * This input is invalid. Alarm clear input Control mode switching input 31 32 A-CLR C-MODE * 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. * You can switch the control mode as below by setting up Pr02 (Control mode setup) to 3-5. Pr02 setup 3 4 5 Open (1st) Position control Position control Velocity control SI P.84 SI P.84 Connection to COM- (2nd) Velocity control Torque control Torque control <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. Inhibition input of command pulse 33 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- Position/ * You can invalidate this input with Pr43 (Invalidation of Full closed command pulse inhibition input) control Content Pr43 0 1(Default) Velocity control INH is valid. INH is valid. * 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. Torque control * This input is invalid. 88 SI P.84 [Connection and Setup of Position Control Mode] 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 Title of signal Pin No. Command pulse 44 Symbol PULSH1 input 1 Command pulse PULSH2 46 SIGNH1 47 SIGNH2 sign input 1 I/F circuit * 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". PI2 P.84 * Pulse train interface Title of signal Pin No. Command pulse input 2 Command pulse sign input 2 Symbol 1 OPC1 3 PULS1 4 PULS2 2 OPC2 5 SIGN1 6 SIGN2 Function I/F circuit * 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". PI1 P.84 * Command pulse input format Pr41 Setup value Pr42 Setup value (Setup of (Setup of command pulse command pulse rotational direction) input mode) 0 or 2 0 1 3 0 or 2 1 1 3 Command pulse format 2-phase pulse with 90 difference (A+B-phase) Signal title t1 2-phase pulse with 90 difference (A+B-phase) PULS SIGN t1 t1 B-phase t1 t1 t1 t1 B-phase advances to A by 90. B-phase delays from A by 90. t3 t2 t2 t2 t2 PULS SIGN t4 t5 t4 t5 "L" "H" t6 t6 t6 t1 t6 t1 t1 t1 A-phase PULS SIGN B-phase t1 t1 t1 t1 B-phase delays from A by 90. B-phase advances to A by 90. t3 CW pulse train PULS + CCW pulse train SIGN Pulse train + Sign t1 A-phase CW pulse train PULS + CCW pulse train SIGN Pulse train + Sign CW command CCW command t2 t2 t2 t2 PULS SIGN t4 t5 t4 t5 "L" t6 "H" t6 t6 t6 * PULS and SIGN represents 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 captured at each edge. * Permissible max. input frequency of command pulse input signal and min. necessary time width Input I/F of PULS/SIGN signal Pulse train interface exclusive for line driver Pulse train interface Line driver interface Open collector interface Permissible max. input frequency 2Mpps 500kpps 200kpps Minimum necessary time width t5 t1 t2 t3 t4 t6 500ns 250ns 250ns 250ns 250ns 250ns 1s 2s 1s 1s 1s 1s 5s 2.5s 2.5s 2.5s 2.5s 2.5s Set up the rising/falling time of command pulse input signal to 0.1s or shorter. 89 Connection and Setup of Position Control Mode 45 Function Wiring to the Connector, CN X5 Input Signals (Analog Command) and Their Functions Title of signal Pin No. Speed command 14 Symbol SPR input Function * Function varies depending on control mode. Pr02 Control mode or Torque command TRQR input 3 Position/ Velocity 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) Pr5B 0 4 Position/ Torque 1 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) Other control * This input is invalid. 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 becomes valid when the control mode with underline ( / ) <Remark> Do not apply voltage exceeding 10V to analog command input of SPR/TRQR. 90 I/F circuit AI P.84 [Connection and Setup of Position Control Mode] Title of signal Pin No. CCW-Torque 16 Symbol CCWTL limit input Function * Function varies depending on Pr02 (Control mode setup). Pr02 Control mode 2 4 Velocity/ Torque AI P.84 Pr5B Content This input becomes invalid. 0 * Torque command input (TRQR) will be selected. * Set up the gain and polarity of the com1 mand with; Pr5C (Torque command input gain) Pr5D (Torque command input reversal) * Offset and filter cannot be set up. Connection and Setup of Position Control Mode 5 Torque Control Position/Torque Function * Function varies depending on Pr5B (Selection of torque command) I/F circuit * 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 Position/Torque (CCWTL). Velocity/Torque * Limit the CCW-torque by applying positive voltage (0 to +10V) (Approx.+3V/rated toque) Other Other control mode * Invalidate this input by setting up Pr03 (Torque limit selection) to other than 0. 4 5 * 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] CW-Torque limit input 18 CWTL * Function varies depending on Pr02 (Control mode setup). Pr02 2 4 5 Control mode Function Torque control * This input becomes invalid when the torque control Position/Torque is selected. Velocity/Torque AI P.84 * Becomes to the analog torque limit input to CW Position/Torque (CWTL). 4 Velocity/Torque * Limit the CW-torque by applying negative voltage 5 (0 to -10V) (Approx.+3V/rated toque). Other Other control mode Invalidate this input by setting up Pr03 (Torque limit selection) to other than 0. * Resolution of A/D converter used in this input is 16 bit (including 1 bit for sign). .=. 23[mV] 511 [LSB] = 11.9[V], 1 [LSB] *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 91 Wiring to the Connector, CN X5 Output signal and Pin No. of the Connector, CN X5 Output Signals (Common) and Their Functions Title of signal I/F circuit Pin No Symbol Function External brake 11 BRKOFF+ release signal 10 BRKOFF- Servo-Ready 35 S-RDY+ output 34 S-RDY- Servo-Alarm 37 ALM+ output 36 ALM- Positioning 39 AT-SPEED+ * Function varies depending on the control mode. SO1 complete 38 AT-SPEED- P.85 * Feeds out the timing signal which activates the electromagnetic brake of the motor. * Turns the output transistor ON at the release timing of the electromagnetic 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.) * 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. * 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. (In-position) Position 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). SO1 P.85 SO1 P.85 SO1 P.85 * Output of full-closed positioning complete (EX-COIN) * The output transistor will turn ON when the absolute value Full-closed of full-closed-position deviation pulse becomes smaller control than the setup value of Pr60 (Positioning complete range). * You can select the feeding out method with Pr63 (Setup of positioning complete output). Velocity/ Torque control Zero-speed detection output signal Torque in-limit signal output 12 (41) 40 (41) * 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). 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". 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". P.85 SO2 SO2 * Selection of TCL and ZSP outputs Value of Pr09 or Pr0A 0 1 2 3 4 5 6 7 8 92 X5 TLC : Output of Pin-40 X5 ZSP : Output of Pin-12 * 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. [Connection and Setup of Position Control Mode] Output Signals (Pulse Train) and Their Functions Title of signal A-phase output B-phase output Z-phase output Symbol 21 OA + 22 OA - 48 OB + 49 OB - 23 OZ + 24 OZ - 19 CZ Function I/F circuit * Feeds out the divided encoder signal or external scale signal (A, B, Zphase) 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) * 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. PO1 P.85 Connection and Setup of Position Control Mode Z-phase output Pin No PO2 P.85 <Note> * When the output source is the encoder Pr44 is multiple of 4, Z-phase will be fed out synchronizing with A-phase. Pr45 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. * If the encoder resolution X when the encoder resolution Pr44 is multiple of 4, Pr45 when the encoder resolution A A B B Z Z synchronized Pr44 is not multiple of 4, Pr45 not-synchronized * 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. 93 Wiring to the Connector, CN X5 Output Signals (Analog) and Their Functions Title of signal Torque monitor Pin No Symbol 42 IM signal output Function * The content of output signal varies depending on Pr08 (Torque monitor (IM) selection). * You can set up the scaling with Pr08 value. I/F circuit AO P.85 Function * Feeds out the voltage in proportion to the motor torque command with polarity. Torque 0, + : generates CCW torque 11,12 command - : generates CW torque Pr08 Content of signal 1-5 Positional deviation * 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 fullclosed deviation pulse counts with polarity. + : positional command to CCW of Full-closed 6 -10 external scale position deviation - : positional command to CW of external scale position Speed monitor signal output 43 SP * The content of the output signal varies depending on Pr07 (Speed monitor (IM) selection). * You can set up the scaling with Pr07 value. Pr07 Control mode 94 0-4 Motor speed 5-9 Command speed Function * 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 AO P.85 [Connection and Setup of Position Control Mode] Output Signals (Others) and Their Functions Title of signal Signal ground Pin No Symbol 13,15, GND 17,25 Frame ground 50 FG Function I/F circuit * Signal ground * This output is insulated from the control signal power (COM-) inside of the driver. - * This output is connected to the earth terminal inside of the driver. - Connection and Setup of Position Control Mode 95 Wiring to the Connector, CN X5 Connecting Example to Host Controller Matsushita Electric Works, FPG-C32T PLC Driver FPG-C32T(FP) A4-series Y0 CW pulse command output 2k 3 PULS1 4 PULS2 Y1 2k 5 SIGN1 CCW pulse command output 6 SIGN2 5.6k X2 19 + Y2 - 13 GND 7 COM+ 30 CL 29 SRV-ON 27 GAIN from PLC I/O output 3k CCW limit excess input 5.6k CW limit excess input 31 A-CLR COM 9 CCWL X3 8 CWL 35 S-RDY+ 5.6k X5 X6 37 ALM+ Origin proximity sensor 38 COIN- CCW limit sensor 41 COM- CW limit sensor GND + 24V DC24V Power supply 96 4.7k Servo-ON input 4.7k Gain switching input 4.7k Alarm clear input 4.7k CCW over-travel inhibit input 4.7k CW over-travel inhibit input Servo-Ready output Servo-Alarm output 36 ALM- 39 COIN+ represents twisted pair wire. 4.7k Counter clear input 34 S-RDY- to PLC I/O input <Remark> CCW pulse command input Z-phase output COM Origin proximity input 220 CW pulse command input CZ Origin input Deviation counter reset output 220 Positioning complete output [Connection and Setup of Position Control Mode] Matsushita Electric Works, FP2-PP2 AFP2430 PLC FP2-PP2 AFP2430 CW pulse command output CCW pulse command output A1 3 PULS1 B1 4 PULS2 A2 5 SIGN1 B2 220 6 SIGN2 A4 23 OZ+ B3 24 OZ- 13 GND 7 COM+ A6 30 CL B6 29 SRV-ON Origin input Deviation counter reset output 1.6 Origin proximity input External power supply input A7 27 GAIN/TC from PLC I/O output B7 FG A19 FG B19 24V+ A20 24V- B20 31 A-CLR 9 CCWL 8 CWL 35 S-RDY+ CCW pulse command input Z-phase output 4.7k Counter clear input 4.7k Servo-ON input Gain switching/ 4.7k Torque limit switching input 4.7k Alarm clear input 4.7k CCW over-travel inhibit input 4.7k CW over-travel inhibit input Servo-Ready output 37 ALM+ Servo-Alarm output 36 ALM- Origin proximity sensor CCW limit sensor 220 CW pulse command input 34 S-RDY- to PLC I/O input 39 COIN+ CW limit sensor 220 Connection and Setup of Position Control Mode Driver A4-series 38 COIN- to PLC I/O input Positioning complete output 41 COM- GND + 24V DC24V Power supply <Remark> represents twisted pair wire. 97 Wiring to the Connector, CN X5 Yokogawa Electric , F3NC11-ON PLC Driver A4-series F3NC11-0N 3 PULS1 19 CW pulse command output CCW pulse command output 1k Origin line driver input 3.5k Emergency stop input 20 4 PULS2 17 5 SIGN1 18 6 SIGN2 7 23 OZ+ 8 24 OZ- 13 GND 9a 7 COM+ 9b 30 CL 29 SRV-ON 27 GAIN/TC CCW limit input CW limit input from PLC I/O output 11 5V power supply V+ for pulse output GND 12 3.5k 3.5k 31 A-CLR 9 CCWL 8 CWL 1 35 S-RDY+ 4 34 S-RDY- to PLC I/O input 5 37 ALM+ 3.5k 3 38 COIN- 41 COM- Origin proximity sensor CCW limit sensor CW limit sensor <Remark> represents twisted pair wire. 98 CW pulse command input 220 CCW pulse command input Z-phase output 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching/ Torque limit switching input 4.7k Alarm clear input 4.7k CCW over-travel inhibit input 4.7k CW over-travel inhibit input Servo-Ready output Servo-Alarm output 36 ALM- 39 COIN+ Origin proximity input 220 GND + 5V DC5V Power supply GND + 24V DC24V Power supply Positioning complete output [Connection and Setup of Position Control Mode] Yokogawa Electric , F3YP14-0N/F3YP18-0N PLC Driver A4-series F3YP14-0N/F3YP18-0N CCW pulse command output 240 Origin line driver input Deviation pulse clear signal output 14a 3 PULS1 13a 4 PULS2 12a 5 SIGN1 11a 6 SIGN2 15a 23 OZ+ 16a 24 OZ- 13 GND 7 COM+ 10a 30 CL 9a 29 SRV-ON 27 GAIN/TC CCW limit input CW limit input from PLC I/O output 8b 5V power supply V+ for pulse output GND 8a 7.4k 7.4k 31 A-CLR 9 CCWL 8 CWL 1a 35 S-RDY+ 3a 34 S-RDY- to PLC I/O input 2b 37 ALM+ 7.4k 220 CW pulse command input CCW pulse command input Z-phase output 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching/ Torque limit switching input 4.7k Alarm clear input 4.7k CCW over-travel inhibit input 4.7k CW over-travel inhibit input Servo-Ready output Servo-Alarm output 36 ALM- 39 COIN+ Origin proximity input 220 Connection and Setup of Position Control Mode CW pulse command output 4a 38 COIN- Positioning complete output 41 COM- Origin proximity sensor CCW limit sensor CW limit sensor GND + 5V DC5V Power supply GND + 24V DC24V Power supply <Remark> represents twisted pair wire. 99 Wiring to the Connector, CN X5 Omron, CS1W-NC113 PLC Driver A4-series CS1W-NC113 1.6k CW pulse command output 4 PULS2 1.6k CCW pulse command output 150 V+ GND Deviation counter reset output A16 23 OZ+ A14 24 OZ- A1 13 GND A2 7 COM+ A10 30 CL 29 SRV-ON Emergency stop input A24 4.7k Origin proximity input 4.7k CCW limit excess input 4.7k CW limit excess input A20 27 GAIN from PLC I/O output A21 31 A-CLR 9 CCWL 8 CWL 35 S-RDY+ 4.7k A23 A22 37 ALM+ 39 COIN+ 38 COIN- 41 COM- GND + 24V DC24V Power supply 100 CCW pulse command input Z-phase output 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching input 4.7k Alarm clear input 4.7k CCW over-travel inhibit input 4.7k CW over-travel inhibit input Servo-Ready output Servo-Alarm output 36 ALM- Origin proximity sensor CCW limit sensor CW limit sensor represents twisted pair wire. 220 CW pulse command input 34 S-RDY- to PLC I/O input <Remark> 220 5 SIGN1 A8 6 SIGN2 Origin line driver input Power supply for output 3 PULS1 A6 Positioning complete output [Connection and Setup of Position Control Mode] Omron, CS1W-NC133 PLC Driver A4-series CS1W-NC133 CCW pulse command output 150 Origin line driver input 24V power supply for output V+ GND Deviation counter reset output A5 3 PULS1 A6 4 PULS2 A7 5 SIGN1 A8 6 SIGN2 A16 23 OZ+ A14 24 OZ- A1 13 GND A2 7 COM+ A10 30 CL 29 SRV-ON A24 Emergency stop input Origin proximity input CCW limit over input 4.7k 4.7k 27 GAIN from PLC I/O output A20 A21 9 CCWL 8 CWL 35 S-RDY+ 4.7k A23 4.7k 220 CCW pulse command input Z-phase output 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching input 4.7k Alarm clear input 4.7k CCW over-travel inhibit input 4.7k CW over-travel inhibit input Servo-Ready output 34 S-RDY- to PLC I/O input CW limit over input 5V power supply GND for pulse output +V 31 A-CLR 220 CW pulse command input Connection and Setup of Position Control Mode CW pulse command output 37 ALM+ A22 36 ALM- A3 39 COIN+ A4 38 COIN- Servo-Alarm output Positioning complete output 41 COM- Origin proximity sensor CCW limit sensor CW limit sensor GND + 5V DC5V Power supply GND + 24V DC24V Power supply <Remark> represents twisted pair wire. 101 Wiring to the Connector, CN X5 Omron, C200H-NC211 PLC Driver A4-series C200H-NC211 1.6k Pulse (CW+CCW) output 3 PULS1 2 4 PULS2 1.6k 6 SIGN2 150 Power supply for output V+ GND Deviation counter reset output 9 23 OZ+ 11 24 OZ- 1 13 GND 23 7 COM+ 4 30 CL 29 SRV-ON 22 Emergency stop input 2k Origin proximity input 2k CCW limit over input 2k CW limit over input 19 27 GAIN from PLC I/O output 7 31 A-CLR 9 CCWL 8 CWL 35 S-RDY+ 2k 17 18 37 ALM+ Origin proximity sensor CCW limit sensor CW limit sensor 38 COIN- 41 COM- GND + 24V DC24V Power supply 102 CCW pulse command input Z-phase output 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching input 4.7k Alarm clear input 4.7k CCW over-travel inhibit input 4.7k CW over-travel inhibit input Servo-Ready output Servo-Alarm output 36 ALM- 39 COIN+ represents twisted pair wire. 220 34 S-RDY- to PLC I/O input <Remark> CW pulse command input 5 SIGN1 13 Directional output Origin line driver input 220 Positioning complete output [Connection and Setup of Position Control Mode] Mitsubishi, A1SD75/AD75P1 PLC A1SD75/AD75P1 CW pulse command output CCW pulse command output 500 3 3 PULS1 21 4 PULS2 4 5 SIGN1 22 6 SIGN2 24 23 OZ+ 25 24 OZ- 13 GND 7 COM+ 5 30 CL 23 29 SRV-ON Zero point signal Deviation counter clear 4.7k In position 4.7k Common Proximity signal Upper limit 27 GAIN 26 Drive unit ready 4.7k 4.7k Lower limit 4.7k 7 from PLC I/O output from PLC I/O output 31 A-CLR 9 CCWL 35 8 CWL 36 35 S-RDY+ 11 34 S-RDY- 8 12 to PLC I/O input 37 ALM+ 220 CW pulse command input 220 CCW pulse command input Connection and Setup of Position Control Mode Driver A4-series Z-phase output 4.7k Counter clear input 4.7k Servo-ON input 4.7k Gain switching input 4.7k Alarm clear input 4.7k CCW over-travel inhibit input 4.7k CW over-travel inhibit input Servo-Ready output Servo-Alarm output 36 ALM- 13 39 COIN+ Origin proximity sensor CCW limit sensor CW limit sensor 38 COIN- Positioning complete output 41 COM- GND + 24V DC24V Power supply <Remark> represents twisted pair wire. 103 Trial Run (JOG run) at Position Control Mode Inspection Before Trial Run Display LED (1) Wiring inspection * Miswiring (Especially power input/motor output) * Short/Earth * Loose connection Power supply X3 (2) Check of power/voltage * Rated voltage X4 X5 (3) Fixing of the motor * Unstable fixing (4) Separation from Machine mechanical system (5) Release of the brake CN X6 X6 X7 Motor ground Trial Run by Connecting the Connector, CN X5 (1) (2) (3) (4) (5) (6) (7) Connect the CN X5. Enter the power (DC12 to 24V) to control signal (COM+, COM-) Enter the power to the driver. Confirm the default values of parameters. Match to the output format of the host controller with Pr42 (Command pulse input mode setup). Write to EEPROM and turn off/on the power (of the driver). Connect the Servo-ON input (SRV-ON, CN X5, Pin-29) and COM- (CN X5, Pin-41) to bring the driver 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. Wiring Diagram CN X5 7 29 DC 12V - 24V 3 1k 1k PULS1 PULS2 5 SIGN1 6 SIGN2 44 45 104 COM- 4 PULSH1 PULSH2 46 SIGNH1 47 SIGNH2 13 GND Setup value 02 Setup of control mode 0 04 Invalidation of over-travel inhibit input 1 40 Selection of command pulse input 0/1 42 Mode setup of command pulse input 1 43 Inhibition setup of command pulse input 1 4E Counter clear mode 2 * Enter command pulses from the host controller. Title PrNo. SRV-ON 41 DC 12V Parameter COM+ CW/CCW pulse input in case of open collector input 2k 43k 220 2k 43k 2k 43k 220 2k 43k Input signal status H/L PULS SIGN in case of line receiver input No. 0 Title of signal Servo-ON Monitor display +A [Connection and Setup of Position Control Mode] Setup of Motor Rotational Speed and Input Pulse Frequency Pr48 x 2 Pr4A Pr4B Input pulse Motor frequency rotational (pps) speed (r/min) 17-bit 15 2500P/r 2500 x 2 10000 3000 1 x 2 17 10000 10000 x 2 10000 0 500K 3000 1 x 2 17 5000 10000 x 2 5000 0 250K 3000 1 x 2 17 2000 10000 x 2 2000 0 100K 1500 1 x 2 16 10000 50000 x 2 10000 0 500K <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 : 60 Gear ratio : Gear Total reduction ratio : 18 60 12 73 18 365 e.g.) When you want to rotate the motor by 60 with the load of total reduction ratio of 18/365. Encoder 17-bit Pr48 x 2 Pr4A Pr4B Command pulse How to determine parameter 2500P/r 365 x 2 10 6912 365 x 2 108 To rotate the output shaft by 60, enter the command of 8192 (213) pulses from the host controller. 365 18 = x 1 x 217 x 213 60 360 365 x 2 17 884736 0 To rotate the output shaft by 60, enter the command of 10000 pulses from the host controller. 365 x 18 = 10000 10000 365 x 2 108 Hence the obtained numerator becomes 47841280>2621440 and denominator exceeds the max value of 10000, you have to reduce to the common denominator to obtain. 1 x 210 60 365 x x 6 18 2 360 10 365 x 2 = 6912 0 x 60 360 2n Decimal figures 20 21 22 23 24 25 26 27 28 29 210 211 212 213 214 215 216 217 1 2 4 8 16 32 64 128 256 512 1024 2048 4096 8192 16384 32768 65536 131072 *Refer to P.306 "Division Ratio for Parameters" of Supplement. 105 Connection and Setup of Position Control Mode 3000 1 x2 10000 0 2M Real-Time Auto-Gain Tuning Outline The driver estimates the load inertia of the machine 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. Position/Velocity command Action command under actual condition Auto-gain setup Auto-filter adjustment Torque command Adaptive Filter Position/Velocity control Motor current Current control Motor Resonance frequency calculation Load inertia calculation Real-time auto-gain tuning Motor speed Encoder Servo driver 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 execute a manual gain tuning. (refer to P.240, of Adjustment) Conditions which obstruct real-time auto-gain tuning * Load is too small or large compared to rotor inertia. Load (less than 3 times or more than 20 times) inertia * Load inertia change too quickly. (10 [s] or less) * Machine stiffness is extremely low. Load * 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). Action * Acceleration/deceleration torque is smaller than pattern 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]. How to Operate (1) Bring the motor to stall (Servo-OFF). (2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 17. Default is 1. Setup value 0 <1> 2 3 4 5 6 7 Insert the console connector to CN X6 of the driver, then turn on the driver power. Setup of parameter, Pr21 Real-time auto-gain tuning Varying degree of load inertia in motion (not in use) - no change normal mode slow change rapid change no change vertical axis mode slow change rapid change no-gain switching mode no change 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 * 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). Match to Pr22 with (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 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. Press Press . . Numeral increases with and decreases with , (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). 106 [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. Resonance point <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. Parameters Which Are Automatically Set Up. Following parameters are automatically adjusted. 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 Also following parameters are automatically set up. PrNo. 15 16 27 30 31 32 33 34 35 36 Title 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 Setup value 300 50 0 1 10 30 50 33 20 0 <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 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 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 switching will be held. (6) During the trial run and frequency characteristics measurement of "PANATERM(R)", the load inertia estimation will be invalidated. 107 Connection and Setup of Position Control Mode Load Command pattern 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]. Parameter Setup Parameters for Functional Selection Standard default : < > PrNo. 00 Title Address * Setup range Function/Content 0 to 15 <1> 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. 01 LED initial status * 0 to 17 <1> You can select the type of data to be displayed on the front panel LED (7 segment) at the initial status after power-on. Setup value 0 Power -ON Flashes (for approx. 2 sec) during initialization Setup value of Pr01 For details of display, refer to P.51 "Setup of Parameter and Mode" of Preparation. 02 * Setup of control mode Setup value 0 <1> 2 3 **1 4 **1 5 **1 6 0 to 6 <1> <1> 2 Content Positional deviation Motor rotational speed Torque output 3 4 Control mode I/O signal status 5 6 7 Error factor/history Software version Alarm 8 9 Regenerative load factor Over-load factor 10 Inertia ratio 11 12 Sum of feedback pulses Sum of command pulses 13 External scale deviation 14 15 16 17 Sum of external scale feedback pulses Motor automatic recognizing function Analog input value Factor of "No-Motor Running" You can set up the control mode to be used. Control mode 1st mode 2nd mode Position - Velocity - Torque - Position Velocity Position Torque Velocity Torque Full-closed - **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. C-MODE open 1st close open 2nd 1st 10ms or longer 10ms or longer <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 108 [Connection and Setup of Position Control Mode] Standard default : < > PrNo. 03 Title Setup range Selection of torque limit 0 to 3 <1> Function/Content You can set up the torque limiting method for CCW/CW direction. Setup value 0 <1> 2 3 * Setup of over-travel inhibit input 0 to 2 <1> 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. 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. CW direction Work CCW direction Driver Servo motor Limit switch Limit switch CCWL CWL Setup value CCWL/CWL input 0 Valid <1> Invalid 2 Valid Action Input Connection to COM- CCWL Close Normal status while CCW-side limit switch is not activated. (CN X5,Pin-9) Open Inhibits CCW direction, permits CW direction. CWL Close Normal status while CW-side limit switch is not activated. (CN X5,Pin-9) Open 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. <Cautions> 1. When Pr04 is set to 0 and over-travel inhibit input is entered, the motor decelerates and stops according to the preset sequence with Pr66 (Sequence at overtravel 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 application, 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 using this function. 07 Selection of speed monitor (SP) 0 to 9 <3> 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 109 Connection and Setup of Position Control Mode 04 CW CCW X5 CWTL : Pin-18 X5 CCWTL : Pin-16 Pr5E is a limit value for both CCW and CW direction Set with Pr5F Set with Pr5E When GAIN/TL-SEL input is open, set with Pr5E When GAIN/TL-SEL input is shorted, set with Pr5F Parameter Setup Standard default : < > PrNo. Title Setup range 08 Selection of torque monitor (IM) 0 to 12 <0> Function/Content You can set up the content of the analog torque monitor of the signal output (IM : CN X5, Pin42), and the relation between the output voltage level and torque or deviation pulse counts. Setup value Signal of IM Relation between the output voltage level and torque or deviation pulse counts <0> Torque command 3V/rated (100%) torque 1 3V / 31Pulse 2 3V / 125Pulse Position 3 3V / 500Pulse deviation 4 3V / 2000Pulse 5 3V / 8000Pulse 6 3V / 31Pulse 7 3V / 125Pulse Full-closed 8 3V / 500Pulse deviation 9 3V / 2000Pulse 10 3V / 8000Pulse 11 Torque 3V / 200% torque 12 command 3V / 400% torque 09 0A 0B * 0C * 110 Selection of TLC output Selection of ZSP output Setup of absolute encoder Baud rate setup of RS232 communication 0 to 8 <0> 0 to 8 <1> 0 to 2 <1> 0 to 5 <2> You can assign the function of the torque in-limit output (TLC : CN X5 Pin-40). Function Setup value Torque in-limit output <0> Zero speed detection output 1 Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 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". You can assign the function of the zero speed detection output (ZSP: CN X5 Pin-12). Function Setup value Torque in-limit output 0 Zero speed detection output <1> Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 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". You can set up the using method of 17-bit absolute encoder. Content Setup value Use as an absolute encoder. 0 Use as an incremental encoder. <1> Use as an absolute encoder, but ignore the multi-turn counter over. 2 <Caution> This parameter will be invalidated when 5-wire, 2500P/r incremental encoder is used. You can set up the communication speed of RS232. * Error of baud rate is 0.5%. Baud rate Baud rate Setup value Setup value 2400bps 19200bps 0 3 4800bps 38400bps 1 4 9600bps 57600bps <2> 5 [Connection and Setup of Position Control Mode] Standard default : < > PrNo. Title Setup range 0D Baud rate setup of RS485 communication 0 to 5 <2> You can set up the communication speed of RS485. Setup of front panel lock 0 to 1 <0> You can limit the operation of the front panel to the Content Setup value monitor mode only. Valid to all <0> You can prevent such a misoperation as unexpecMonitor mode only 1 ted parameter change. * 0E * Function/Content Setup value 0 1 <2> Baud rate 2400bps 4800bps 9600bps * Error of baud rate is 0.5%. Baud rate Setup value 19200bps 3 38400bps 4 57600bps 5 Connection and Setup of Position Control Mode <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(R)". Parameters for Adjustment of Time Constants of Gains and Filters Standard default : < > PrNo. Title Setup range Unit Function/Content 0 to 3000 A to C-frame:<63>* D to F-frame:<32>* 1 to 3500 A to C-frame:<35>* D to F-frame:<18>* 1/s 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. 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). 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". 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. 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. 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. 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. 10 1st gain of position loop 11 1st gain of velocity loop 12 1st time constant of velocity loop integration 1 to 1000 A to C-frame:<16>* D to F-frame:<31>* ms 13 1st filter of speed detection 0 to 5 <0>* - 14 1st time constant of 0 - 2500 0.01ms torque filter A to C-frame:<65>* D to F-frame:<126>* Velocity feed -2000 0.1% forward to 2000 <300>* Time constant of 0 to 6400 0.01ms feed forward filter <50>* 15 16 Hz <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 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, referring to P.239, "Release of Automatic Gain Adjusting Function" of Adjustment. 111 Parameter Setup Standard default : < > PrNo. 18 19 1A 1B 1C 1D 1E Title Setup range Unit 2nd gain of position loop 0 to 3000 1/s A to C-frame:<73>* D to F-frame:<38>* 2nd gain of velocity 1 to 3500 Hz loop A to C-frame:<35>* D to F-frame:<18>* ms 2nd time constant of 1 to 1000 velocity loop integration <1000>* - 0 to 5 2nd filter of velocity <0>* detection 2nd time constant 0 to 2500 0.01ms of torque filter A to C-frame:<65>* D to F-frame:<126>* 1st notch 100 to 1500 Hz frequency <1500> 1st notch width selection 0 to 4 <2> - Function/Content 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. 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". 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. Parameters for Auto-Gain Tuning Standard default : < > PrNo. 20 21 Title Inertia ratio Setup of real-time auto-gain tuning Setup range Unit Function/Content 0 to 10000 <250>* % You can set up the ratio of the load inertia against the rotor (of the motor) inertia. 0 to 7 <1> Pr20=(load inertia/rotor inertia) X 100 [%] - 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. 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 7 112 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 [Connection and Setup of Position Control Mode] Standard default : < > PrNo. 22 Title Selection of machine stiffness at real-time auto-gain tuning Setup range Unit Function/Content 0 to 15 A to C-frame: <4> D to F-frame: <1> - You can set up the machine stiffness in 16 steps while the real-time autogain tuning is valid. low machine stiffness high low servo gain high Pr22 0, 1- - - - - - - - - - - - 14, 15 low response high Setup of adaptive filter mode 0 to 2 <1> - 24 Selection of damping filter switching 0 to 2 <0> - 25 Setup of an action at normal mode auto-gain tuning 0 to 7 <0> - 26 Setup of software limit 27 Setup of instantaneous speed observer 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). You can set up the action pattern at the normal mode auto-gain tuning. Rotational direction Setup value Number of revolution CCW CW <0> CW CCW 1 2 [revolution] CCW CCW 2 CW CW 3 CCW CW 4 CW CCW 5 1 [revolution] CCW CCW 6 CW CW 7 e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2 revolutions to CW. You can set up the movable range of the motor against the position 0 to 1000 0.1 <10> revolution 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. 0 to 1 - With a high stiffness machine, you can achieve both high response and <0>* 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) <Notes> * Parameters which default values 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, referring to P.239, "Release of Automatic Gain Adjusting Function" of Adjustment. 113 Connection and Setup of Position Control Mode 23 <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. 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. Parameter Setup Standard default : < > PrNo. Title Setup range Unit 100 to 1500 <1500> Hz 28 2nd notch frequency 29 Selection of 2nd notch width 0 to 4 <2> - 2A Selection of 2nd notch depth 1st damping frequency 0 to 99 <0> 0 to 2000 <0> - 2C Setup of 1st damping filter -200 to 2000 <0> 0.1Hz 2D 2nd damping frequency 0 to 2000 <0> 0.1Hz 2E Setup of 2nd damping filter -200 to 2000 <0> 0.1Hz 2F Adaptive filter frequency 0 to 64 <0> - 2B 0.1Hz Function/Content 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 parameter to "1500". 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. 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. 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. 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> <Pr2C= <Pr2B Setup is also limited by 10.0[Hz]-Pr2B = 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. 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> <Pr2E= <Pr2D Setup is also limited by 10.0[Hz]-Pr2D = 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. <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 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, referring to P.239, "Release of Automatic Gain Adjusting Function" of Adjustment. 114 [Connection and Setup of Position Control Mode] Parameters for Adjustment (2nd Gain Switching Function) Standard default : < > PrNo. 30 Title Setup of 2nd gain Setup range Unit Function/Content 0 to 1 <1>* - You can select the PI/P action switching of the velocity control or 1st/2nd gain switching. Setup value 0 <1>* Gain selection/switching 1st gain (PI/P switching enabled) *1 1st/2nd gain switching enabled *2 *1 Switch the PI/P action with the gain switching input (GAIN CN X5, Pin27). PI is fixed when Pr03 (Torque limit selection) is 3. Action of velocity loop PI action P action *2 For switching condition of the 1st and the 2nd, refer to P.243, "Gain Switching Function" of Adjustment. 31 1st mode of control switching Setup value <0>* 1 2 *1 3 4 5 6 7 8 9 *2 *2 *2 *2 *2 *2 *2 *2 10 0 to 10 <0>* - You can select the switching condition of 1st gain and 2nd gain while Pr30 is set to 1. 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 166s. 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 166s] and the speed falls slower than the setups of Pr33-34[r/min]. *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. 32 1st delay time of control switching 0 to 10000 x 166s <30>* 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 1st level of control switching 0 to 20000 <50>* - 34 0 to 20000 1st hysteresis of control switching <33>* - 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) You can set up hysteresis width to be implemented above/below the judging level which is set up with Pr33 Pr34 Pr33. Unit varies depending on the 0 setup of Pr31 (1st control switching 1st gain 2nd gain 1st gain mode). Definitions of Pr32 (Delay), Pr33 (Level) and Pr34 (Hysteresis) Pr32 are explained in the fig. below. <Caution> The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute values (positive/negative). 115 Connection and Setup of Position Control Mode GAIN input Open with COM- Connect to COM- Parameter Setup Standard default : < > PrNo. Title 35 Switching time of position gain 3D JOG speed setup Setup range Unit Function/Content 0 - 10000 (setup You can setup the 166 166s e.g.) Kp1(Pr10)>Kp2(Pr18) <20>* value +1) step-by-step switching 166 166 Kp1(Pr10) x 166s time to the position 0 bold line 3 Pr35= 0 1 loop gain only at gain 2 2 switching while the 1st 1 3 thin line and the 2nd gain Kp2(Pr18) switching is valid. 1st gain 2nd gain 1st gain <Caution> The switching time is only valid when switching from small position gain to large position gain. 0 - 500 <300> r/min You can setup the JOG speed. Refer to P.75, "Trial Run"of Preparation. Parameters for Position Control Standard default : < > PrNo. 40 * Title Selection of command pulse input Setup range Function/Content 0 to 1 <0> You can select either the photo-coupler input or the exclusive input for line driver as the command pulse input. Content Setup value Photo-coupler input (X5 PULS1:Pin-3, PULS2:Pin-4, SIGN1:Pin-5, SIGN2:Pin-6) <0> Exclusive input for line driver (X5 PULSH1:Pin-44, PULSH2:Pin-45, SIGNH1:Pin-46, SIGNH2:Pin-47) 1 41 * 42 * Command pulse rotational direction setup Setup of command pulse input mode 0 to 1 <0> 0 to 3 <1> You can set up the rotational direction against the command pulse input, and the command pulse input format. Pr41 setup value Pr42 setup value Command Signal (Command pulse (Command pulse pulse rotational input mode title direction setup) setup) format 0 or 2 <0> <1> 3 0 or 2 1 1 3 90 phase difference PULS 2-phase pulse SIGN (A + B-phase) CCW command t1 t1 t1 B-phase t1 t1 t1 t1 B-phase advances to A by 90. B-phase delays from A by 90. t3 t2 t2 t2 t2 PULS SIGN t4 t5 t4 t5 "H" t6 90 phase difference PULS 2-phase pulse SIGN (A + B-phase) t1 "L" t6 t6 t6 t1 t1 t1 A-phase B-phase t1 t1 t1 t1 B-phase delays from A by 90. B-phase advances to A by 90. t3 CW pulse train PULS + CCW pulse train SIGN pulse train + Signal t1 A-phase CW pulse train PULS + CCW pulse train SIGN pulse train + Signal CW command t2 t2 t2 t2 PULS SIGN t4 t5 t4 t5 "L" t6 "H" t6 t6 t6 * Permissible max. input frequency, and min. necessary time width of command pulse input signal. Input I/F of PULS/SIGN signal Pulse train interface exclusive to line driver Line driver interface Pulse train interface Open collector interface Min. necessary time width Permissible max. t5 t6 t2 t3 t4 t1 input frequency 500ns 250ns 250ns 250ns 250ns 250ns 2Mpps 1s 1s 1s 2s 1s 1s 500kpps 5s 2.5s 2.5s 2.5s 2.5s 2.5s 200kpps Make the rising/falling time of the command pulse input signal to 0.1s or smaller. 116 [Connection and Setup of Position Control Mode] Standard default : < > PrNo. 43 Title Invalidation of command pulse inhibit input Setup range Function/Content 0 to 1 <1> 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. * Numerator of pulse 1 to 32767 You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin<2500> 21, 0A- : Pin-22, 0B+ : Pin-48, 0B- : Pin-49). output division * 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. The pulse output resolution per one revolution = Pr44 (Numerator of pulse output division) X4 * Pr450 : The pulse output resolution per one revolution can be divided by any ration according to the formula below. Pulse output resolution per one revolution 45 * Denominator of pulse output division 0 to 32767 <0> Pr44 (Numerator of pulse output division) Pr45 (Denominator of pulse output division) x Encoder resolution <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. when encoder resolution x Pr44 is multiple of 4 Pr45 when encoder resolution x A A B B Z Pr44 is not multiple of 4 Pr45 Z Synchronized Not-synchronized <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 117 Connection and Setup of Position Control Mode 44 Parameter Setup Standard default : < > PrNo. 46 * Title Reversal of pulse output logic Setup range Function/Content 0 to 3 <0> 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. A-phase (OA) Setup value <0>, 2 1, 3 at motor CCW rotation at motor CW rotation B-phase(OB) non-reversal B-phase(OB) reversal Output source Encoder position Encoder position External scale position External scale position B-phase logic Non-reversal Reversal Non-reversal Reversal Pr46 <0> 1 2 *1 3 *1 *1 The output source of Pr46=2, 3 is valid only at full-closed control. 48 1st numerator of electronic gear 49 2nd numerator of electronic gear 4A Multiplier of electronic gear numerator Denominator of electronic gear 4B Electronic gear function-related (Pr48 to 4B) 0 to 10000 Electronic gear (Command pulse division/multiplication) function * Purpose of this function <0> (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 0 to 10000 obtain the required speed due to the limit of pulse generator of the host controller. <0> * Block diagram of electronic gear 0 to 17 <0> Command pulse f *1 *1 1st numerator (Pr48) x2 2nd numerator (Pr49) Multiplier (Pr4A) Internal command + F - Deviation counter Denominator (Pr4B) Feed back pulse (Resolution) 0 to 10000 <10000> 10000P/rev or 217P/rev * "Numerator" selection of electronic gear *1 : Select the 1st or the 2nd with the command electronic gear input switching (DIV : CN X5, Pin-28) DIV input open Selection of 1st numerator (Pr48) DIV input connect to COM- Selection of 2nd numerator (Pr49) The electronic gear ratio is set with the formula below. * when the numerator is <0> (Default) :Numerator (Pr48,49)X2Pr4A) is automatically set equal to encoder resolution, and you can set command pulse per revolution with Pr4B. Electronic gear ratio = * when numerator 0 : Electronic gear ratio = Encoder resolution Command pulse counts per one revolution (Pr48) Multiplier of command Numerator of command div/multiple numerator (Pr4A) electronic gear (Pr48,49) x 2 Denominator of command electronic gear (Pr4B) <Caution> In actual calculation of numerator (Pr48, Pr49) X2Pr4A, 4194304 (Pr4D setup value +1) becomes the max. value. (to be continued to next page) 118 [Connection and Setup of Position Control Mode] Standard default : < > PrNo. Title 1st numerator of electronic gear 49 2nd numerator of electronic gear 4A Multiplier of electronic gear numerator Denominator of electronic gear 4B Function/Content Electronic gear function-related (Pr48-4B) (continued from the previous page) <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). 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. F= 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 4C Setup of primary delay smoothing 0 to 7 <1> 217 (131072) Pr4A Pr48 1 x 2 17 Pr4B 5000 Pr48 1 x 2 10000 (2500P/r x 4) Pr4A 0 Pr48 10000 x 2 Pr4B 5000 Pr4A 15 Pr4B 10000 Pr4A Pr48 2500 x 2 0 Pr4B 10000 Smoothing filter is the filter for primary delay which is inserted after the electronic gear. 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. You can set the time constant of the smoothing filter in 8 steps with Pr4C. 4D * 4E Setup value 0 <1> Time constant No filter function Time constant small 7 Time constant large Setup of FIR smoothing 0 to 31 <0> You can set up the moving average times of the FIR filter covering the command pulse. (Setup value + 1) become average travel times. Counter clear input mode 0 to 2 <1> You can set up the clearing conditions of the counter clear input signal which clears the deviation counter. Clearing condition Setup value Clears the deviation counter at level (shorting for longer than 100s)*1 0 <1> Clears the deviation counter at falling edge (open-shorting for longer than 100s)*1 2 Invalid *1 : Min. time width of CL signal CL(Pin-30) 100s or longer <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 119 Connection and Setup of Position Control Mode 48 Setup range Parameter Setup Parameters for Velocity and Torque Control Standard default : < > PrNo. Title Setup range Unit Function/Content 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). 5E 1st torque limit setup 0 to 500 <500> *2 % 5F 2nd torque limit setup 0 to 500 <500> *2 % 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. * 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. torque [%] CCW 300(Max.) when Pr5E=150 200 100 (Rated) 100 speed (Rating) (Max.) 200 300 CW <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(R) 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. <Note> * For parameters which default. has a suffix of "*2", value varies depending on the combination of the driver and the motor. Parameters for Sequence Standard default : < > PrNo. 60 Title Positioning complete(In-position) range Setup range Unit Function/Content 0 to 32767 <131> Pulse 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 : 217 = 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. 120 deviation pulses Pr60 COIN ON Pr60 [Connection and Setup of Position Control Mode] Standard default : < > PrNo. 61 Title Zero-speed Setup range Unit Function/Content 10 to 20000 <50> r/min 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 CCW (Pr61+10)r/min (Pr61-10)r/min ZSP 63 Setup of positioning complete (In-position) output 0 to 3 <0> - You can set up the action of the positioning complete signal (COIN : Pin39 of CN X5) in combination with Pr60 (Positioning complete range). Setup value <0> 1 2 3 65 LV trip selection at main power OFF 0 to 1 <1> - ON 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. You can select whether or not to activate Err13 (Main power undervoltage protection) function while the main power shutoff continues for the setup of Pr6D (Main power-OFF detection time). Setup value Action of main power low voltage protection When the main power is shut off during Servo-ON, Err13 will 0 not be triggered and the driver turns to Servo-OFF. The driver returns to Servo-ON again after the main power resumption. <1> 66 * Sequence at over-travel inhibit 0 to 2 <0> - When the main power is shut off during Servo-ON, the driver will trip due to Err13 (Main power low voltage protection). <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. 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 Setup value During deceleration Dynamic brake <0> action Torque command=0 1 towards inhibited direction 2 Emergency stop Deviation counter content After stalling Torque command=0 Hold towards inhibited direction Torque command=0 Hold towards inhibited direction Clears before/ Torque command=0 towards inhibited direction after deceleration <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 ). <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 121 Connection and Setup of Position Control Mode CW Parameter Setup Standard default : < > PrNo. 67 Title Sequence at main power OFF Setup range Unit 0 to 9 <0> - Function/Content 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 68 Sequence at alarm 0 to 3 <0> - Action After stalling During deceleration DB DB DB Free-run Free-run DB Free-run Free-run DB DB DB Free-run Free-run DB Free-run Free-run DB Emergency stop Free-run Emergency stop Deviation counter content Clear Clear Clear Clear Hold Hold Hold Hold Clear Clear (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). 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. Setup value <0> 1 2 3 Action During deceleration After stalling DB DB DB Free-run Free-run DB Free-run Free-run Deviation counter content Hold Hold Hold Hold (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. 69 Sequence at Servo-Off 0 to 9 <0> - 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. <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 122 [Connection and Setup of Position Control Mode] Standard default : < > PrNo. 6A Title Setup of mechanical brake action at stalling Setup range Unit Function/Content 0 to 100 <0> 2ms 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. SRV-ON OFF ON BRK-OFF release actual brake hold tb hold release motor energization energized nonenergized Pr6A Refer to P.44, "Timing Chart"-Servo-ON/OFF Action While the Motor Is at Stall" of Preparation as well. 6B Setup of mechanical brake action at running 0 to 100 <0> 2ms 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. * 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. 6C * Selection of external regenerative resistor 0 to 3 for A, B-frame <3> for C to F-frame <0> - SRV-ON OFF ON BRK-OFF release hold tb actual brake energized motor energization nonenergized 30 r/min Refer to P.45, "Timing Chart"-Servo-ON/OFF action while the motor is in motion" of Preparation as well. 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). resistor Setup value Regenerative to be used <0> (C, D, E and Built-in resistor F-frame) Regenerative processing and regenerative resistor overload 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 1 External resistor processing circuit is activated and its active ratio exceeds 10%, Regenerative processing circuit is activated, 2 External resistor but no regenerative over-load protection is triggered. Both regenerative processing circuit and <3> regenerative protection are not activated, and No resistor built-in capacitor handles all regenerative (A, B-frame) power. <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. 123 Connection and Setup of Position Control Mode * 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. Parameter Setup Standard default : < > PrNo. 6D * Title Detection time of main power off 6E Torque setup at emergency stop 70 Setup of position deviation excess 72 Setup of over-load level 73 Setup of over-speed level Setup range Unit 35 to 1000 <35> 2ms 0 to 500 <0> % * 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. 0 to 20000 <0> r/min * 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. Function/Content 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. 0 to 500 % 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 <0> (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 ServoOFF) Normal torque limit is used by setting this to 0. 0 to 32767 256 x * You can set up the excess range of position deviation. <25000> resolution * 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 turn on the control power. 124 [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 ................................. Interface Circuit ......................................................................... Input Signal and Pin No. of the Connector, CN X5 ................... Output Signal and Pin No. of the Connector, CN X5 ................ 127 128 130 135 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 ....................................................................................... Applicable Range ...................................................................... How to Operate ......................................................................... Adaptive Filter ........................................................................... Parameters Which are Automatically Set .................................. 140 140 140 141 141 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 ......................................................... 155 125 126 OA/OB/OZ Pr50 Pr51 Pr52 Pr57 Gain Reversal Offset Filter Input setup Pr44 Selection Pr46 Denominator Pr45 Numerator Division 4th speed Pr56 8th speed Pr77 3rd speed Pr55 7th speed Pr76 2nd speed Pr54 6th speed Pr75 1st speed Pr53 5th speed Pr74 Internal velocity setup 16bit A/D Feedback pulses SPR Analog velocity command Selection Pr05 Command selection Sigmoid - + Pr1B Notch filter 2nd width 2nd depth Pr1A Inertia ratio Pr20 Encoder reception process Actual speed monitor Adaptation 2nd frequency Pr28 Pr19 Torque filter 2nd limit 1st limit Pr5F Pr5E 2nd time const. Pr1C Motor Encoder Torque command 1st time const. Pr14 Serial communication data Pr2F Pr2A Pr29 1st width Pr1E 1st frequency Pr1D Pr12 Pr11 Velocity control 1st proportion 1st integration 2nd proportion 2nd integration Velocity detection 2nd Pr13 Velocity detection filter 1st Pr5A Deceleration Pr59 Acceleration Pr58 Acceleration/ Deceleration limit Command speed monitor Control block diagram of velocity control mode VDC 12 to 24V 28 INTSPD3 (Select with Pr0A) Zero speed detection output Torque in-limit output (Select with Pr09) Brake release output Positioning complete output Servo alarm output Servo-Ready output 9 CCWL 8 CWL ALM+ ZSP TLC 50 FG 41 COM- 12 40 11 BRKOFF+ 10 BRKOFF- ALM39 AT-SPEED+ 38 AT-SPEED- 36 37 35 S-RDY+ 34 S-RDY- CCW over-travel inhibition input CW over-travel inhibition input Control mode switching input ZEROSPD 32 C-MODE Alarm clear input 31 A-CLR Speed zero clamp input 26 Selection 3 input of internal command speed Servo-ON input 29 SRV-ON Gain switching input 27 GAIN 7 COM+ 33 INTSPD1 30 INTSPD2 4.7k 20k SPR/TRQR CZ GND OZ- OZ+ OB- OB+ OA- OA+ CN X5 1k 1k IM SP 330 330 330 14 42 43 ( Torque monitor output Velocity monitor output CW torque limit input(-10 to 0V) CCW torque limit input(0 to 10V) Velocity command input (0 to 10V) Z-phase output B-phase output A-phase output represents twisted pair.) 19 Z-phase output (open collector) 25 24 23 49 48 22 21 GND 15 10k 16 CCWTL/TRQR 3.83k 17 GND 10k CWTL 18 3.83k Divider Connection and Setup of Velocity Control Mode Selection 1 input of internal command speed Selection 2 input of internal command speed Wiring to the connector, CN X5 [Connection and setup of velocity control mode] Wiring Example to the Connector CN X5 Wiring Example of Velocity Control Mode 127 Wiring to the connector, CN X5 Interface Circuit Input Circuit SI Connection to sequence input signals * 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. 12 to 24V 7 COM+4.7k SRV-ON etc. Relay 12 to 24V 7 COM+4.7k SRV-ON etc. AI Analog command input * 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 2k, B-characteristics, 1/2W or larger, R with 200, 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 128 SPR/TRQR 14 20k +12V R VR 20k - + ADC 1 15 GND +3.3V CCWTL 16 10k R 17 GND - + 1k 1k 3.83k +3.3V -12V CWTL 18 10k - + 3.83k 1k 1k ADC 2 [Connection and setup of velocity control mode] Output Circuit SO1 SO2 Sequence 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, VCE (SAT) of approx. 1V at transistor-ON, due to the Darlington connection of the output or. Note that normal TTL IC cannot be directly connected 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 individually, and the one which is common to - side of the control power 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. Install toward the direction as the fig. shows without fail. SO1 ALM+ etc. ALM- etc. 12 to 24V VDC SO2 ZSP, TLC 41 COM- R [k] = Max. rating 30V, 50mA VDC[V] - 2.5[V] 10 For the recommended primary current value, refer to the data sheet of apparatus or photo-coupler to be used. AM26LS31 or equivalent AM26LS32 or equivalent * 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 terminal resistor (approx. 330) between line receiver inputs without fail. * These outputs are not insulated. represents twisted pair. Connection and Setup of Velocity Control Mode PO1 Line driver (Differential output) output 21 OA+ OA- 22 OB+ OB- 48 49 B OZ+ OZ- 23 24 Z GND 25 A Connect signal ground of the host and the driver without fail. PO2 Open collector output * 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 narrow. represents twisted pair. Max. rating 30V, 50mA 19 CZ 25 GND High speed photo-coupler (TLP554 by Toshiba or equivalent) AO Analog monitor output 43 SP 1k * There are two outputs, the speed monitor signal output (SP) Measuring instrument and the torque monitor signal output (IM) or * Output signal width is 10V. external 42 IM 1k * The output impedance is 1k. Pay an attention to the input circuit impedance of the measuring instrument or the external circuit 17 GND 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. 129 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 Function I/F circuit Pin No. Symbol 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 8 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) SI P.128 CCW over-travel inhibit input 9 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) SI P.128 Speed zero clamp input 26 ZEROSPD * Function varies depending on the control mode. SI P.128 * Becomes to a speed-zero clamp input (ZEROSPD). Velocity/ Torque control Content Pr06 Connection to COM- ZEROSPD input is invalid. 0 - Speed command is 0 open 1 Normal action close Speed command is to CCW open 2 Speed command is to CW. close * 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 Full-closed 1st damping filter (Pr2B, Pr2C) will be validated when you open this input, and the 2nd damping filter (Pr2D, Pr2E) control will be validated when you connect this input to COM-. Position/ Gain switching 27 GAIN input or Torque limit switching input TL-SEL * Function varies depending on the setups of Pr30 (2nd gain setup) and Pr03 (Selection of torque limit). Content Pr03 Pr30 Connection to COM- open Velocity loop : PI (Proportion/Integration) action 0 close Velocity loop : P (Proportion) action when the setups of Pr31 and Pr36 are 2 open 1st gain selection (Pr10,11,12,13 and 14) 0-2 close 2nd gain selection (Pr18,19,1A,1B and 1C) 1 when the setups of Pr31 and Pr36 are other than 2 invalid * Input of torque limit switching (TL-SEL) * Pr5E (Setup of 1st torque limit) will be validated when you 3 - open this input, and Pr5F (Setup of 2nd torque limit) will be validated when you connect this input to COM-. * For details of 2nd gain switching function, refer to P.243 "Gain Switching Function" of Adjustment. 130 SI P.128 [Connection and setup of velocity control mode] Title of signal Pin No. Internal command speed selection 3 input 28 Symbol INTSPD3 Function I/F circuit * Function varies depending on the control mode. SI P.128 * 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 Position/ Full-closed gear) to Pr49 (2nd numerator of electronic gear) * For the selection of command division/multiplication, refer control to the table of next page, "Numerator selection of command scaling" Velocity control * 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". Torque control * This input is invalid. Servo-ON input 29 SRV-ON SI P.128 Connection and Setup of Velocity Control Mode * 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. * Selection of Internal Speed Connector Pin No. of X5 Pin-33 Pin-30 Pin-28 INTSPD1(INH) INTSPD2(CL) INTSPD3(DIV) open open open short open open open short open short short open open open short short open short open short short short short short Pr05, Internal/external switching of speed setup 0 1 2 3 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) 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) 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) 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) 131 Wiring to the connector, CN X5 Title of signal Pin No. Selection 2 input of internal command speed 30 Symbol INTSPD2 Function I/F circuit * Function varies depending on the control mode. SI * 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). Pr4E Position/ Full-closed control 0 1 [Default] 2 Velocity control P.128 Content Clears the counter of positional deviation 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 * 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. Torque control * This input is invalid. Alarm clear input Control mode switching input 31 32 A-CLR C-MODE * 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. * You can switch the control mode as below by setting up Pr02 (Control mode setup) to 3-5. Pr02 setup 3 4 5 Open (1st) Position control Position control Velocity control SI P.128 SI P.128 Connection to COM- (2nd) Velocity control Torque control Torque control <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. Selection 1 input of internal command speed 33 INTSPD1 * Function varies depending on the control mode. 0 1(Default) Velocity control INH is valid. INH is valid. * 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. Torque control * This input is invalid. 132 SI * Inhibition input of command pulse input (INH) * Ignores the position command pulse by opening the connection to COM- Position/ * You can invalidate this input with Pr43 (Invalidation of Full closed command pulse inhibition input) control Content Pr43 P.128 [Connection and setup of velocity control mode] Input Signals (Analog Command) and Their Functions Title of signal Pin No. Speed command input 14 Symbol SPR Function I/F circuit * Function varies depending on control mode. Pr02 Control mode 1 3 5 Velocity control Position/ Velocity Velocity/ Torque AI 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) P.128 * Function varies depending on Pr5B (Selection of torque command) 5 Connection and Setup of Velocity Control Mode Others Velocity/ Torque Pr5B Content * This input becomes invalid. 0 * Speed limit (SPL) will be selected. * Set up the speed limit (SPL) gain, offset and filter with; 1 Pr50 (Speed command input gain) Pr52 (Speed command offset) Pr57 (Speed command filter setup) Other control * This input is invalid. 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 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 ) 133 Wiring to the connector, CN X5 Title of signal Pin No. CCW-Torque limit 16 Symbol CCWTL input Function * Function varies depending on Pr02 (Control mode setup). Pr02 Control mode 2 4 5 Torque Control Position/Torque Velocity/ Torque Function * Function varies depending on Pr5B (Selection of torque command) I/F circuit AI P.128 Pr5B Content This input becomes invalid. 0 * Torque command input (TRQR) will be selected. * Set up the gain and polarity of the com1 mand with; Pr5C (Torque command input gain) Pr5D (Torque command input reversal) * Offset and filter cannot be set up. * 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 Position/Torque (CCWTL). Velocity/Torque * Limit the CCW-torque by applying positive voltage (0 to +10V) (Approx.+3V/rated toque) Other Other control mode * Invalidate this input by setting up Pr03 (Torque limit selection) to other than 0. 4 5 * 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] CW-Torque limit input 18 CWTL * Function varies depending on Pr02 (Control mode setup). Pr02 2 4 5 Control mode Function Torque control * This input becomes invalid when the torque control Position/Torque is selected. Velocity/Torque * Becomes to the analog torque limit input to CW Position/Torque (CWTL). 4 Velocity/Torque * Limit the CW-torque by applying negative voltage 5 (0 to -10V) (Approx.+3V/rated toque). Other Other control mode Invalidate this input by setting up Pr03 (Torque limit selection) to other than 0. * Resolution of A/D converter used in this input is 16 bit (including 1 bit for sign). .=. 23[mV] 511 [LSB] = 11.9[V], 1 [LSB] *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 134 AI P.128 [Connection and setup of velocity control mode] Output signal and Pin No. of the Connector, CN X5 Output Signals (Common) and Their Functions Title of signal I/F circuit Pin No Symbol Function External brake 11 BRKOFF+ release signal 10 BRKOFF- Servo-Ready 35 S-RDY+ output 34 S-RDY- Servo-Alarm 37 ALM+ output 36 ALM- Positioning 39 AT-SPEED+ * Function varies depending on the control mode. complete 38 AT-SPEED- * Feeds out the timing signal which activates the electromagnetic brake of the motor. * Turns the output transistor ON at the release timing of the electromagnetic 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.) SO1 P.129 * 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. P.129 * 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. P.129 Position 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). SO1 SO1 P.129 Connection and Setup of Velocity Control Mode (In-position) SO1 * Output of full-closed positioning complete (EX-COIN) * The output transistor will turn ON when the absolute value Full-closed of full-closed-position deviation pulse becomes smaller control than the setup value of Pr60 (Positioning complete range). * You can select the feeding out method with Pr63 (Setup of positioning complete output). Velocity/ Torque control Zero-speed detection output signal Torque in-limit signal output 12 (41) 40 (41) * 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). 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". 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". SO2 P.129 SO2 P.129 * Selection of TCL and ZSP outputs Value of Pr09 or Pr0A 0 1 2 3 4 5 6 7 8 X5 TLC : Output of Pin-40 X5 ZSP : Output of Pin-12 * 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. 135 Wiring to the connector, CN X5 Output Signals (Pulse Train) and Their Functions Title of signal A-phase output B-phase output Z-phase output Z-phase output Pin No Symbol 21 OA + 22 OA - 48 OB + 49 OB - 23 OZ + 24 OZ - 19 CZ Function I/F circuit * Feeds out the divided encoder signal or external scale signal (A, B, Zphase) 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) * 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. PO1 P.129 PO2 P.129 <Note> * When the output source is the encoder Pr44 is multiple of 4, Z-phase will be fed out synchronizing with A-phase. Pr45 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. * If the encoder resolution X when the encoder resolution Pr44 is multiple of 4, Pr45 when the encoder resolution A A B B Z Z synchronized Pr44 is not multiple of 4, Pr45 not-synchronized * 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. 136 [Connection and setup of velocity control mode] Output Signals (Analog) and Their Functions Title of signal Torque monitor Pin No Symbol 42 IM signal output Function * The content of output signal varies depending on Pr08 (Torque monitor (IM) selection). * You can set up the scaling with Pr08 value. I/F circuit AO P.129 Function * Feeds out the voltage in proportion to the motor torque command with polarity. Torque 0, + : generates CCW torque 11,12 command - : generates CW torque Pr08 Content of signal 1-5 Positional deviation * 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 Speed monitor 43 SP signal output * The content of the output signal varies depending on Pr07 (Speed monitor (IM) selection). * You can set up the scaling with Pr07 value. Pr07 Control mode 0-4 Motor speed 5-9 Command speed AO P.129 Function * 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 Output Signals (Others) and Their Functions Title of signal Signal ground Pin No Symbol 13,15, GND 17,25 Frame ground 50 FG Function I/F circuit * Signal ground * This output is insulated from the control signal power (COM-) inside of the driver. - * This output is connected to the earth terminal inside of the driver. - 137 Connection and Setup of Velocity Control Mode * Feeds out the voltage in proportion to the fullclosed deviation pulse counts with polarity. + : positional command to CCW of Full-closed 6 -10 external scale position deviation - : positional command to CW of external scale position Trial Run (JOG run) at Velocity Control Mode Inspection Before Trial Run Display LED (1) Wiring inspection * Miswiring (Especially power input/motor output) * Short/Earth * Loose connection Power supply X3 (2) Check of power/voltage * Rated voltage X4 X5 (3) Fixing of the motor * Unstable fixing (4) Separation from Machine mechanical system (5) Release of the brake 138 CN X6 X6 X7 Motor ground [Connection and setup of 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) Connect the Servo-ON input (SRV-ON, CN X5, Pin-29) and COM- (CN X5, Pin-14) to turn 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. Refer to P.152, "Parameter Setup" (Parameters for Velocity/Torque Control) 10)If the motor does not run correctly, refer to P.68, "Display of Factor for No-Motor Running" of Preparation. Wiring Diagram Parameter 7 29 DC 12V - 24V 26 41 14 DC 10V 15 Run with ZEROSPD switch close, and Stop with open In case of one-directional operation Input signal status SRV-ON ZEROSPD COM- Title Setup value Setup of control mode 1 Invalidation of over-travel inhibit input 1 Selection of ZEROSPD input 1 Velocity command gain Set up Velocity command reversal as Velocity command offset required Setup of velocity command filter PrNo. 02 04 06 50 51 52 57 COM+ SPR/TRQR GND In case of bi-directional operation (CW/CCW), provide a bipolar power supply, or use with Pr06 = 3. No. 0 5 Title of signal Servo-ON Speed zero clamp Monitor display +A - 139 Connection and Setup of Velocity Control Mode Pr50 : Speed command input gain Pr51 : Speed command input reversal Real-Time Auto-Gain Tuning Outline The driver estimates the load inertia of the machine 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. Position/Velocity command Action command under actual condition Auto-gain setup Auto-filter adjustment Torque command Adaptive Filter Position/Velocity control Motor current Current control Motor Resonance frequency calculation Load inertia calculation Real-time auto-gain tuning Motor speed Encoder Servo driver 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 execute a manual gain tuning. (refer to P.240, of Adjustment) Conditions which obstruct real-time auto-gain tuning * Load is too small or large compared to rotor inertia. Load (less than 3 times or more than 20 times) inertia * Load inertia change too quickly. (10 [s] or less) * Machine stiffness is extremely low. Load * 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). Action * Acceleration/deceleration torque is smaller than pattern 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]. How to Operate (1) Bring the motor to stall (Servo-OFF). (2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 17. Default is 1. Setup value Real-time auto-gain tuning Varying degree of load inertia in motion (not in use) - 0 no change <1>,4,7 normal mode slow change 2,5 rapid change 3,6 Insert the console connector to CN X6 of the driver, then turn on the driver power. Setup of parameter, Pr21 Press . Press . Match to the parameter No. to be set up with . (Here match to Pr21.) * 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). Press . (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 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. Setup of parameter, Pr22 Change the setup with Press . 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). 140 [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. Resonance point Load Command pattern 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]. Parameters Which Are Automatically Set Up. Following parameters are automatically adjusted. 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 Also following parameters are automatically set up. PrNo. 27 30 31 32 33 34 36 Title 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 Setup value 0 1 0 30 50 33 0 <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 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 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 switching will be held. (6) During the trial run and frequency characteristics measurement of "PANATERM(R)", the load inertia estimation will be invalidated. 141 Connection and Setup of Velocity Control Mode <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. Parameter Setup Parameters for Functional Selection Standard default : < > PrNo. 00 Title Address * Setup range Function/Content 0 to 15 <1> 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. 01 LED initial status * 0 to 17 <1> You can select the type of data to be displayed on the front panel LED (7 segment) at the initial status after power-on. Setup value 0 Power -ON Flashes (for approx. 2 sec) during initialization Setup value of Pr01 For details of display, refer to P.51 "Setup of Parameter and Mode" of Preparation. 02 * Setup of control mode Setup value 0 <1> 2 3 **1 4 **1 5 **1 6 0 to 6 <1> <1> 2 Content Positional deviation Motor rotational speed Torque output 3 4 Control mode I/O signal status 5 6 7 Error factor/history Software version Alarm 8 9 Regenerative load factor Over-load factor 10 Inertia ratio 11 12 Sum of feedback pulses Sum of command pulses 13 External scale deviation 14 15 16 17 Sum of external scale feedback pulses Motor automatic recognizing function Analog input value Factor of "No-Motor Running" You can set up the control mode to be used. Control mode 1st mode 2nd mode Position - Velocity - Torque - Position Velocity Position Torque Velocity Torque Full-closed - **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. C-MODE open 1st close open 2nd 1st 10ms or longer 142 10ms or longer [Connection and setup of velocity control mode] Standard default : < > PrNo. 03 Title Setup range Selection of torque limit 0 to 3 <1> Function/Content You can set up the torque limiting method for CCW/CW direction. Setup value 0 <1> 2 3 04 * Setup of over-travel inhibit input 0 to 2 <1> CW CCW X5 CWTL : Pin-18 X5 CCWTL : Pin-16 Pr5E is a limit value for both CCW and CW direction Set with Pr5F Set with Pr5E When GAIN/TL-SEL input is open, set with Pr5E When GAIN/TL-SEL input is shorted, set with Pr5F 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. 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. CW direction Work CCW direction Limit switch Limit switch CCWL CWL Setup value CCWL/CWL input 0 Valid <1> Invalid 2 Valid Action Input Connection to COM- CCWL Close Normal status while CCW-side limit switch is not activated. (CN X5,Pin-9) Open Inhibits CCW direction, permits CW direction. CWL Close Normal status while CW-side limit switch is not activated. (CN X5,Pin-9) Open 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. <Cautions> 1. When Pr04 is set to 0 and over-travel inhibit input is entered, the motor decelerates and stops according to the preset sequence with Pr66 (Sequence at overtravel 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 application, 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 using this function. <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 143 Connection and Setup of Velocity Control Mode Driver Servo motor Parameter Setup Standard default : < > PrNo. 05 Title Speed setup, Internal/External switching Setup range Function/Content 0 to 3 <0> 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 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 * When the setup value is 1 or 2, switch 4 kinds of internal 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. * Selection of internal speed Connector Pin No. of X5 Pin-28 Pin-30 Pin-33 INTSPD3(DIV) INTSPD2(CL) INTSPD1(INH) open open open short open open open short open short short open open open short short open short open short short short short short * 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. Pr05, Internal/external switching of speed setup 0 1 2 3 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) 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) 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) 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) ZROSPD input Selection of ZEROSPD input 0 to 2 <0> Run Open CL input Open speed 1st speed Close Open 2nd speed Open Close Close Close 3rd speed 4th speed time You can set up the function of the speed zero clamp input (ZEROSPD : CN X5, Pin-26) Setup value <0> 1 2 144 Stop INH input <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. 06 Servo-ON SRV-ON input 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. [Connection and setup of velocity control mode] Standard default : < > PrNo. Title Setup range 07 Selection of speed monitor (SP) 0 to 9 <3> Function/Content 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 08 Selection of torque monitor (IM) 0 to 12 <0> 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 You can set up the content of the analog torque monitor of the signal output (IM : CN X5, Pin42), and the relation between the output voltage level and torque or deviation pulse counts. 09 0A Selection of TLC output Selection of ZSP output 0 to 8 <0> 0 to 8 <1> You can assign the function of the torque in-limit output (TLC : CN X5 Pin-40). Function Setup value Torque in-limit output <0> Zero speed detection output 1 Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 8 Note For details of function of each output of the left, refer to the table of P135, "Selection of TCL and ZSP outputs". You can assign the function of the zero speed detection output (ZSP: CN X5 Pin-12). Function Setup value Torque in-limit output 0 Zero speed detection output <1> Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 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". 145 Connection and Setup of Velocity Control Mode Setup value Signal of IM Relation between the output voltage level and torque or deviation pulse counts <0> Torque command 3V/rated (100%) torque 1 3V / 31Pulse 2 3V / 125Pulse Position 3 3V / 500Pulse deviation 4 3V / 2000Pulse 5 3V / 8000Pulse 6 3V / 31Pulse 7 3V / 125Pulse Full-closed 8 3V / 500Pulse deviation 9 3V / 2000Pulse 10 3V / 8000Pulse 11 Torque 3V / 200% torque 12 command 3V / 400% torque Parameter Setup Standard default : < > PrNo. 0B * 0C * 0D * 0E * Title Setup of absolute encoder Setup range 0 to 2 <1> Function/Content You can set up the using method of 17-bit absolute encoder. Content Setup value Use as an absolute encoder. 0 Use as an incremental encoder. <1> Use as an absolute encoder, but ignore the multi-turn counter over. 2 <Caution> This parameter will be invalidated when 5-wire, 2500P/r incremental encoder is used. You can set up the communication speed of RS232. * Error of baud rate is 0.5%. Baud rate Baud rate Setup value Setup value 2400bps 19200bps 0 3 4800bps 38400bps 1 4 9600bps 57600bps <2> 5 Baud rate setup of RS232 communication 0 to 5 <2> Baud rate setup of RS485 communication 0 to 5 <2> You can set up the communication speed of RS485. Setup of front panel lock 0 to 1 <0> You can limit the operation of the front panel to the Content Setup value monitor mode only. Valid to all <0> You can prevent such a misoperation as unexpecMonitor mode only 1 ted parameter change. Setup value 0 1 <2> Baud rate 2400bps 4800bps 9600bps Setup value 3 4 5 * Error of baud rate is 0.5%. Baud rate 19200bps 38400bps 57600bps <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(R)". Parameters for Adjustment of Time Constants of Gains and Filters Standard default : < > PrNo. 146 Title Setup range Unit Function/Content 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). 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". 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. 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. 11 1st gain of velocity loop 1 to 3500 A to C-frame:<35>* D to F-frame:<18>* Hz 12 1st time constant of velocity loop integration 1 to 1000 A to C-frame:<16>* D to F-frame:<31>* ms 13 1st filter of speed detection 0 to 5 <0>* - 14 1st time constant of 0 to 2500 0.01ms torque filter A to C-frame:<65>* D to F-frame:<126>* [Connection and setup of velocity control mode] Standard default : < > PrNo. 19 1A 1B 1C 1D 1E Title Setup range Unit 2nd gain of velocity 1 to 3500 Hz loop A to C-frame:<35>* D to F-frame:<18>* ms 2nd time constant of 1 to 1000 velocity loop integration <1000>* - 0 to 5 2nd filter of velocity <0>* detection 2nd time constant 0 to 2500 0.01ms of torque filter A to C-frame:<65>* D to F-frame:<126>* 1st notch 100 to 1500 Hz frequency <1500> 1st notch width selection 0 to 4 <2> - Function/Content 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. 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". 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. 20 21 Title Inertia ratio Setup of real-time auto-gain tuning Setup range Unit Function/Content 0 to 10000 <250>* % You can set up the ratio of the load inertia against the rotor (of the motor) inertia. 0 to 7 <1> Pr20=(load inertia/rotor inertia) X 100 [%] - 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. 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 <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 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, referring to P.239, "Release of Automatic Gain Adjusting Function" of Adjustment. 147 Connection and Setup of Velocity Control Mode Parameters for Auto-Gain Tuning Parameter Setup Standard default : < > PrNo. 22 Title Selection of machine stiffness at real-time auto-gain tuning Setup range Unit Function/Content 0 to 15 A to C-frame: <4> D to F-frame: <1> - You can set up the machine stiffness in 16 steps while the real-time autogain tuning is valid. low machine stiffness high low servo gain high Pr22 0, 1- - - - - - - - - - - - 14, 15 low response high 23 Setup of adaptive filter mode 0 to 2 <1> - 25 Setup of an action at normal mode auto-gain tuning 0 to 7 <0> - Setup of instantaneous speed observer 0 to 1 <0>* - 27 <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. 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. You can set up the action pattern at the normal mode auto-gain tuning. Rotational direction Setup value Number of revolution CCW CW <0> CW CCW 1 2 [revolution] CCW CCW 2 CW CW 3 CCW CW 4 CW CCW 5 1 [revolution] CCW CCW 6 CW CW 7 e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2 revolutions to CW. 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) 28 2nd notch frequency 100 to 1500 <1500> Hz 29 Selection of 2nd notch width 0 to 4 <2> - 2A Selection of 2nd notch depth 0 to 99 <0> - 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 parameter to "1500". 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. 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. <Notes> * Parameters which default values 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, referring to P.239, "Release of Automatic Gain Adjusting Function" of Adjustment. 148 [Connection and setup of velocity control mode] Standard default : < > PrNo. 2F Title Adaptive filter frequency Setup range Unit Function/Content 0 to 64 <0> - 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. 30 Title Setup of 2nd gain Setup range Unit Function/Content 0 to 1 <1>* - You can select the PI/P action switching of the velocity control or 1st/2nd gain switching. Setup value 0 <1>* Gain selection/switching 1st gain (PI/P switching enabled) *1 1st/2nd gain switching enabled *2 *1 Switch the PI/P action with the gain switching input (GAIN CN X5, Pin27). PI is fixed when Pr03 (Torque limit selection) is 3. GAIN input Open with COM- Connect to COM- Action of velocity loop PI action P action *2 For switching condition of the 1st and the 2nd, refer to P.243, "Gain Switching Function" of Adjustment. 31 1st mode of control switching Setup value <0>*, 6to 10 1 *1 2 3 4 5 *2 *2 *2 0 to 10 <0>* - You can select the switching condition of 1st gain and 2nd gain while Pr30 is set to 1. 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). *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. 149 Connection and Setup of Velocity Control Mode Parameters for Adjustment (2nd Gain Switching Function) Parameter Setup Standard default : < > PrNo. Title Setup range Unit 32 1st delay time of control switching 0 to x 166s 10000 <30>* 0 to 20000 - <50>* 33 1st level of control switching 34 0 to 20000 1st hysteresis of control switching <33>* - 36 2nd mode of control switching - 0 to 5 <0>* Function/Content 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. 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) You can set up hysteresis width to be implemented above/below the judging level which is set up with Pr33 Pr34 Pr33. Unit varies depending on the 0 setup of Pr31 (1st control switching 1st gain 2nd gain 1st gain mode). Definitions of Pr32 (Delay), Pr33 (Level) and Pr34 (Hysteresis) Pr32 are explained in the fig. below. <Caution> The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute values (positive/negative). 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. Gain switching condition Setup value <0>* Fixed to the 1st gain 1 Fixed to the 2nd gain *1 2nd gain selection when gain switching input is turned on 2 (GAIN : CN X5, Pin-27) (Pr30 setup must be 1.) 3 *2 2nd gain selection when the torque command variation is larger. *2 2nd gain selection when the speed command variation 4 (acceleration) is larger. 5 *2 2nd gain selection when the command speed is larger. *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. 37 38 0 to 10000 x 166s 2nd delay time of control switching <0> 2nd level of control 0 to 20000 - switching <0> 39 2nd hysteresis of control switching 0 to 20000 <0> - 3D JOG speed setup 0 to 500 <300> r/min You can set up the delay time when returning from 2nd to 1st gain, while Pr36 is set to 3 to 5. 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). You can set up the hysteresis width to be implemented above/below the judging level which is set up with Pr38 Pr38. Pr39 Unit varies depending on the setup 0 of Pr36 (2nd mode of control 1st gain 2nd gain 1st gain switching).Definition of Pr37 (Delay), Pr38 (Level) and Pr39 (Hysteresis) Pr37 are explained in the fig. below. <Caution> Setup of Pr38 (Level) and Pr39 (Hysteresis) are valid as absolute value (positive/negative). You can setup the JOG speed. Refer to P.75, "Trial Run"of Preparation. <Notes> * Parameters which default values 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, referring to P.239, "Release of Automatic Gain Adjusting Function" of Adjustment. 150 [Connection and setup of velocity control mode] Parameters for Position Control Standard default : < > PrNo. 44 * Title Setup range Function/Content Numerator of pulse 1 to 32767 You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin<2500> 21, 0A- : Pin-22, 0B+ : Pin-48, 0B- : Pin-49). output division * 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. The pulse output resolution per one revolution = Pr44 (Numerator of pulse output division) X4 * Pr450 : The pulse output resolution per one revolution can be divided by any ration according to the formula below. Pulse output resolution per one revolution * Denominator of pulse output division 0 to 32767 <0> Pr45 (Denominator of pulse output division) x Encoder resolution <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. when encoder resolution x Pr44 is multiple of 4 Pr45 when encoder resolution x A A B B Z Pr44 is not multiple of 4 Pr45 Z Synchronized Not-synchronized <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 151 Connection and Setup of Velocity Control Mode 45 Pr44 (Numerator of pulse output division) Parameter Setup Standard default : < > PrNo. 46 * Title Reversal of pulse output logic Setup range Function/Content 0 to 3 <0> 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. A-phase (OA) Setup value at motor CCW rotation at motor CW rotation B-phase(OB) non-reversal B-phase(OB) reversal <0>, 2 1, 3 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 *1 The output source of Pr46=2, 3 is valid only at full-closed control. Parameters for Velocity and Torque Control Standard default : < > PrNo. 50 Title Input gain of speed command Setup range Unit 10 to 2000 (r/min)/V <500> Function/Content 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 CCW and the motor speed, with Pr50. Speed (r/min) * Default is set to Pr50=500 [r/min], 3000 hence input of 6V becomes 3000r/min. Slope at ex-factory <Cautions> 1. Do not apply more than 10V to the -10 -6 2 4 6 8 10 speed command input (SPR). Command input voltage (V) 2. When you compose a position loop -3000 outside of the driver while you use the driver in velocity control mode, the CW setup of Pr50 gives larger variance to the overall servo system. Pay an extra attention to oscillation caused by larger setup of Pr50. <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 152 [Connection and setup of velocity control mode] Standard default : < > PrNo. 51 Title Reversal of speed command input Setup range Unit Function/Content 0 to 1 <1> - 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. Motor rotating direction Setup value CCW direction with (+) command (viewed from the motor shaft end 0 CW direction with (+) command (viewed from the motor shaft end <1> <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. Speed command offset -2047 to 2047 <0> 0.3mV * 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. 53 54 55 56 74 75 76 77 57 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 -20000 to 20000 <0> r/min 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. + - Command to CCW (viewed from the motor shaft end) Command to CW (viewed from the motor shaft end) -20000 to 20000 <0> r/min * The absolute value of the parameter setup is limited with Pr73 (Setup of over-speed level) 0 to 6400 <0> 0.01ms 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) 153 Connection and Setup of Velocity Control Mode 52 Parameter Setup Standard default : < > PrNo. Title 58 Acceleration time setup 59 Deceleration time setup Setup range Unit Function/Content 2ms/ 0 to 5000 You can make the velocity control while adding acceleration and <0> (1000r/min) 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. 0 to 5000 2ms/ Speed <0> (1000r/min) command ta Pr58 x 2ms/(1000r/min) td Speed ta Pr59 x 2ms/(1000r/min) td <Caution> Do not use these acceleration/deceleration time setup when you use the external position loop. (Set up both Pr58 and Pr59 to 0.) 5A Sigmoid acceleration/ deceleration time setup 0 to 500 <0> 2ms 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. speed 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) ts ts ta 5E 5F 1st torque limit setup 2nd torque limit setup 0 to 500 <500> *2 0 to 500 <500> *2 % % ts ts td ta : Pr58 td : Pr59 ts : Pr5A Use with the setup of ta td > ts, ts, and > ts 2 2 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). 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. * 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. torque [%] CCW 300(Max.) when Pr5E=150 200 100 (Rated) 100 speed (Rating) (Max.) 200 300 CW <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(R) 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. <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. * For parameters which default. has a suffix of "*2", value varies depending on the combination of the driver and the motor. 154 [Connection and setup of velocity control mode] Parameters for Sequence Standard default : < > PrNo. 61 Title Zero-speed Setup range Unit Function/Content 10 to 20000 <50> r/min 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 CCW speed command and the motor speed falls below the setup of this parameter, (Pr61+10)r/min 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]. ZSP 62 10 to 20000 <50> r/min ON 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 (Pr62+10)r/min CCW CW AT-SPEED 65 LV trip selection at main power OFF 0 to 1 <1> - (Pr62-10)r/min OFF ON You can select whether or not to activate Err13 (Main power undervoltage protection) function while the main power shutoff continues for the setup of Pr6D (Main power-OFF detection time). Setup value Action of main power low voltage protection When the main power is shut off during Servo-ON, Err13 will 0 not be triggered and the driver turns to Servo-OFF. The driver returns to Servo-ON again after the main power resumption. <1> When the main power is shut off during Servo-ON, the driver will trip due to Err13 (Main power low voltage protection). <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. 155 Connection and Setup of Velocity Control Mode At-speed (Speed arrival) (Pr61-10)r/min CW Parameter Setup Standard default : < > PrNo. 66 * Title Sequence at over-travel inhibit Setup range Unit Function/Content 0 to 2 <0> - 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 Setup value During deceleration Dynamic brake <0> action Torque command=0 1 towards inhibited direction 2 Emergency stop After stalling Deviation counter content Torque command=0 Hold towards inhibited direction Torque command=0 Hold towards inhibited direction Clears before/ Torque command=0 towards inhibited direction after deceleration <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 ). 67 Sequence at main power OFF 0 to 9 <0> - 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 68 Sequence at alarm 0 to 3 <0> - Action During deceleration After stalling DB DB DB Free-run Free-run DB Free-run Free-run DB DB DB Free-run Free-run DB Free-run Free-run DB Emergency stop Free-run Emergency stop Deviation counter content Clear Clear Clear Clear Hold Hold Hold Hold Clear Clear (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). 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. Setup value <0> 1 2 3 Action During deceleration After stalling DB DB DB Free-run Free-run DB Free-run Free-run Deviation counter content Hold Hold Hold Hold (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. <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 156 [Connection and setup of velocity control mode] Standard default : < > Title Setup range Unit Function/Content 69 Sequence at Servo-Off 0 to 9 <0> - 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. 6A Setup of mechanical brake action at stalling 0 to 100 <0> 2ms 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. PrNo. SRV-ON OFF ON BRK-OFF release actual brake hold tb hold release motor energization energized nonenergized Pr6A Refer to P.44, "Timing Chart"-Servo-ON/OFF Action While the Motor Is at Stall" of Preparation as well. 6B Setup of mechanical brake action at running 0 to 100 <0> 2ms 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. * 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. SRV-ON OFF ON BRK-OFF release hold tb actual brake energized motor energization nonenergized 30 r/min Refer to P.45, "Timing Chart"-Servo-ON/OFF action while the motor is in motion" of Preparation as well. 157 Connection and Setup of Velocity Control Mode * 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. Parameter Setup Standard default : < > PrNo. 6C * Title Selection of external regenerative resistor Setup range Unit Function/Content 0 to 3 for A, B-frame <3> for C to F-frame <0> - 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). resistor Setup value Regenerative to be used <0> (C, D, E and Built-in resistor F-frame) Regenerative processing and regenerative resistor overload 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 1 External resistor processing circuit is activated and its active ratio exceeds 10%, Regenerative processing circuit is activated, 2 External resistor but no regenerative over-load protection is triggered. Both regenerative processing circuit and <3> regenerative protection are not activated, and No resistor built-in capacitor handles all regenerative (A, B-frame) power. <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. 6D Detection time of main power off 35 to 1000 <35> 2ms 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 Torque setup at emergency stop 0 to 500 <0> % 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 Setup of position deviation excess 0 to 32767 256 x * You can set up the excess range of position deviation. <25000> resolution * 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 Setup of over-load level 0 to 500 <0> % * 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 Setup of over-speed level 0 to 20000 <0> r/min * 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. 158 [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 ................................. Interface Circuit ......................................................................... Input Signal and Pin No. of the Connector, CN X5 ................... Output Signal and Pin No. of the Connector, CN X5 ................ 161 162 164 168 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 ....................................................................................... Applicable Range ...................................................................... How to Operate ......................................................................... Parameters Which are Automatically Set up ............................. 172 172 172 173 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 ......................................................... 185 159 Control Block Diagram of Torque Control Mode * when Pr5B (Torque command selection) is 0 Absolute value(magnitude) Command speed monitor SPR/ TRQR Input setup 16bitA/D Gain Pr5C Reversal Pr5D Offset Pr52 Filter Pr57 Velocity control Multiplication + Sign() 1st proportion 1st integration 2nd proportion 2nd integration + Analog torque command - Internal velocity limit 4th speed Torque command monitor Pr56 Pr11 Torque filter Notch filter Torque limit 1st frequency Pr1D 1st time const. Pr14 Pr12 1st width 2nd time const. Pr1C Pr19 Pr1E 2nd frequency Pr28 1st limit Pr5E Pr1A 2nd width Pr29 2nd limit Pr5F Inertia ratio Pr20 2nd depth Pr2A Motor Velocity detection filter 1st Pr13 2nd Pr1B Encoder Monitor of actual speed Speed detection Division Feedback pulses OA/OB/OZ Numerator Pr44 Encoder reception processing Denominator Pr45 Selection Serial communication data Pr46 * when Pr5B (Torque command selection) is 1 Absolute value (magnitude) Command speed monitor CCWTL/ TRQR Analog velocity command SPR/SPL Gain Reversal Pr5C + Sign() Gain Pr50 Offset Pr52 Filter Pr57 1st proportion 1st integration 2nd proportion 2nd integration - Pr5D Input setup 16bitA/D Velocity control Multiplication Input setup 16bitA/D + Analog torque command Torque command monitor Absolute value (magnitude) Pr11 Notch filter Torque limit Torque filter 1st frequency Pr1D 1st time const. Pr14 Pr12 1st width 2nd time const. Pr1C Pr19 2nd frequency Pr28 1st limit Pr5E Pr1A 2nd width Pr29 2nd limit Pr5F Inertia ratio Pr20 2nd depth Pr2A Pr1E Motor Velocity detection filter 1st Pr13 2nd Pr1B Encoder Monitor of actual speed Speed detection Division Feedback pulses OA/OB/OZ Numerator Denominator Pr45 Selection 160 Pr44 Pr46 Encoder reception processing Serial communication data 50 FG COM- CN X5 3.83k 1k 1k 10k 10k ZSP 3.83k 20k TLC 11 BRKOFF+ 10 BRKOFF- 40 (Select with Pr09) Zero speed detection output 12 (Select with Pr0A) 41 Torque in-limit output Brake release output ALM39 AT-SPEED+ 38 AT-SPEED- Divider <Remarks> In case Pr5B=0, enter a speed limit value to 4th speed of speed setup (Pr56). VDC 12 to 24V At-speed signal output ALM+ 37 Servo-Alarm output 36 35 S-RDY+ 34 S-RDY- 9 CCWL 8 CWL Servo-Ready output CCW over-travel inhibition input CW over-travel inhibition input 32 C-MODE 31 Alarm clear input A-CLR Control mode switching input DIV Speed zero clamp input 26 ZEROSPD 28 CL 29 SRV-ON Gain switching input 27 GAIN Servo-ON input 4.7k 15 14 IM 42 43 CWTL 18 SP 330 330 330 Torque command input or velocity limit input (0 to 10V) Z-phase output B-phase output A-phase output 17 16 ( Torque monitor output Velocity monitor output GND CCWTL/TRQR represents twisted pair.) CW torque limit input (0 to 10V) Select with Pr5B. Wiring example when control mode Pr02=0 or Pr5B=1, 19 Z-phase output (open collector) 25 24 23 49 48 22 21 CCWTL/TRQR 16 17 GND GND SPR/TRQR CZ GND OZ- OZ+ OB- OB+ OA- OA+ Wiring Example of Torque Control Mode Connection and Setup of Torque Control Mode 30 7 COM+ 33 INH Wiring to the connector, CN X5 [Connection and Setup of Torque Control Mode] Wiring Example to the Connector CN X5 161 Wiring to the connector, CN X5 Interface Circuit Input Circuit SI Connection to sequence input signals * 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. 12 to 24V 7 COM+4.7k SRV-ON etc. Relay 12 to 24V 7 COM+4.7k SRV-ON etc. AI Analog command input * 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 2k, B-characteristics, 1/2W or larger, R with 200, 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 162 SPR/TRQR 14 20k +12V R VR 20k - + ADC 1 15 GND +3.3V CCWTL 16 10k R 17 GND - + 1k 1k 3.83k +3.3V -12V CWTL 18 10k - + 3.83k 1k 1k ADC 2 [Connection and Setup of Torque Control Mode] Output Circuit SO1 SO2 Sequence 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, VCE (SAT) of approx. 1V at transistor-ON, due to the Darlington connection of the output or. Note that normal TTL IC cannot be directly connected 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 individually, and the one which is common to - side of the control power 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. Install toward the direction as the fig. shows without fail. SO1 ALM+ etc. ALM- etc. 12 to 24V VDC SO2 ZSP, TLC 41 COM- R [k] = Max. rating 30V, 50mA VDC[V] - 2.5[V] 10 For the recommended primary current value, refer to the data sheet of apparatus or photo-coupler to be used. PO1 Line driver (Differential output) output AM26LS31 or equivalent AM26LS32 or equivalent represents twisted pair. OA+ OA- 22 OB+ OB- 48 49 B OZ+ OZ- 23 24 Z GND 25 A Connection and Setup of Torque Control Mode * 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 terminal resistor (approx. 330) between line receiver inputs without fail. * These outputs are not insulated. 21 Connect signal ground of the host and the driver without fail. PO2 Open collector output * 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 narrow. represents twisted pair. Max. rating 30V, 50mA 19 CZ 25 GND High speed photo-coupler (TLP554 by Toshiba or equivalent) AO Analog monitor output 43 SP 1k * There are two outputs, the speed monitor signal output (SP) Measuring instrument and the torque monitor signal output (IM) or * Output signal width is 10V. external 42 IM 1k * The output impedance is 1k. Pay an attention to the input circuit impedance of the measuring instrument or the external circuit 17 GND 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. 163 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 Function I/F circuit Pin No. Symbol 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 8 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) SI P.162 CCW over-travel inhibit input 9 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) SI P.162 Speed zero clamp input 26 ZEROSPD * Function varies depending on the control mode. SI P.162 * Becomes to a speed-zero clamp input (ZEROSPD). Velocity/ Torque control Content Pr06 Connection to COM- ZEROSPD input is invalid. 0 - Speed command is 0 open 1 Normal action close Speed command is to CCW open 2 Speed command is to CW. close * 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 Full-closed 1st damping filter (Pr2B, Pr2C) will be validated when you open this input, and the 2nd damping filter (Pr2D, Pr2E) control will be validated when you connect this input to COM-. Position/ Gain switching 27 GAIN input or Torque limit switching input TL-SEL * Function varies depending on the setups of Pr30 (2nd gain setup) and Pr03 (Selection of torque limit). Content Pr03 Pr30 Connection to COM- open Velocity loop : PI (Proportion/Integration) action 0 close Velocity loop : P (Proportion) action when the setups of Pr31 and Pr36 are 2 0-2 open 1st gain selection (Pr10,11,12,13 and 14) close 2nd gain selection (Pr18,19,1A,1B and 1C) 1 when the setups of Pr31 and Pr36 are other than 2 invalid * Input of torque limit switching (TL-SEL) * Pr5E (Setup of 1st torque limit) will be validated when you 3 - open this input, and Pr5F (Setup of 2nd torque limit) will be validated when you connect this input to COM-. * For details of 2nd gain switching function, refer to P.243 "Gain Switching Function" of Adjustment. 164 SI P.162 [Connection and Setup of Torque Control Mode] Title of signal Pin No. Servo-ON input Alarm clear input Control mode switching input 29 31 32 Symbol SRV-ON A-CLR C-MODE Function I/F circuit * 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. * 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. * You can switch the control mode as below by setting up Pr02 (Control mode setup) to 3-5. Pr02 setup 3 4 5 Open (1st) Position control Position control Velocity control SI P.162 SI P.162 SI P.162 Connection to COM- (2nd) Velocity control Torque control Torque control Connection and Setup of Torque Control Mode <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. 165 Wiring to the connector, CN X5 Input Signals (Analog Command) and Their Functions Title of signal Pin No. Torque command 14 Symbol TRQR input, Function * Function varies depending on control mode. Pr02 Control mode or Speed limit input I/F circuit AI P.162 Function * Function varies depending on Pr5B (Selection of torque command) SPL Pr5B Torque control 0 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) 1 * 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) 2 4 Position/ Torque * Function varies depending on Pr5B (Selection of torque command) 5 Others Velocity/ Torque Pr5B Content * This input becomes invalid. 0 * Speed limit (SPL) will be selected. * Set up the speed limit (SPL) gain, offset and filter with; 1 Pr50 (Speed command input gain) Pr52 (Speed command offset) Pr57 (Speed command filter setup) Other control * This input is invalid. 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 becomes valid when the control mode with underline ( / is selected while the switching mode is used in the control mode in table. 166 ) [Connection and Setup of Torque Control Mode] Title of signal Pin No. Torque command input 16 Symbol TRQR Function I/F circuit * Function varies depending on Pr02 (Control mode setup). Pr02 Control mode 2 4 5 Torque Control Position/Torque Velocity/ Torque Function * Function varies depending on Pr5B (Selection of torque command) AI P.162 Pr5B Content This input becomes invalid. 0 * Torque command input (TRQR) will be selected. * Set up the gain and polarity of the com1 mand with; Pr5C (Torque command input gain) Pr5D (Torque command input reversal) * Offset and filter cannot be set up. * 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 Position/Torque (CCWTL). Velocity/Torque * Limit the CCW-torque by applying positive voltage (0 to +10V) (Approx.+3V/rated torque) Other Other control mode * Invalidate this input by setting up Pr03 (Torque limit selection) to other than 0. 4 5 Connection and Setup of Torque Control Mode * 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] *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. ) 167 Wiring to the connector, CN X5 Output signal and Pin No. of the Connector, CN X5 Output Signals (Common) and Their Functions Title of signal I/F circuit Pin No Symbol Function External brake 11 BRKOFF+ release signal 10 BRKOFF- Servo-Ready 35 S-RDY+ output 34 S-RDY- Servo-Alarm 37 ALM+ output 36 ALM- Speed arrival 39 AT-SPEED+ * Function varies depending on the control mode. output 38 AT-SPEED- * Feeds out the timing signal which activates the electromagnetic brake of the motor. * Turns the output transistor ON at the release timing of the electromagnetic 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.) SO1 P.163 * 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. P.163 * 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. P.163 Position 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). SO1 SO1 SO1 P.163 * Output of full-closed positioning complete (EX-COIN) * The output transistor will turn ON when the absolute value Full-closed of full-closed-position deviation pulse becomes smaller control than the setup value of Pr60 (Positioning complete range). * You can select the feeding out method with Pr63 (Setup of positioning complete output). Velocity/ Torque control Zero-speed detection output signal Torque in-limit signal output 12 (41) 40 (41) * 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). 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". 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". SO2 P.163 SO2 P.163 * Selection of TCL and ZSP outputs Value of Pr09 or Pr0A 0 1 2 3 4 5 6 7 8 168 X5 TLC : Output of Pin-40 X5 ZSP : Output of Pin-12 * 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. [Connection and Setup of Torque Control Mode] Output Signals (Pulse Train) and Their Functions Title of signal A-phase output B-phase output Z-phase output Z-phase output Pin No Symbol 21 OA + 22 OA - 48 OB + 49 OB - 23 OZ + 24 OZ - 19 CZ Function I/F circuit * Feeds out the divided encoder signal or external scale signal (A, B, Zphase) 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) * 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. PO1 P.163 PO2 P.163 <Note> * When the output source is the encoder Pr44 is multiple of 4, Z-phase will be fed out synchronizing with A-phase. Pr45 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. * If the encoder resolution X Pr44 is multiple of 4, Pr45 when the encoder resolution A A B B Z Z synchronized Pr44 is not multiple of 4, Pr45 not-synchronized * 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. 169 Connection and Setup of Torque Control Mode when the encoder resolution Wiring to the connector, CN X5 Output Signals (Analog) and Their Functions Title of signal Torque monitor Pin No Symbol 42 IM signal output Function * The content of output signal varies depending on Pr08 (Torque monitor (IM) selection). * You can set up the scaling with Pr08 value. I/F circuit AO P.163 Function * Feeds out the voltage in proportion to the motor torque command with polarity. Torque 0, + : generates CCW torque 11,12 command - : generates CW torque Pr08 Content of signal 1-5 Positional deviation * 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 fullclosed deviation pulse counts with polarity. + : positional command to CCW of Full-closed 6 -10 external scale position deviation - : positional command to CW of external scale position Speed monitor 43 SP signal output * The content of the output signal varies depending on Pr07 (Speed monitor (IM) selection). * You can set up the scaling with Pr07 value. Pr07 Control mode 0-4 Motor speed 5-9 Command speed AO P.163 Function * 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 Output Signals (Others) and Their Functions Title of signal Signal ground Pin No Symbol 13,15, GND 17,25 Frame ground 170 50 FG Function I/F circuit * Signal ground * This output is insulated from the control signal power (COM-) inside of the driver. - * This output is connected to the earth terminal inside of the driver. - Trial Run (JOG run) at Velocity Control Mode [Connection and Setup of Torque Control Mode] Inspection Before Trial Run Display LED (1) Wiring inspection * Miswiring (Especially power input/motor output) * Short/Earth * Loose connection Power supply X3 (2) Check of power/voltage * Rated voltage X4 X5 (3) Fixing of the motor * Unstable fixing (4) Separation from Machine mechanical system (5) Release of the brake CN X6 X6 X7 Motor ground Trial Run by Connecting the Connector, CN X5 Pr56 : 4th speed of speed setup Pr5C : Torque command input gain Pr5D : Torque command input reversal Refer to P.183, "Parameter Setup-Parameters for Velocity and Torque Control". 9) If the motor does not run correctly, refer to P.68, "Display of factor for No-motor running" of Preparation. Wiring Diagram Parameter 7 DC 12V - 24V 29 41 14 DC 10V 15 PrNo. 02 04 06 56 5B 5C 5D COM+ SRV-ON COM- SPR/TRQR GND In case of one way running For bi-directional running (CW/CCW), provide a bipolar power supply. Title Setup value Setup of control mode 2 Invalidation of over-travel inhibit input 1 Selection of ZEROSPD 0 4th speed of speed setup lower value Selection of torque command 0 Set up Torque command input gain as Torque command input reversal required Input signal status No. 0 5 Title of signal Servo-ON Speed zero clamp Monitor display +A - 171 Connection and Setup of Torque Control Mode 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 Servo-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. Real-Time Auto-Gain Tuning Outline The driver estimates the load inertia of the machine 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. Position/Velocity command Action command under actual condition Auto-gain setup Auto-filter adjustment Torque command Adaptive Filter Position/Velocity control Motor current Current control Motor Resonance frequency calculation Load inertia calculation Real-time auto-gain tuning Motor speed Encoder Servo driver 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 execute a manual gain tuning. (refer to P.240, of Adjustment) Conditions which obstruct real-time auto-gain tuning * Load is too small or large compared to rotor inertia. Load (less than 3 times or more than 20 times) inertia * Load inertia change too quickly. (10 [s] or less) * Machine stiffness is extremely low. Load * 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). Action * Acceleration/deceleration torque is smaller than pattern 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]. How to Operate (1) Bring the motor to stall (Servo-OFF). (2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 17. Default is 1. Setup value Real-time auto-gain tuning Varying degree of load inertia in motion (not in use) - 0 no change <1>,4,7 normal mode slow change 2, 5 rapid change 3, 6 * When the varying degree of load inertia is large, set up 3. Insert the console connector to CN X6 of the driver, then turn on the driver power. 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 (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 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. 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). 172 [Connection and Setup of Torque Control Mode] Parameters Which Are Automatically Set Up. Following parameters are automatically adjusted. 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 Also following parameters are automatically set up. PrNo. 30 31 32 33 34 36 Title 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 Setup value 1 0 30 50 33 0 <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 173 Connection and Setup of Torque Control Mode (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 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 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 switching will be held. (6) During the trial run and frequency characteristics measurement of "PANATERM(R)", the load inertia estimation will be invalidated. Parameter Setup Parameters for Functional Selection Standard default : < > PrNo. 00 Title Address * Setup range Function/Content 0 to 15 <1> 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. 01 LED initial status * 0 to 17 <1> You can select the type of data to be displayed on the front panel LED (7 segment) at the initial status after power-on. Setup value 0 Power -ON Flashes (for approx. 2 sec) during initialization Setup value of Pr01 For details of display, refer to P.51 "Setup of Parameter and Mode" of Preparation. 02 * Setup of control mode Setup value 0 <1> 2 3 **1 4 **1 5 **1 6 0 to 6 <1> <1> 2 Content Positional deviation Motor rotational speed Torque output 3 4 Control mode I/O signal status 5 6 7 Error factor/history Software version Alarm 8 9 Regenerative load factor Over-load factor 10 Inertia ratio 11 12 Sum of feedback pulses Sum of command pulses 13 External scale deviation 14 15 16 17 Sum of external scale feedback pulses Motor automatic recognizing function Analog input value Factor of "No-Motor Running" You can set up the control mode to be used. Control mode 1st mode 2nd mode Position - Velocity - Torque - Position Velocity Position Torque Velocity Torque Full-closed - **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. C-MODE open 1st close open 2nd 1st 10ms or longer 10ms or longer <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 174 [Connection and Setup of Torque Control Mode] Standard default : < > PrNo. 04 * Title Setup of over-travel inhibit input Setup range Function/Content 0 to 2 <1> 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. CW direction Work CCW direction Driver Servo motor Limit switch Limit switch CCWL CWL Setup value CCWL/CWL input 0 Valid <1> Invalid 2 Valid Action Input Connection to COM- CCWL Close Normal status while CCW-side limit switch is not activated. (CN X5,Pin-9) Open Inhibits CCW direction, permits CW direction. CWL Close Normal status while CW-side limit switch is not activated. (CN X5,Pin-9) Open 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. 06 Selection of ZEROSPD input 0 to 2 <0> You can set up the function of the speed zero clamp input (ZEROSPD : CN X5, Pin-26) Setup value <0>, 2 1 07 Selection of speed monitor (SP) 0 to 9 <3> 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-. 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 175 Connection and Setup of Torque Control Mode <Cautions> 1. When Pr04 is set to 0 and over-travel inhibit input is entered, the motor decelerates and stops according to the preset sequence with Pr66 (Sequence at overtravel 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 application, 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 using this function. Parameter Setup Standard default : < > PrNo. Title Setup range 08 Selection of torque monitor (IM) 0 to 12 <0> Function/Content You can set up the content of the analog torque monitor of the signal output (IM : CN X5, Pin42), and the relation between the output voltage level and torque or deviation pulse counts. Setup value Signal of IM Relation between the output voltage level and torque or deviation pulse counts <0> Torque command 3V/rated (100%) torque 1 3V / 31Pulse 2 3V / 125Pulse Position 3 3V / 500Pulse deviation 4 3V / 2000Pulse 5 3V / 8000Pulse 6 3V / 31Pulse 7 3V / 125Pulse Full-closed 8 3V / 500Pulse deviation 9 3V / 2000Pulse 10 3V / 8000Pulse 11 Torque 3V / 200% torque 12 command 3V / 400% torque 09 0A 0B * 0C * 176 Selection of TLC output Selection of ZSP output Setup of absolute encoder Baud rate setup of RS232 communication 0 to 8 <0> 0 to 8 <1> 0 to 2 <1> 0 to 5 <2> You can assign the function of the torque in-limit output (TLC : CN X5 Pin-40). Function Setup value Torque in-limit output <0> Zero speed detection output 1 Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 8 Note For details of function of each output of the left, refer to the table of P168, "Selection of TCL and ZSP outputs". You can assign the function of the zero speed detection output (ZSP: CN X5 Pin-12). Function Setup value Torque in-limit output 0 Zero speed detection output <1> Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 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". You can set up the using method of 17-bit absolute encoder. Content Setup value Use as an absolute encoder. 0 Use as an incremental encoder. <1> Use as an absolute encoder, but ignore the multi-turn counter over. 2 <Caution> This parameter will be invalidated when 5-wire, 2500P/r incremental encoder is used. You can set up the communication speed of RS232. * Error of baud rate is 0.5%. Baud rate Baud rate Setup value Setup value 2400bps 19200bps 0 3 4800bps 38400bps 1 4 9600bps 57600bps <2> 5 [Connection and Setup of Torque Control Mode] Standard default : < > PrNo. Title Setup range 0D Baud rate setup of RS485 communication 0 to 5 <2> You can set up the communication speed of RS485. Setup of front panel lock 0 to 1 <0> You can limit the operation of the front panel to the Content Setup value monitor mode only. Valid to all <0> You can prevent such a misoperation as unexpecMonitor mode only 1 ted parameter change. * 0E * Function/Content Setup value 0 1 <2> Baud rate 2400bps 4800bps 9600bps * Error of baud rate is 0.5%. Baud rate Setup value 19200bps 3 38400bps 4 57600bps 5 <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(R)". Parameters for Adjustment of Time Constants of Gains and Filters Standard default : < > PrNo. Title Setup range Unit Function/Content 1st gain of velocity loop 1 to 3500 A to C-frame:<35>* D to F-frame:<18>* Hz 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 1st time constant of velocity loop integration 1 to 1000 A to C-frame:<16>* D to F-frame:<31>* ms 13 1st filter of speed detection 0 to 5 <0>* - 14 1st time constant of 0 to 2500 0.01ms torque filter A to C-frame:<65>* D to F-frame:<126>* 2nd gain of velocity 1 to 3500 Hz loop A to C-frame:<35>* D to F-frame:<18>* ms 2nd time constant of 1 to 1000 velocity loop integration <1000>* - 0 to 5 2nd filter of velocity <0>* detection 2nd time constant 0 to 2500 0.01ms of torque filter A to C-frame:<65>* D to F-frame:<126>* 1st notch 100 to 1500 Hz frequency <1500> 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". 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. 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. 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. 19 1A 1B 1C 1D 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 turn on the control power. * Parameters which default values 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, referring to P.239, "Release of Automatic Gain Adjusting Function" of Adjustment. 177 Connection and Setup of Torque Control Mode 11 Parameter Setup Standard default : < > PrNo. 1E Title 1st notch width selection Setup range Unit Function/Content 0 to 4 <2> - 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. Parameters for Auto-Gain Tuning Standard default : < > PrNo. 20 Title Inertia ratio Setup range Unit Function/Content 0 to 10000 <250>* % You can set up the ratio of the load inertia against the rotor (of the motor) inertia. Pr20=(load inertia/rotor inertia) X 100 [%] 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. 21 Setup of real-time auto-gain tuning 0 to 7 <1> - 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 22 Selection of machine stiffness at real-time auto-gain tuning 0 to 15 A to C-frame: <4> D to F-frame: <1> - Real-time auto-gain tuning Invalid Normal mode Varying degree of load inertia in motion - Little change Gradual change Rapid change You can set up the machine stiffness in 16 steps while the real-time autogain tuning is valid. low machine stiffness high low servo gain high Pr22 0, 1- - - - - - - - - - - - 14, 15 low response high <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. 178 [Connection and Setup of Torque Control Mode] Standard default : < > PrNo. 25 Title Setup of an action at normal mode auto-gain tuning Setup range Unit 0 to 7 <0> - 100 to 1500 <1500> Hz 28 2nd notch frequency 29 Selection of 2nd notch width 0 to 4 <2> - 2A Selection of 2nd notch depth 0 to 99 <0> - Function/Content You can set up the action pattern at the normal mode auto-gain tuning. Rotational direction Setup value Number of revolution CCW CW <0> CW CCW 1 2 [revolution] CCW CCW 2 CW CW 3 CCW CW 4 CW CCW 5 1 [revolution] CCW CCW 6 CW CW 7 e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2 revolutions to CW. 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 parameter to "1500". 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. 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. Parameters for Adjustment (2nd Gain Switching Function) PrNo. 30 Title Setup of 2nd gain Unit Function/Content 0 to 1 <1>* - You can select the PI/P action switching of the velocity control or 1st/2nd gain switching. Setup value 0 <1>* Gain selection/switching 1st gain (PI/P switching enabled) *1 1st/2nd gain switching enabled *2 *1 Switch the PI/P action with the gain switching input (GAIN CN X5, Pin27). PI is fixed when Pr03 (Torque limit selection) is 3. GAIN input Open with COM- Connect to COM- Action of velocity loop PI action P action *2 For switching condition of the 1st and the 2nd, refer to P.243, "Gain Switching Function" of Adjustment. 31 1st mode of control switching Setup value <0>*, 4to 10 1 *1 2 3 *2 0 to 10 <0>* - You can select the switching condition of 1st gain and 2nd gain while Pr30 is set to 1. 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). *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. <Notes> * Parameters which default values 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, referring to P.239, "Release of Automatic Gain Adjusting Function" of Adjustment. 179 Connection and Setup of Torque Control Mode Standard default : < > Setup range Parameter Setup Standard default : < > PrNo. Unit Function/Content 32 1st delay time of control switching 0 to 10000 x 166s <30>* You can set up the delay time when returning from the 2nd to the 1st gain, while Pr31 is set to 3. 33 1st level of control switching 0 to 20000 <50>* - 34 0 to 20000 1st hysteresis of control switching <33>* - 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) You can set up hysteresis width to be implemented above/below the judging level which is set up with Pr33 Pr34 Pr33. Unit varies depending on the 0 setup of Pr31 (1st control switching 1st gain 2nd gain 1st gain mode). Definitions of Pr32 (Delay), Pr33 (Level) and Pr34 (Hysteresis) Pr32 are explained in the fig. below. <Caution> The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute values (positive/negative). 35 Switching time of position gain 37 38 180 Title Setup range 0 to 10000 (setup You can setup the <20>* value +1) step-by-step switching x 166s time to the position loop gain only at gain switching while the 1st and the 2nd gain switching is valid. 0 to 10000 x 166s 2nd delay time of control switching <0> 2nd level of control 0 to 20000 - switching <0> 39 2nd hysteresis of control switching 0 to 20000 <0> - 3D JOG speed setup 0 to 500 <300> r/min e.g.) 166 166 166s 166 Kp1(Pr10) Pr35= 0 Kp1(Pr10)>Kp2(Pr18) 3 2 1 0 bold line 1 2 3 thin line Kp2(Pr18) 1st gain 2nd gain 1st gain <Caution> The switching time is only valid when switching from small position gain to large position gain. You can set up the delay time when returning from 2nd to 1st gain, while Pr36 is set to 3 to 5. 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). You can set up the hysteresis width to be implemented above/below the judging level which is set up with Pr38 Pr38. Pr39 Unit varies depending on the setup 0 of Pr36 (2nd mode of control 1st gain 2nd gain 1st gain switching).Definition of Pr37 (Delay), Pr38 (Level) and Pr39 (Hysteresis) Pr37 are explained in the fig. below. <Caution> Setup of Pr38 (Level) and Pr39 (Hysteresis) are valid as absolute value (positive/negative). You can setup the JOG speed. Refer to P.75, "Trial Run"of Preparation. [Connection and Setup of Torque Control Mode] Parameters for Position Control Standard default : < > PrNo. 44 * Title Setup range Function/Content Numerator of pulse 1 to 32767 You can set up the pulse counts to be fed out from the pulse output (X5 0A+ : Pin<2500> 21, 0A- : Pin-22, 0B+ : Pin-48, 0B- : Pin-49). output division * 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. The pulse output resolution per one revolution = Pr44 (Numerator of pulse output division) X4 * Pr450 : The pulse output resolution per one revolution can be divided by any ration according to the formula below. Pulse output resolution per one revolution 45 * Denominator of pulse output division 0 to 32767 <0> Pr44 (Numerator of pulse output division) Pr45 (Denominator of pulse output division) x Encoder resolution when encoder resolution x Pr44 is multiple of 4 Pr45 when encoder resolution x A A B B Z Pr44 is not multiple of 4 Pr45 Z Synchronized Not-synchronized <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 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, referring to P.239, "Release of Automatic Gain Adjusting Function" of Adjustment. 181 Connection and Setup of Torque Control Mode <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. Parameter Setup Standard default : < > PrNo. 46 * Title Reversal of pulse output logic Setup range Function/Content 0 to 3 <0> 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. Setup value <0>, 2 1, 3 Pr46 <0> 1 2 *1 3 *1 A-phase (OA) at motor CCW rotation at motor CW rotation B-phase(OB) non-reversal B-phase(OB) reversal B-phase logic Non-reversal Reversal Non-reversal Reversal Output source Encoder position Encoder position External scale position External scale position *1 The output source of Pr46=2, 3 is valid only at full-closed control. <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 182 [Connection and Setup of Torque Control Mode] Parameters for Velocity and Torque Control Standard default : < > PrNo. 50 Title Input gain of speed command Setup range Unit 10 to 2000 (r/min)/V <500> Function/Content 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 CCW and the motor speed, with Pr50. Speed (r/min) * Default is set to Pr50=500 [r/min], 3000 hence input of 6V becomes 3000r/min. Slope at ex-factory <Cautions> 1. Do not apply more than 10V to the -10 -6 2 4 6 8 10 speed command input (SPR). Command input voltage (V) 2. When you compose a position loop -3000 outside of the driver while you use the driver in velocity control mode, the CW setup of Pr50 gives larger variance to the overall servo system. Pay an extra attention to oscillation caused by larger setup of Pr50. 52 Speed command offset -2047 to 2047 <0> 0.3mV * 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. 56 4th speed of speed setup -20000 to 20000 <0> r/min 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). 57 Setup of speed command filter 0 to 6400 <0> 10s 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) 5B Selection of torque command 0 to 1 <0> - 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 183 Connection and Setup of Torque Control Mode 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. Parameter Setup Standard default : < > PrNo. 5C Title Input gain of torque command Setup range Unit Function/Content 10 to 100 <30> 0.1V/ 100% 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. torque * Unit of the setup value is [0.1V/100%] 300[%] and set up input voltage necessary to Default Rated 200 torque produce the rated torque. 100 * Default setup of 30 represents -10V-8 -6 -4 -2 3V/100%. CCW 2 4 6 8 10V 100 command 200 input voltage (V) 300[%] CW 5D Input reversal of torque command 0 to 1 <0> - 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 Setup value CCW direction (viewed from motor shaft) with (+) command <0> CW direction (viewed from motor shaft) with (+) command 1 5E 1st torque limit setup 0 to 500 <500> *2 % You can limit the max torque for both CCW and CW direction with Pr5E. Pr03 setup and Pr5F are ignored. 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. * 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. torque [%] CCW 300(Max.) when Pr5E=150 200 100 (Rated) 100 speed (Rating) (Max.) 200 300 CW <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(R) 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. <Notes> * For parameters which default. has a suffix of "*2", value varies depending on the combination of the driver and the motor. 184 [Connection and Setup of Torque Control Mode] Parameters for Sequence Standard default : < > PrNo. 61 Title Zero-speed Setup range Unit Function/Content 10 to 20000 <50> r/min 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 CCW speed command and the motor speed falls below the setup of this parameter, (Pr61+10)r/min 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]. ZSP 62 At-speed (Speed arrival) 10 to 20000 <50> r/min (Pr61-10)r/min CW ON 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 (Pr62+10)r/min CCW AT-SPEED 65 LV trip selection at main power OFF 0 to 1 <1> - Connection and Setup of Torque Control Mode CW (Pr62-10)r/min OFF ON You can select whether or not to activate Err13 (Main power undervoltage protection) function while the main power shutoff continues for the setup of Pr6D (Main power-OFF detection time). Setup value Action of main power low voltage protection When the main power is shut off during Servo-ON, Err13 will 0 not be triggered and the driver turns to Servo-OFF. The driver returns to Servo-ON again after the main power resumption. <1> When the main power is shut off during Servo-ON, the driver will trip due to Err13 (Main power low voltage protection). <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. 185 Parameter Setup Standard default : < > PrNo. 66 * Title Sequence at over-travel inhibit Setup range Unit Function/Content 0 to 2 <0> - 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 Setup value During deceleration Dynamic brake <0> action Torque command=0 1 towards inhibited direction 2 Emergency stop After stalling Deviation counter content Torque command=0 Hold towards inhibited direction Torque command=0 Hold towards inhibited direction Clears before/ Torque command=0 towards inhibited direction after deceleration <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 ). 67 Sequence at main power OFF 0 to 9 <0> - 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 68 Sequence at alarm 0 to 3 <0> - Action After stalling During deceleration DB DB DB Free-run Free-run DB Free-run Free-run DB DB DB Free-run Free-run DB Free-run Free-run DB Emergency stop Free-run Emergency stop Deviation counter content Clear Clear Clear Clear Hold Hold Hold Hold Clear Clear (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). 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. Setup value <0> 1 2 3 Action During deceleration After stalling DB DB DB Free-run Free-run DB Free-run Free-run Deviation counter content Hold Hold Hold Hold (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. <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 186 [Connection and Setup of Torque Control Mode] Standard default : < > Title Setup range Unit Function/Content 69 Sequence at Servo-Off 0 to 9 <0> - 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. 6A Setup of mechanical brake action at stalling 0 to 100 <0> 2ms 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. PrNo. * 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. SRV-ON OFF ON BRK-OFF release actual brake hold tb hold release motor energization energized nonenergized Pr6A Refer to P.44, "Timing Chart"-Servo-ON/OFF Action While the Motor Is at Stall" of Preparation as well. 6B 0 to 100 <0> 2ms 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. * 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. SRV-ON OFF ON BRK-OFF release hold tb actual brake energized motor energization nonenergized 30 r/min Refer to P.45, "Timing Chart"-Servo-ON/OFF action while the motor is in motion" of Preparation as well. 187 Connection and Setup of Torque Control Mode Setup of mechanical brake action at running Parameter Setup Standard default : < > PrNo. 6C * Title Selection of external regenerative resistor Setup range Unit Function/Content 0 to 3 for A, B-frame <3> for C to F-frame <0> - 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). resistor Setup value Regenerative to be used <0> (C, D, E and Built-in resistor F-frame) Regenerative processing and regenerative resistor overload 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 1 External resistor processing circuit is activated and its active ratio exceeds 10%, Regenerative processing circuit is activated, 2 External resistor but no regenerative over-load protection is triggered. Both regenerative processing circuit and <3> regenerative protection are not activated, and No resistor built-in capacitor handles all regenerative (A, B-frame) power. <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. 6D Detection time of main power off 35 to 1000 <35> 2ms 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 Torque setup at emergency stop 0 to 500 <0> % 71 Setup of analog input excess 0 to 100 <0> 0.1V 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 ServoOFF) Normal torque limit is used by setting this to 0. * 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. 72 Setup of over-load level 0 to 500 <0> % * 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 Setup of over-speed level 0 to 20000 <0> r/min * 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. 188 [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 ................................. Interface Circuit ......................................................................... Input Signal and Pin No. of the Connector, CN X5 .................... Output Signal and Pin No. of the Connector, CN X5 ................ 192 193 195 201 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 ....................................................................................... Applicable Range ...................................................................... How to Operate ......................................................................... Adaptive Filter ........................................................................... Parameters Which are Automatically Set up ............................. 206 206 206 207 207 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 ....................................................... 224 189 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 affected by the positional variation due to the ball screw error or temperature and you can expect to achieve a very high precision positioning in sub-micron order. Controller (Speed detection) Position command Position detection Linear scale = Linear scale division ratio V 1 20 V We recommend the linear scale division ratio of = 20 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/multiplication 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, Total variation of external scale feedback pulse sum External scale division ratio = Total variation of feedback pulse sum = Pr78 x 2 Pr79 Pr7A * 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 driver calculates the difference between the encoder position and the linear scale position 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 delayed and error detection effect will be lost. If this is too narrow, it may 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. 190 Pr42 Mode Pr4B Denominator OA/OB/OZ + Pr78 Pr46 Pr47 Selection Z-phase Denominator Pr45 Numerator Division Position deviation monitor Pr44 Denominator - + Pr7A Numerator multiplier Pr79 Numerator External scale correction Selection Pr4C 1st delay smoothing Average Pr4D travel times FIR smoothing Command speed monitor Pr4A Multiplier 2nd numerator Pr49 1st numerator Pr48 Division/Multiplication Pr41 Reversal Feedback pulses PULS SIGN Pr40 Input setup Input selection Pr2C - 2nd filter 2nd 1st Pr18 Pr10 Position control Filter Pr16 Gain Pr15 Velocity feed forward Full closed position deviation monitor Pr2E 2nd frequency Pr2D 1st filter 1st frequency Pr2B Damping control Full-Closed Control Mode Pulse train + - + Pr1B Pr13 Speed detection 2nd 1st Speed detection filter + Pr1E Adaptation Pr2F 2nd depth Pr2A 2nd width Pr29 2nd frequency Pr28 1st width Notch filter 1st frequency Pr1D External scale reception processing Encoder reception processing Actual speed monitor Inertia ratio Pr20 Velocity control 1st proportion Pr11 1st integration Pr12 2nd proportion Pr19 2nd integration Pr1A Serial communication data Serial communication data 2nd limit 1st limit Pr5F Pr5E Torque filter 1st time Pr14 constant 2nd time Pr1C constant External scale Encoder Motor Torque command monitor Control Block Diagram at Full-Closed Control Mode [Connection and Setup of Full-closed Control] 191 192 VDC 12 to 24V 30 CL Command pulse input B (Use with 2Mpps or less.) (Select with Pr0A) (Select with Pr09) Zero speed detection output Torque in-limit output Brake release output Full-closed positioning complete output Servo-Alarm output Servo-Ready output inhibition input CW over-travel inhibition input ALM+ TLC SIGNH1 PULSH2 PULSH1 50 FG 47 SIGNH2 13 GND 46 45 44 ZSP 41 COM- 12 40 11 BRKOFF+ 10 BRKOFF- ALM39 EX-COIN+ 38 EX-COIN- 36 37 35 S-RDY+ 34 S-RDY- 9 CCWL 8 CWL Alarm clear input 31 A-CLR CCW over-travel 29 SRV-ON Gain switching input 27 GAIN Electronic gear switching input 28 DIV Damping control switching input 26 VS-SEL 32 C-MODE Servo-ON input Command pulse inhibition input Deviation counter clear input 7 COM+ 33 INH 2k 43k 220 2k 43k 2k 43k 220 2k 43k Divider CN X5 SIGN 3.83k 3.83k PULS 4.7k 1k 1k 10k 10k 20k 220 220 2.2k 2.2k SP IM CWTL GND CCWTL/TRQR GND SPR/TRQR CZ GND OZ- OZ+ OB- OB+ OA- OA+ GND SIGN2 SIGN1 PULS2 PULS1 OPC2 OPC1 330 330 330 42 43 18 17 16 15 14 VDC R R 220 GND ( represents twisted pair.) Velocity monitor output Torque monitor output CW torque limit input (-10 to +10V) 13 SIGN2 6 220 2.2k OPC2 2 PULS2 4 2.2k OPC1 1 external resistor with 24V power supply CCW torque limit input (0 to +10V) Z-phase output 24VDC Specifications VDC -1.5 . =10mA R+220 . of R 12V 1k1/2W 24V 2k1/2W VDC 220 13 GND SIGN2 6 220 SIGN1 5 PULS2 4 PULS1 3 (1) When you use the external resistor with 12V and 24V power supply B-phase output (2) When you do not use the A-phase output (Use with 500kpps or less.) Command pulse input A In case of open collector I/F 19 Z-phase output (open collector) 25 24 23 49 48 22 21 6 13 5 4 3 2 1 Wiring to the Connector, CN X5 Wiring Example to the Connector, CN X5 Wiring example of full-closed control mode [Connection and Setup of Full-closed Control] Interface Circuit Input Circuit SI Connection to sequence input signals * 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. 12 to 24V 7 COM+4.7k 12 to 24V 7 COM+4.7k SRV-ON etc. SRV-ON etc. Relay PI1 Connection to sequence input signals (Pulse train interface) AM26LS31 or equivalent (1) (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 VDC is required in this case. * Connect the specified resister as below. VDC 12V 24V Specifications 1k1/2W 2k1/2W H/L PI2 Connection to sequence input signals (Pulse train interface exclusive to line driver) R AI H/L SIGN L/H PULS 4 PULS2 220 5 SIGN1 ON/OFF R ON/OFF L/H SIGN 6 SIGN2 13 220 GND VDC 1 OPC1 2.2k L/H PULS 4 PULS2 220 2 OPC2 2.2k ON/OFF ON/OFF H/L L/H SIGN 6 SIGN2 13 220 GND VDC 43k 2k 44 45 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. represents twisted pair. 6 SIGN2 220 GND 220 AM26C32 or equivalent H/L 2k PULS SIGN 43k H/L 43k 2k 46 47 13 220 GND Full-Closed Control Mode Max.input voltage : DC24V, Rated current : 10mA H/L PULS 3 PULS1 (2) (3) (3)Open collector I/F (Input pulse frequency : max. 200kpps) * Connecting diagram when a current regulating resistor is not used with 24V power supply. 4 PULS2 220 5 SIGN1 13 VDC -1.5 . =. 10mA R+220 represents twisted pair. 3 PULS1 H/L AM26C32 or equivalent H/L 2k PULS SIGN 43k Analog command input * 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 2k, B-characteristics, 1/2W or larger, R with 200, 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 SPR/TRQR 14 20k +12V R VR 20k - + ADC 1 15 GND +3.3V CCWTL 16 10k R 17 GND - + 1k 1k 3.83k +3.3V -12V CWTL 18 10k - + 3.83k ADC 2 1k 1k 193 Wiring to the Connector, CN X5 Output Circuit SO1 SO2 Sequence 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, VCE (SAT) of approx. 1V at transistor-ON, due to the Darlington connection of the output or. Note that normal TTL IC cannot be directly connected 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 individually, and the one which is common to - side of the control power 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. Install toward the direction as the fig. shows without fail. SO1 ALM+ etc. ALM- etc. 12 - 24V VDC SO2 ZSP, TLC 41 COM- R [k] = Max. rating 30V, 50mA VDC[V] - 2.5[V] 10 For the recommended primary current value, refer to the data sheet of apparatus or photo-coupler to be used. PO1 Line driver (Differential output) output AM26LS31 or equivalent AM26LS32 or equivalent * 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 terminal resistor (approx. 330) between line receiver inputs without fail. * These outputs are not insulated. represents twisted pair. 21 OA+ OA- 22 OB+ OB- 48 49 B OZ+ OZ- 23 24 Z GND 25 A Connect signal ground of the host and the driver without fail. PO2 Open collector output * 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 narrow. represents twisted pair. Max. rating 30V, 50mA 19 CZ 25 GND High speed photo-coupler (TLP554 by Toshiba or equivalent) AO Analog monitor output 43 SP 1k * There are two outputs, the speed monitor signal output (SP) Measuring instrument and the torque monitor signal output (IM) or * Output signal width is 10V. external 42 IM 1k * The output impedance is 1k. Pay an attention to the input circuit impedance of the measuring instrument or the external circuit 17 GND 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. 194 [Connection and Setup of Full-closed Control] Input Signal and Pin No. of the Connector, CN X5 Input Signals (common) and Their Functions Title of signal Function I/F circuit Pin No. Symbol 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 8 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) SI P.193 CCW over-travel inhibit input 9 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) SI P.193 damping control switching input 26 VS-SEL * Function varies depending on the control mode. SI P.193 * Becomes to a speed-zero clamp input (ZEROSPD). Velocity/ Torque control Full-Closed Control Mode Content Pr06 Connection to COM- ZEROSPD input is invalid. 0 - Speed command is 0 open 1 Normal action close Speed command is to CCW open 2 Speed command is to CW. close * 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 Full-closed 1st damping filter (Pr2B, Pr2C) will be validated when you open this input, and the 2nd damping filter (Pr2D, Pr2E) control will be validated when you connect this input to COM-. Position/ Gain switching 27 GAIN input or Torque limit switching input TL-SEL * Function varies depending on the setups of Pr30 (2nd gain setup) and Pr03 (Selection of torque limit). SI P.193 Content Pr03 Pr30 Connection to COM- open Velocity loop : PI (Proportion/Integration) action 0 close Velocity loop : P (Proportion) action when the setups of Pr31 and Pr36 are 2 open 1st gain selection (Pr10,11,12,13 and 14) 0-2 close 2nd gain selection (Pr18,19,1A,1B and 1C) 1 when the setups of Pr31 and Pr36 are other than 2 invalid * Input of torque limit switching (TL-SEL) * Pr5E (Setup of 1st torque limit) will be validated when you 3 - open this input, and Pr5F (Setup of 2nd torque limit) will be validated when you connect this input to COM-. * For details of 2nd gain switching function, refer to P.243 "Gain Switching Function" of Adjustment. 195 Wiring to the Connector, CN X5 Title of signal Pin No. Electronic gear (division/ multiplication) switching input 28 Symbol DIV Function * Function varies depending on the 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 Position/ Full-closed gear) to Pr49 (2nd numerator of electronic gear) * For the selection of command division/multiplication, refer control to the table of next page, "Numerator selection of command scaling" Velocity control I/F circuit SI P.193 * 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". Torque control * This input is invalid. <Caution> Do not enter the command pulse 10ms before/after switching. Servo-ON input Deviation counter clear input 29 30 SRV-ON CL * 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. * 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). Position/ Full-closed control Pr4E 0 1 [Default] 2 Velocity control SI P.193 SI P.193 Content Clears the counter of positional deviation 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 * 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. Torque control * This input is invalid. Alarm clear input 196 31 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. SI P.193 [Connection and Setup of Full-closed Control] Title of signal Pin No. Inhibition input of command pulse input 33 Symbol INH Function I/F circuit * Function varies depending on the control mode. SI * Inhibition input of command pulse input (INH) * Ignores the position command pulse by opening the connection to COM- Position/ * You can invalidate this input with Pr43 (Invalidation of Full closed command pulse inhibition input) control Pr43 Content 0 1(Default) Velocity control P.193 INH is valid. INH is valid. * 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. Torque control * This input is invalid. * Numerator selection of electronic gear CN X5 Pin-28 DIV Setup of electronic gear 1st numerator of electronic gear (Pr48) x 2 Open or Multiplier of command scaling (Pr4A) Denominator of electronic gear (Pr4B) Encoder resolution* Command pulse counts per single turn (Pr4B) 2nd numerator of electronic gear (Pr49) x 2 Short or * Automatic setup by setting up Pr48 to 0 Multiplier of command scaling (Pr4A) Denominator of electronic gear (Pr4B) Encoder resolution* Command pulse counts per single turn (Pr4B) * Automatic setup by setting up Pr49 to 0 Full-Closed Control Mode 197 Wiring to the Connector, CN X5 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 Title of signal Pin No. Command pulse Symbol 44 PULSH1 45 PULSH2 46 SIGNH1 47 SIGNH2 input 1 Command pulse sign input 1 Function I/F circuit * 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". PI2 P.193 * Pulse train interface Title of signal Pin No. Command pulse input 2 Command pulse sign input 2 1 Symbol OPC1 3 PULS1 4 PULS2 2 OPC2 5 SIGN1 6 SIGN2 Function I/F circuit * 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". PI1 P.193 * Command pulse input format Pr41 Setup value Pr42 Setup value (Setup of (Setup of command pulse command pulse rotational direction) input mode) 0 or 2 0 1 3 0 or 2 1 1 3 Command pulse format 2-phase pulse with 90 difference (A+B-phase) Signal title t1 2-phase pulse with 90 difference (A+B-phase) PULS SIGN t1 t1 B-phase t1 t1 t1 t1 B-phase advances to A by 90. B-phase delays from A by 90. t3 t2 t2 t2 t2 PULS SIGN t4 t5 t4 t5 "L" "H" t6 t6 t6 t1 t6 t1 t1 t1 A-phase PULS SIGN B-phase t1 t1 t1 t1 B-phase delays from A by 90. B-phase advances to A by 90. t3 CW pulse train PULS + CCW pulse train SIGN Pulse train + Sign t1 A-phase CW pulse train PULS + CCW pulse train SIGN Pulse train + Sign CW command CCW command t2 t2 t2 t2 PULS SIGN t4 t5 t4 t5 "L" t6 "H" t6 t6 t6 * PULS and SIGN represents 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 captured at each edge. * Permissible max. input frequency of command pulse input signal and min. necessary time width Input I/F of PULS/SIGN signal Pulse train interface exclusive for line driver Line driver interface Pulse train interface Open collector interface Permissible max. input frequency 2Mpps 500kpps 200kpps Minimum necessary time width t1 t2 t5 t3 t4 t6 500ns 250ns 250ns 250ns 250ns 250ns 1s 2s 1s 1s 1s 1s 5s 2.5s 2.5s 2.5s 2.5s 2.5s Set up the rising/falling time of command pulse input signal to 0.1s or shorter. 198 [Connection and Setup of Full-closed Control] Input Signals (Analog Command) and Their Functions Title of signal Pin No. Speed command 14 Symbol SPR input Function * Function varies depending on control mode. Pr02 Control mode or Torque command TRQR input, 3 or Speed limit input 1 SPL 5 Velocity control Position/ Velocity Velocity/ Torque 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) I/F circuit AI P.193 * Function varies depending on Pr5B (Selection of torque command) Pr5B 2 4 Torque control 0 Position/ Torque 1 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 varies depending on Pr5B (Selection of torque command) Others Velocity/ Torque Full-Closed Control Mode 5 Pr5B Content * This input becomes invalid. 0 * Speed limit (SPL) will be selected. * Set up the speed limit (SPL) gain, offset and filter with; 1 Pr50 (Speed command input gain) Pr52 (Speed command offset) Pr57 (Speed command filter setup) Other control * This input is invalid. 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 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. 199 Wiring to the Connector, CN X5 Title of signal Pin No. CCW-Torque 16 Symbol CCWTL limit input Function * Function varies depending on Pr02 (Control mode setup). Pr02 Control mode 2 4 5 Torque Control Position/Torque Velocity/ Torque Function * Function varies depending on Pr5B (Selection of torque command) I/F circuit AI P.193 Pr5B Content This input becomes invalid. 0 * Torque command input (TRQR) will be selected. * Set up the gain and polarity of the com1 mand with; Pr5C (Torque command input gain) Pr5D (Torque command input reversal) * Offset and filter cannot be set up. * 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 Position/Torque (CCWTL). 4 Velocity/Torque * Limit the CCW-torque by applying positive voltage 5 (0 to +10V) (Approx.+3V/rated toque) Other Other * Invalidate this input by setting up Pr03 (Torque limit control mode selection) to other than 0. * 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] CW-Torque limit input 18 CWTL * Function varies depending on Pr02 (Control mode setup). Pr02 2 4 5 Control mode Function Torque control * This input becomes invalid when the torque control Position/Torque is selected. Velocity/Torque * Becomes to the analog torque limit input to CW Position/Torque (CWTL). 4 Velocity/Torque * Limit the CW-torque by applying negative voltage 5 (0 - -10V) (Approx.+3V/rated toque). Other Other control mode Invalidate this input by setting up Pr03 (Torque limit selection) to other than 0. * Resolution of A/D converter used in this input is 16 bit (including 1 bit for sign). .=. 23[mV] 511 [LSB] = 11.9[V], 1 [LSB] *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. 200 AI P.193 [Connection and Setup of Full-closed Control] Output signal and Pin No. of the Connector, CN X5 Output Signals (Common) and Their Functions Title of signal Pin No Symbol External brake 11 BRKOFF+ release signal 10 BRKOFF- Servo-Ready 35 S-RDY+ output 34 S-RDY- Servo-Alarm 37 ALM+ output 36 ALM- Positioning 39 EX-COIN+ complete 38 EX-COIN- I/F circuit Function * Feeds out the timing signal which activates the electromagnetic brake of the motor. * Turns the output transistor ON at the release timing of the electromagnetic 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.) SO1 P.194 * 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. P.194 * 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. P.194 * Function varies depending on the control mode. (In-position) Position 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). SO1 SO1 SO1 P.194 * Output of full-closed positioning complete (EX-COIN) * The output transistor will turn ON when the absolute value Full-closed of full-closed-position deviation pulse becomes smaller control than the setup value of Pr60 (Positioning complete range). * You can select the feeding out method with Pr63 (Setup of positioning complete output). Velocity/ Torque control Torque in-limit signal output 12 (41) 40 (41) 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". 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". SO2 P.194 SO2 P.194 * Selection of TCL and ZSP outputs Value of Pr09 or Pr0A 0 1 2 3 4 5 6 7 8 X5 TLC : Output of Pin-40 X5 ZSP : Output of Pin-12 * 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. 201 Full-Closed Control Mode Zero-speed detection output signal * 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). Wiring to the Connector, CN X5 Output Signals (Pulse Train) and Their Functions Title of signal A-phase output B-phase output Z-phase output Z-phase output Pin No Symbol 21 OA + 22 OA - 48 OB + 49 OB - 23 OZ + 24 OZ - 19 CZ Function I/F circuit * Feeds out the divided encoder signal or external scale signal (A, B, Zphase) 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) * 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. PO1 P.194 PO2 P.194 <Note> * When the output source is the encoder Pr44 is multiple of 4, Z-phase will be fed out synchronizing with A-phase. Pr45 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. * If the encoder resolution X when the encoder resolution Pr44 is multiple of 4, Pr45 when the encoder resolution A A B B Z Z synchronized Pr44 is not multiple of 4, Pr45 not-synchronized * 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. * 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) 202 [Connection and Setup of Full-closed Control] Output Signals (Analog) and Their Functions Title of signal Torque monitor Pin No Symbol 42 IM signal output Function * The content of output signal varies depending on Pr08 (Torque monitor (IM) selection). * You can set up the scaling with Pr08 value. I/F circuit AO P.194 Function * Feeds out the voltage in proportion to the motor torque command with polarity. Torque 0, + : generates CCW torque 11,12 command - : generates CW torque Pr08 Content of signal 1-5 Positional deviation * 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 fullclosed deviation pulse counts with polarity. + : positional command to CCW of Full-closed 6 -10 external scale position deviation - : positional command to CW of external scale position Speed monitor 43 SP signal output * The content of the output signal varies depending on Pr07 (Speed monitor (IM) selection). * You can set up the scaling with Pr07 value. Pr07 Control mode 0-4 Motor speed 5-9 Command speed AO P.194 Function * 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 Title of signal Signal ground Pin No Symbol 13,15, GND 17,25 Frame ground 50 FG Function I/F circuit * Signal ground * This output is insulated from the control signal power (COM-) inside of the driver. - * This output is connected to the earth terminal inside of the driver. - 203 Full-Closed Control Mode Output Signals (Others) and Their Functions Wiring to the Connector, CN X7 Connector, CN X7 Power supply for the external scale shall be prepared by customer, or use the following power supply output for the external scale (250mA or less). Connector PinNo. 1 Power supply output for external scale 2 I/F of external scale signals 5 (serial signal) 6 Frame ground Case Application Content EX5V EX0V EXPS EXPS FG <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). Cautions (1) Following external scale can be used for full-closed control. * AT500 series by Mitutoyo (Resolution 0.05[m], max. speed 2[m/s]) * ST771 by Mitutoyo (Resolution 0.5[m], 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. 204 [Connection and Setup of Full-closed Control] 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. X6 X7 Please cut it out with nippers etc. 3 1 1 2 4 3 2 4 11 5 13 6 CN X7 EX5V EX0V +5V 0V Regulator EX5V EX0V EX5V EX0V EX5V EX0V EXPS EXPS Full-Closed Control Mode 55100-0600 (by Molex Inc.) EXPS EXPS FG 7 8 15 Twisted pair Detection head HDAB-15P HDAB-15S (by Hirose Electric Co.) (by Hirose Electric Co.) Junction cable Linear scale unit Linear scale side Servo driver 205 Real-Time Auto-Gain Tuning Outline The driver estimates the load inertia of the machine 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. Position/Velocity command Action command under actual condition Auto-gain setup Auto-filter adjustment Torque command Adaptive Filter Position/Velocity control Motor current Current control Motor Resonance frequency calculation Load inertia calculation Real-time auto-gain tuning Motor speed Encoder Servo driver 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 execute a manual gain tuning. (refer to P.240, of Adjustment) Conditions which obstruct real-time auto-gain tuning * Load is too small or large compared to rotor inertia. Load (less than 3 times or more than 20 times) inertia * Load inertia change too quickly. (10 [s] or less) * Machine stiffness is extremely low. Load * 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). Action * Acceleration/deceleration torque is smaller than pattern 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]. How to Operate (1) Bring the motor to stall (Servo-OFF). (2) Set up Pr21 (Real-time auto-gain tuning mode setup) to 17. Default is 1. Insert the console connector to CN X6 of the driver, then turn on the driver power. Setup of parameter, Pr21 Setup value 0 <1> 2 3 4 5 6 7 Real-time auto-gain tuning Varying degree of load inertia in motion (not in use) - no change normal mode slow change rapid change no change vertical axis mode slow change rapid change no-gain switching mode no change 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 * 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). Match to Pr22 with (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 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. Press Press . . Numeral increases with and decreases with , (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). 206 [Connection and Setup of Full-closed Control] 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. Resonance point Load Command pattern 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]. <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. Parameters Which Are Automatically Set Up. Following parameters are automatically adjusted. 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 Title 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 Setup value 300 50 0 1 10 30 50 33 20 0 <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 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 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 switching will be held. (6) During the trial run and frequency characteristics measurement of "PANATERM(R)", the load inertia estimation will be invalidated. 207 Full-Closed Control Mode PrNo. 10 11 12 13 14 18 19 1A 1B 1C 20 2F Also following parameters are automatically set up. Parameter Setup Parameters for Functional Selection Standard default : < > PrNo. 00 Title Address * Setup range Function/Content 0 to 15 <1> 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. 01 LED initial status * 0 to 17 <1> You can select the type of data to be displayed on the front panel LED (7 segment) at the initial status after power-on. Setup value 0 Power -ON Flashes (for approx. 2 sec) during initialization Setup value of Pr01 For details of display, refer to P.51 "Setup of Parameter and Mode" of Preparation. 02 * Setup of control mode Setup value 0 <1> 2 3 **1 4 **1 5 **1 6 0 to 6 <1> <1> 2 Content Positional deviation Motor rotational speed Torque output 3 4 Control mode I/O signal status 5 6 7 Error factor/history Software version Alarm 8 9 Regenerative load factor Over-load factor 10 Inertia ratio 11 12 Sum of feedback pulses Sum of command pulses 13 External scale deviation 14 15 16 17 Sum of external scale feedback pulses Motor automatic recognizing function Analog input value Factor of "No-Motor Running" You can set up the control mode to be used. Control mode 1st mode 2nd mode Position - Velocity - Torque - Position Velocity Position Torque Velocity Torque Full-closed - **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. C-MODE open 1st close open 2nd 1st 10ms or longer 10ms or longer <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 208 [Connection and Setup of Full-closed Control] Standard default : < > PrNo. 03 Title Setup range Selection of torque limit 0 to 3 <1> Function/Content You can set up the torque limiting method for CCW/CW direction. Setup value 0 <1> 2 3 04 * Setup of over-travel inhibit input 0 to 2 <1> CW CCW X5 CWTL : Pin-18 X5 CCWTL : Pin-16 Pr5E is a limit value for both CCW and CW direction Set with Pr5F Set with Pr5E When GAIN/TL-SEL input is open, set with Pr5E When GAIN/TL-SEL input is shorted, set with Pr5F 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. 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. CW direction Work CCW direction Driver Servo motor Limit switch Limit switch CCWL CWL Setup value CCWL/CWL input 0 Valid <1> Invalid 2 Valid Action Input Connection to COM- CCWL Close Normal status while CCW-side limit switch is not activated. (CN X5,Pin-9) Open Inhibits CCW direction, permits CW direction. CWL Close Normal status while CW-side limit switch is not activated. (CN X5,Pin-9) Open 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. 07 Selection of speed monitor (SP) 0 to 9 <3> 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 209 Full-Closed Control Mode <Cautions> 1. When Pr04 is set to 0 and over-travel inhibit input is entered, the motor decelerates and stops according to the preset sequence with Pr66 (Sequence at overtravel 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 application, 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 using this function. Parameter Setup Standard default : < > PrNo. Title Setup range 08 Selection of torque monitor (IM) 0 to 12 <0> Function/Content You can set up the content of the analog torque monitor of the signal output (IM : CN X5, Pin42), and the relation between the output voltage level and torque or deviation pulse counts. Setup value Signal of IM Relation between the output voltage level and torque or deviation pulse counts <0> Torque command 3V/rated (100%) torque 1 3V / 31Pulse 2 3V / 125Pulse Position 3 3V / 500Pulse deviation 4 3V / 2000Pulse 5 3V / 8000Pulse 6 3V / 31Pulse 7 3V / 125Pulse Full-closed 8 3V / 500Pulse deviation 9 3V / 2000Pulse 10 3V / 8000Pulse 11 Torque 3V / 200% torque 12 command 3V / 400% torque 09 0A 0B * 0C * 210 Selection of TLC output Selection of ZSP output Setup of absolute encoder Baud rate setup of RS232 communication 0 to 8 <0> 0 to 8 <1> 0 to 2 <1> 0 to 5 <2> You can assign the function of the torque in-limit output (TLC : CN X5 Pin-40). Function Setup value Torque in-limit output <0> Zero speed detection output 1 Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 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". You can assign the function of the zero speed detection output (ZSP: CN X5 Pin-12). Function Setup value Torque in-limit output 0 Zero speed detection output <1> Alarm output of either one of Over-regeneration 2 /Over-load/Absolute battery/Fan lock/External scale Over-regeneration alarm trigger output 3 Overload alarm output 4 Absolute battery alarm output 5 Fan lock alarm output 6 External scale alarm output 7 In-speed (Speed coincidence) output 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". You can set up the using method of 17-bit absolute encoder. Content Setup value Use as an absolute encoder. 0 Use as an incremental encoder. <1> Use as an absolute encoder, but ignore the multi-turn counter over. 2 <Caution> This parameter will be invalidated when 5-wire, 2500P/r incremental encoder is used. You can set up the communication speed of RS232. * Error of baud rate is 0.5%. Baud rate Baud rate Setup value Setup value 2400bps 19200bps 0 3 4800bps 38400bps 1 4 9600bps 57600bps <2> 5 [Connection and Setup of Full-closed Control] Standard default : < > PrNo. Title Setup range 0D Baud rate setup of RS485 communication 0 to 5 <2> You can set up the communication speed of RS485. Setup of front panel lock 0 to 1 <0> You can limit the operation of the front panel to the Content Setup value monitor mode only. Valid to all <0> You can prevent such a misoperation as unexpecMonitor mode only 1 ted parameter change. * 0E * Function/Content Setup value 0 1 <2> Baud rate 2400bps 4800bps 9600bps * Error of baud rate is 0.5%. Baud rate Setup value 19200bps 3 38400bps 4 57600bps 5 <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(R)". Parameters for Adjustment of Time Constants of Gains and Filters Standard default : < > PrNo. Title Unit Function/Content 0 to 3000 A to C-frame:<63>* D to F-frame:<32>* 1 to 3500 A to C-frame:<35>* D to F-frame:<18>* 1/s 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. 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). 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". 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. 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. 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. 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. 10 1st gain of position loop 11 1st gain of velocity loop 12 1st time constant of velocity loop integration 1 to 1000 A to C-frame:<16>* D to F-frame:<31>* ms 13 1st filter of speed detection 0 to 5 <0>* - 14 1st time constant of 0 to 2500 0.01ms torque filter A to C-frame:<65>* D to F-frame:<126>* Velocity feed -2000 0.1% forward to 2000 <300>* Time constant of 0 to 6400 0.01ms feed forward filter <50>* 15 16 Hz <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 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, referring to P.239, "Release of Automatic Gain Adjusting Function" of Adjustment. 211 Full-Closed Control Mode Setup range Parameter Setup Standard default : < > PrNo. 18 19 1A 1B 1C 1D 1E Title Setup range Unit 2nd gain of position loop 0 to 3000 1/s A to C-frame:<73>* D to F-frame:<38>* 2nd gain of velocity 1 to 3500 Hz loop A to C-frame:<35>* D to F-frame:<18>* ms 2nd time constant of 1 to 1000 velocity loop integration <1000>* - 0 to 5 2nd filter of velocity <0>* detection 2nd time constant 0 to 2500 0.01ms of torque filter A to C-frame:<65>* D to F-frame:<126>* 1st notch 100 to 1500 Hz frequency <1500> 1st notch width selection 0 to 4 <2> - Function/Content 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. 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". 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. Parameters for Auto-Gain Tuning Standard default : < > PrNo. 20 21 Title Inertia ratio Setup of real-time auto-gain tuning Setup range 0 to 10000 <250>* 0 to 7 <1> Unit Function/Content % You can set up the ratio of the load inertia against the rotor (of the motor) inertia. Pr20=(load inertia/rotor inertia) X 100 [%] - 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. 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 7 212 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 [Connection and Setup of Full-closed Control] Standard default : < > PrNo. 22 Title Selection of machine stiffness at real-time auto-gain tuning Setup range Unit Function/Content 0 to 15 A to C-frame: <4> D to F-frame: <1> - You can set up the machine stiffness in 16 steps while the real-time autogain tuning is valid. low machine stiffness high low servo gain high Pr22 0, 1- - - - - - - - - - - - 14, 15 low response high 23 Setup of adaptive filter mode 0 to 2 <1> - 24 Selection of damping filter switching 0 to 2 <0> - 25 Setup of an action at normal mode auto-gain tuning 0 to 7 <0> - Setup of software limit 28 2nd notch frequency 29 Selection of 2nd notch width 2A Selection of 2nd notch depth 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). You can set up the action pattern at the normal mode auto-gain tuning. Rotational direction Setup value Number of revolution CCW CW <0> CW CCW 1 2 [revolution] CCW CCW 2 CW CW 3 CCW CW 4 CW CCW 5 1 [revolution] CCW CCW 6 CW CW 7 e.g.) When the setup is 0, the motor turns 2 revolutions to CCW and 2 revolutions to CW. You can set up the movable range of the motor against the position 0 to 1000 0.1 <10> revolution 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. 100 to 1500 Hz You can set up the 2nd notch width of the resonance suppressing filter in <1500> 5 steps. The notch filter function is invalidated by setting up this parameter to "1500". 0 to 4 - You can set up the notch width of 2nd resonance suppressing filter in 5 <2> steps. Higher the setup, larger the notch width you can obtain. Use with default setup in normal operation. 0 to 99 - You can set up the 2nd notch depth of the resonance suppressing filter. Higher <0> the setup, shallower the notch depth and smaller the phase delay you can obtain. <Notes> * Parameters which default values 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, referring to P.239, "Release of Automatic Gain Adjusting Function" of Adjustment. 213 Full-Closed Control Mode 26 <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. 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. Parameter Setup Standard default : < > PrNo. Title Setup range Unit Function/Content 2B 1st damping frequency 0 to 2000 <0> 0.1Hz 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 Setup of 1st damping filter -200 to 2000 <0> 0.1Hz 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> <Pr2C= <Pr2B Setup is also limited by 10.0[Hz]-Pr2B = 2D 2nd damping frequency 0 to 2000 <0> 0.1Hz 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. 2E Setup of 2nd damping filter -200 to 2000 <0> 0.1Hz 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> <Pr2E=Pr2D Setup is also limited by 10.0[Hz]-Pr2D = 2F Adaptive filter frequency 0 to 64 <0> - 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. Parameters for Adjustment (2nd Gain Switching Function) Standard default : < > PrNo. 30 Title Setup of 2nd gain Setup range Unit Function/Content 0 to 1 <1>* - You can select the PI/P action switching of the velocity control or 1st/2nd gain switching. Setup value 0 <1>* Gain selection/switching 1st gain (PI/P switching enabled) *1 1st/2nd gain switching enabled *2 *1 Switch the PI/P action with the gain switching input (GAIN CN X5, Pin27). PI is fixed when Pr03 (Torque limit selection) is 3. GAIN input Open with COM- Connect to COM- Action of velocity loop PI action P action *2 For switching condition of the 1st and the 2nd, refer to P.243, "Gain Switching Function" of Adjustment. 214 [Connection and Setup of Full-closed Control] Standard default : < > PrNo. 31 Title 1st mode of control switching Setup value <0>* 1 2 *1 3 4 5 6 7 8 9 *2 *2 *2 *2 *2 *2 *2 *2 10 Setup range Unit Function/Content 0 to 10 <0>* - You can select the switching condition of 1st gain and 2nd gain while Pr30 is set to 1. 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 166s. 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 166s] and the speed falls slower than the setups of Pr33-34[r/min]. *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. 1st delay time of control switching 0 to 10000 x 166s <30>* 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 1st level of control switching 0 to 20000 <50>* - 34 0 to 20000 1st hysteresis of control switching <33>* - 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) You can set up hysteresis width to be implemented above/below the judging level which is set up with Pr33 Pr34 Pr33. Unit varies depending on the setup of Pr31 (1st control switching 0 1st gain 2nd gain 1st gain mode). Definitions of Pr32 (Delay), Pr33 (Level) and Pr34 (Hysteresis) Pr32 are explained in the fig. below. <Caution> The setup of Pr33 (Level) and Pr34 (Hysteresis) are valid as absolute values (positive/negative). 35 Switching time of position gain 3D JOG speed setup 166 166s 0 to 10000 (setup You can setup the stepe.g.) Kp1(Pr10)>Kp2(Pr18) 166 166 <20>* value +1) by-step switching time to Kp1(Pr10) 0 bold line 3 x 166s the position loop gain Pr35= 0 1 only at gain switching 2 2 while the 1st and the 2nd 1 3 thin line gain switching is valid. Kp2(Pr18) <Caution> 1st gain 2nd gain 1st gain The switching time is only valid when switching from small position gain to large position gain. 0 to 500 <300> r/min You can setup the JOG speed. Refer to P.75, "Trial Run"of Preparation. <Notes> * Parameters which default values 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, referring to P.239, "Release of Automatic Gain Adjusting Function" of Adjustment. 215 Full-Closed Control Mode 32 Parameter Setup Parameters for Position Control Standard default : < > PrNo. 40 * Title Selection of command pulse input Setup range Function/Content 0 to 1 <0> You can select either the photo-coupler input or the exclusive input for line driver as the command pulse input. Content Setup value Photo-coupler input (X5 PULS1:Pin-3, PULS2:Pin-4, SIGN1:Pin-5, SIGN2:Pin-6) <0> Exclusive input for line driver (X5 PULSH1:Pin-44, PULSH2:Pin-45, SIGNH1:Pin-46, SIGNH2:Pin-47) 1 41 * 42 * Command pulse rotational direction setup Setup of command pulse input mode 0 to 1 <0> 0 to 3 <1> You can set up the rotational direction against the command pulse input, and the command pulse input format. Pr41 setup value Pr42 setup value (Command pulse (Command pulse rotational input mode direction setup) setup) 0 or 2 <0> <1> 3 0 or 2 1 1 3 Command Signal pulse title format 90 phase difference PULS 2-phase pulse SIGN (A + B-phase) CCW command t1 t1 t1 B-phase t1 t1 t1 t1 B-phase advances to A by 90. B-phase delays from A by 90. t3 t2 t2 t2 t2 PULS SIGN t4 t5 t4 t5 "H" t6 90 phase difference PULS 2-phase pulse SIGN (A + B-phase) t1 "L" t6 t6 t6 t1 t1 t1 A-phase B-phase t1 t1 t1 t1 B-phase delays from A by 90. B-phase advances to A by 90. t3 CW pulse train PULS + CCW pulse train SIGN pulse train + Signal t1 A-phase CW pulse train PULS + CCW pulse train SIGN pulse train + Signal CW command t2 t2 t2 t2 PULS SIGN t4 t5 t4 t5 "L" t6 "H" t6 t6 t6 * Permissible max. input frequency, and min. necessary time width of command pulse input signal. Input I/F of PULS/SIGN signal Pulse train interface exclusive to line driver Line driver interface Pulse train interface Open collector interface Min. necessary time width Permissible max. t5 t6 t2 t3 t4 t1 input frequency 250ns 250ns 250ns 500ns 250ns 250ns 2Mpps 1s 1s 1s 2s 1s 1s 500kpps 5s 2.5s 2.5s 2.5s 2.5s 2.5s 200kpps Make the rising/falling time of the command pulse input signal to 0.1s or smaller. 43 Invalidation of command pulse inhibit input 0 to 1 <1> 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. <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 216 [Connection and Setup of Full-closed Control] Standard default : < > PrNo. 44 * 45 * Title Setup range Function/Content Numerator of pulse 1 to 32767 You can set up the pulse counts to be fed out from the pulse outputs (X5 OA+: Pinoutput division <2500> 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. Travel per one Pr45 (Denominator of pulse output division) travel per one pulse x output pulse = Pr44 (Numerator of pulse output division) of external scale <Cautions> * Travel per one pulse of the external scale is 0.05 [E m] for AT500 series, and 0.5 [E 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). Denominator of pulse output division 0 to 32767 * In case the encoder pulse is fed out (When the control mode is position, velocity and torque control, and P446 <0> (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+ : Pin21, 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. The pulse output resolution per one revolution = Pr44 (Numerator of pulse output division) X4 * Pr450 : The pulse output resolution per one revolution can be divided by any ration according to the formula below. Pulse output resolution per one revolution Pr44 (Numerator of pulse output division) Pr45 (Denominator of pulse output division) x Encoder resolution when encoder resolution x Pr44 is multiple of 4 Pr45 when encoder resolution x A A B B Z Z Synchronized Pr44 is not multiple of 4 Pr45 Not-synchronized 217 Full-Closed Control Mode <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. Parameter Setup Standard default : < > PrNo. 46 * Title Reversal of pulse output logic Setup range Function/Content 0 to 3 <0> 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. Setup value <0>, 2 1, 3 A-phase (OA) at motor CCW rotation at motor CW rotation B-phase(OB) non-reversal B-phase(OB) reversal Output source Encoder position Encoder position External scale position External scale position B-phase logic Non-reversal Reversal Non-reversal Reversal Pr46 <0> 1 2 *1 3 *1 *1 The output source of Pr46=2, 3 is valid only at full-closed control. 47 * Z-phase setup of external scale 0 to 32767 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 <0> 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. 48 1st numerator of electronic gear 49 2nd numerator of electronic gear 4A Multiplier of electronic gear numerator Denominator of electronic gear 4B * 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. Electronic gear function-related (Pr48 to 4B) 0 to 10000 Electronic gear (Command pulse division/multiplication) function * Purpose of this function <0> (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 0 to 10000 obtain the required speed due to the limit of pulse generator of the host controller. <0> * Block diagram of electronic gear 0 to 17 <0> Command pulse f *1 *1 1st numerator (Pr48) x2 2nd numerator (Pr49) Multiplier (Pr4A) Denominator (Pr4B) 0 to 10000 <10000> Internal command + F - External scale Feed back pulse (Resolution) Deviation counter * "Numerator" selection of electronic gear *1 : Select the 1st or the 2nd with the command electronic gear input switching (DIV : CN X5, Pin-28) DIV input open Selection of 1st numerator (Pr48) DIV input connect to COM- Selection of 2nd numerator (Pr49) The electronic gear ratio is set with the formula below. * when the numerator is <0> (Default) :Numerator (Pr48,49)X2Pr4A) is automatically set equal to encoder resolution. Electronic gear ratio = * when numerator 0 : Electronic gear ratio = Encoder resolution Command pulse counts per one revolution (Pr48) Multiplier of command Numerator of command div/multiple numerator (Pr4A) electronic gear (Pr48,49) x 2 Denominator of command electronic gear (Pr4B) <Caution> In actual calculation of numerator (Pr48, Pr49) X2Pr4A, 4194304 (Pr4D setup value +1) becomes the max. value. 218 [Connection and Setup of Full-closed Control] Standard default : < > PrNo. 4C Title Setup of primary delay smoothing Setup range Function/Content 0 to 7 <1> Smoothing filter is the filter for primary delay which is inserted after the electronic gear. 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. You can set the time constant of the smoothing filter in 8 steps with Pr4C. 4D * 4E Setup value 0 <1> Time constant No filter function Time constant small 7 Time constant large Setup of FIR smoothing 0 to 31 <0> You can set up the moving average times of the FIR filter covering the command pulse. (Setup value + 1) become average travel times. Counter clear input mode 0 to 2 <1> You can set up the clearing conditions of the counter clear input signal which clears the deviation counter. Clearing condition Setup value Clears the deviation counter at level (shorting for longer than 100s)*1 0 <1> Clears the deviation counter at falling edge (open-shorting for longer than 100s)*1 2 Invalid *1 : Min. time width of CL signal CL(Pin-30) 100s or longer 219 Full-Closed Control Mode <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. Parameter Setup Parameters for Velocity and Torque Control Standard default : < > PrNo. Title Setup range Unit Function/Content 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). 5E 1st torque limit setup 0 to 500 <500> *2 % 5F 2nd torque limit setup 0 to 500 <500> *2 % 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. * 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. torque [%] CCW 300(Max.) when Pr5E=150 200 100 (Rated) 100 speed (Rating) (Max.) 200 300 CW <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(R) 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. <Note> * For parameters which default. has a suffix of "*2", value varies depending on the combination of the driver and the motor. Parameters for Sequence Standard default : < > PrNo. 60 Title Positioning complete(In-position) range Setup range Unit Function/Content 0 to 32767 <131> Pulse 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 : 217 = 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. 220 deviation pulses Pr60 COIN ON Pr60 [Connection and Setup of Full-closed Control] Standard default : < > PrNo. 61 Title Zero-speed Setup range Unit Function/Content 10 to 20000 <50> r/min 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 CCW (Pr61+10)r/min (Pr61-10)r/min CW ZSP 63 Setup of positioning complete (In-position) output 0 to 3 <0> - You can set up the action of the positioning complete signal (COIN : Pin39 of CN X5) in combination with Pr60 (Positioning complete range). Setup value <0> 1 2 3 65 LV trip selection at main power OFF 0 to 1 <1> - ON 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. You can select whether or not to activate Err13 (Main power undervoltage protection) function while the main power shutoff continues for the setup of Pr6D (Main power-OFF detection time). Setup value Action of main power low voltage protection When the main power is shut off during Servo-ON, Err13 will 0 not be triggered and the driver turns to Servo-OFF. The driver <1> 66 * Sequence at over-travel inhibit 0 to 2 <0> - When the main power is shut off during Servo-ON, the driver will trip due to Err13 (Main power low voltage protection). <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. 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 Setup value During deceleration Dynamic brake <0> action Torque command=0 1 towards inhibited direction 2 Emergency stop Deviation counter content After stalling Torque command=0 Hold towards inhibited direction Torque command=0 Hold towards inhibited direction Clears before/ Torque command=0 towards inhibited direction after deceleration <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 ). <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 221 Full-Closed Control Mode returns to Servo-ON again after the main power resumption. Parameter Setup Standard default : < > PrNo. 67 Title Sequence at main power OFF Setup range Unit 0 to 9 <0> - Function/Content 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 68 Sequence at alarm 0 to 3 <0> - Action During deceleration After stalling DB DB DB Free-run Free-run DB Free-run Free-run DB DB DB Free-run Free-run DB Free-run Free-run DB Emergency stop Free-run Emergency stop Deviation counter content Clear Clear Clear Clear Hold Hold Hold Hold Clear Clear (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). 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. Setup value <0> 1 2 3 Action During deceleration After stalling DB DB DB Free-run Free-run DB Free-run Free-run Deviation counter content Hold Hold Hold Hold (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. 69 Sequence at Servo-Off 6A Setup of mechanical brake action at stalling 0 to 9 <0> - 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. 0 to 100 <0> 2ms 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. * 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. SRV-ON BRK-OFF actual brake OFF ON release tb hold hold release motor energization energized nonenergized Pr6A Refer to P.44, "Timing Chart"-Servo-ON/OFF Action While the Motor Is at Stall" of Preparation as well. 222 [Connection and Setup of Full-closed Control] Standard default : < > PrNo. 6B Title Setup of mechanical brake action at running Setup range Unit Function/Content 0 to 100 <0> 2ms 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. * 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. 6C * Selection of external regenerative resistor 0 to 3 for A, B-frame <3> for C to F-frame <0> - SRV-ON ON OFF BRK-OFF actual brake release tb energized motor energization hold nonenergized 30 r/min Refer to P.45, "Timing Chart"-Servo-ON/OFF action while the motor is in motion" of Preparation as well. 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). resistor Setup value Regenerative to be used <0> (C, D, E and Built-in resistor F-frame) Regenerative processing and regenerative resistor overload 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 1 External resistor processing circuit is activated and its active ratio exceeds 10%, Regenerative processing circuit is activated, 2 External resistor but no regenerative over-load protection is triggered. Both regenerative processing circuit and <3> regenerative protection are not activated, and No resistor built-in capacitor handles all regenerative (A, B-frame) power. 6D Detection time of main power off 35 to 1000 <35> 2ms 6E Torque setup at emergency stop 0 to 500 <0> % 70 Setup of position deviation excess * 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. 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. 0 to 32767 256 x * You can set up the excess range of position deviation. <25000> resolution * 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 turn on the control power. 223 Full-Closed Control Mode <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. Parameter Setup Standard default : < > PrNo. Title 72 Setup of over-load level 73 Setup of over-speed level Setup range Unit 0 to 500 <0> % * 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. 0 to 20000 <0> r/min * 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. Function/Content Parameters for Full-Closed Control Standard default : < > PrNo. 78 * 79 * 7A * 7B * 7C * Setup range Unit Function/Content Numerator of external scale division 0 to 32767 <0> - You can setup the ratio between the encoder resolution and the external scale resolution at full-closed control. Encoder resolution per one motor revolution Pr78 X 2 Pr79 = External scale resolution per one motor revolution Pr7A Multiplier of numerator of external scale division 0 to 17 <0> - Title Denominator of external scale division 1 to 32767 <10000> Setup of hybrid deviation excess 1 to 10000 16 x <100> external scale pulse Reversal of direction of external scale 0 to 1 <0> - - * Pr78= <0> (default) Numerator equals to encoder resolution, and you can setup the external scale resolution per one motor revolution with Pr7A. * 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. * 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. You can set up the logic of the absolute data of the external scale. 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) <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. <Notes> * For parameters which No. have a suffix of "*", changed contents will be validated when you turn on the control power. 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 ........................................ Adjustment in Velocity Control Mode ........................................ Adjustment in Torque Control Mode .......................................... Adjustment in Full-Closed Control Mode ................................... Gain Switching Function............................................................ Suppression of Machine Resonance ........................................ Automatic Gain Setup Function ................................................ 241 241 242 242 243 246 248 Manual Auto-Gain Tuning (Application) .............. 249 Instantaneous Speed Observer ................................................ 249 Damping Control ....................................................................... 250 225 Gain Adjustment 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 run the motor as closely as possible to the commands and obtain the optimum performance of the machine. <e.g. : Ball screw> Gain setup : Low [r/min] +2000 Gain setup : High Gain setup : High + feed forward setup 0 Motor actual speed Command Speed -2000 0.0 125 250 375 0.0 125 250 375 0.0 125 250 375 Position loop gain Velocity loop gain : 20 : 100 Position loop gain Velocity loop gain : 100 : 50 Position loop gain Velocity loop gain : 100 : 50 Time constant of V-loop integration : 50 Time constant of V-loop integration : 50 Time constant of V-loop integration : 50 Velocity loop feed forward : 0 Inertia ratio : 100 Velocity loop feed forward : 0 Inertia ratio : 100 Velocity loop feed forward : 500 Inertia ratio : 100 Procedures Start adjustment Automatic adjustment ? No Yes (see P.239) Ready for command input ? Release of auto-adjusting function No Yes (Default) (see P.236) (see P.228) Real time auto-gain tuning Normal mode auto-gain tuning Use the gain setup of autoadjustment ? Yes (see P.248) No Auto-adjustment of stiffness ? Gain automatic setup function Yes No (see P.231) Fit-gain function Action O.K.? No Yes Action O.K.? Yes (see P.239) No (see P.240) Manual gain tuning Release of auto-adjusting function Action O.K.? No Yes Writing to EEPROM Finish adjustment 226 Consult to authorized dealer [Adjustment] Type Function Real-time auto-gain tuning Explanation Estimates the load inertia of the machine in real time, and automatically sets up the optimum gain corresponding to this result. Pages to refer P.228 Searches automatically the appropriate stiffness setup by en- Automatic adjustment Fit-Gain function tering the certain action pattern repeatedly, to set up the stiff- P.231 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 Adaptive filter component from the torque command while estimating the res- P.234 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 Normal mode auto-gain tuning load inertia from the torque required to run the motor in the P.236 command pattern automatically created in the driver. Release of automatic gain adjusting function Describes the cautions when you invalidate the real-time autogain tuning or adaptive filter which are defaults. P.239 Execute the manual adjustment when real-time auto-gain tunManual gain tuning (basic) ing cannot be executed due to the limitation of control mode and load condition, or when you want to obtain an optimum re- P.240 sponse depending on each load. Manual adjustment Basic procedure Adjustment of position control mode P.241 Adjustment of velocity control mode P.241 Adjustment of torque control mode P.242 Adjustment of full-closed control mode P.242 You can expect to reduce vibration at stopping and settling Gain switching function Suppression of machine resonance time and to improve command compliance by switching the P.243 gains by internal data or external signals. When the machine stiffness is low, vibration or noise may be generated due to the distorted axis, hence you cannot set the higher P.246 gain. You can suppress the resonance with two kinds of filter. Initializes the control parameters and gain switching parameters Automatic gain setup function to the values corresponding to the automatic tuning stiffness P.248 parameters, before executing the manual auto-gain tuning. fied with the performance obtained with the basic adjustment, P.249 using the following application functions. Function which obtains both high response and reduction of vi- Instantaneous speed observer Damping control bration at stopping by estimating the motor speed with the load P.249 model, and hence improves the accuracy of speed detection. Function which reduces vibration by removing the vibration frequency component while the front end of the machine vibrates. P.250 <Remarks> * Pay extra attention to safety, when oscillation (abnormal noise and vibration) occurs, shut off the main power, or turn to Servo-OFF. 227 Adjustment You can obtain the higher performance while you are not satisManual gain tuning (application) Real-Time Auto-Gain Tuning Mode Outline Estimates the load inertia of the machine in real time and sets up the optimum gain automatically responding to the result. Position/Velocity command Gain auto-setup Filter auto-adjustment Torque command current Adaptive control Filter Position/Velocity control Motor current Motor Action command under actual condition Resonance frequency estimation Load inertia estimation Real time auto-gain tuning Motor speed Encoder Servo driver 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 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). Conditions which obstruct real-time auto-gain tuning action Load inertia Load Action pattern * 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]. 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 Real time auto-gain tuning Varying degree of load inertia in motion 0 (not in use) - normal mode slow change no change [1] 2 3 rapid change 4 no change 5 vertical axis mode 7 slow change rapid change 6 no gain switching mode 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 normally. 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. 228 [Adjustment] Insert the console connector to CN X6 of the driver, then turn on the driver power. 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). Adjustment 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). 229 Real-Time Auto-Gain Tuning Parameters Which Are Automatically Set Following parameters are automatically adjusted. 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 Also following parameters are automatically set up. PrNo. 15 16 27 30 31 32 33 34 35 36 Title 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 Setup value 300 50 0 1 10 30 50 33 20 0 <Notes> * When the real-time auto-gain tuning is valid, you cannot change the parameters which are automatically 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) During the trial run and frequency characteristics measurement of "PANATERM(R)", the load inertia estimation will be invalidated. 230 [Adjustment] Fit-Gain function Outline Position command MINAS-A4 series features the Fit-gain function 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 automatically searches the optimum stiffness setup by repeating reciprocating movement at position control. (Reciprocating command with trapezoidal waveform) Position + deviation Position/ Velocity control Motor current Torque Adaptive command Current Motor control Filter Resonance frequency estimation Load inertia estimation Motor speed Real time auto-gain tuning Automatic setup of (Settling stiffness and gain time) table Detection of vibration Fit-gain function Encoder Servo driver 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. Conditions under which the Fit-gain function is activated Real time auto-gain tuning action Adaptive filter * 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 Control mode Pr02=0 : Position control Pr02=3 : 1st control mode of position/velocity control Pr02=4 : 1st control mode of position/torque control Accel/deceleration <(3000r/min/0.1s) 1 [s] or longer * The position command to be for reciprocating movement * One position command time to be 50 [ms] or longer. Action pattern * Min. frequency of position command to be 1 [kpps] or Command waveform more. (To be used for judgment of start and finish of command) Positioning complete 50 [ms] or longer ON OFF 1[s] or longer Caution Conditions which obstruct Fit-Gain action * The position command is small such as less than 2 revolutions. Action pattern * 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]. 231 Adjustment 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. Real-Time Auto-Gain Tuning 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(R)". Parameter Setup value Notes Either of 1-6. Pr21 (Setup of real-time auto-gain tuning mode) 1 2 3 4 5 6 Normal mode Normal mode Normal mode Vertical axis mode Vertical axis mode Vertical axis mode no change slow change rapid change no change slow change rapid change Pr22 (Selection machine stiffness at real time auto-gain tuning) 0 : Real time stiffness No. 0 Pr23 (Setup of adaptive filter) 1 : Valid Pr60 (Positioning complete range) 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.) How to Operate Procedures (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 corner 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 reciprocating movements. The Fit-gain function finishes when the optimum real-time stiffness No. is found in normal case. (4) SELECTION display EXECUTION display (when Pr23=1) Fit-Gain screen set button ( ) EXECUTION display of Fit-Gain screen After setting up of stiffness to 0, keep pressing for approx.3sec while the dot on the right corner flashes. Front panel display changes to 000.000 Fit-Gain starts Front panel display changes together with the machine movement. 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.) <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. 232 Example of front panel display Normal Error [Adjustment] Result of Fit-Gain 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. [EXECUTION display] Writing of the result from the Fit-Gain screen Press for approx.3sec to save the present setup to EEPROM. Parameters Which Are Automatically Set Following parameters are automatically adjusted. Title PrNo. Also following parameters are automatically set up. Title PrNo. Setup value 10 1st gain of position loop 15 Velocity feed forward 300 11 1st gain of velocity loop 16 Time constant of feed forward filter 50 12 1st time constant of velocity loop integration 27 Setup of instantaneous speed observer 0 13 1st filter of velocity detection 30 2nd gain setup 1 14 1st time constant of torque filter time 31 1st mode of control switching 10 18 2nd gain of position loop 32 1st delay time of control switching 30 19 2nd gain of velocity loop 33 1st level of control switching 50 1A 2nd time constant of velocity loop integration 34 1st Hysteresis of control switching 33 1B 2nd filter of velocity detection 35 Switching time of position gain 20 1C 2nd time constant of torque filter 36 2nd mode of control switching 0 20 Inertia ratio 22 Selection of machine stiffness at real time auto-gain tuning 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. Adjustment 233 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 automatically, hence reduces the resonance vibration. Gain auto-setup Position/Velocity command Filter auto-adjustment Torque command current Adaptive control Filter Position/Velocity control Motor current Motor Action command under actual condition Resonance frequency estimation Load inertia estimation Real time auto-gain tuning Motor speed Encoder Servo driver Applicable Range This function works under the following condition. Conditions under which the Adaptive filter is activated Control Mode * Applies to other control modes than torque control. 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). Conditions which obstruct adaptive filter action * Resonance frequency is lower than 300[Hz]. Resonance point * Resonance peak is low, or control gain is low where the motor speed is not affected by this. * Multiple resonance points exist. Load Command pattern * 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]. 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 setting up the notch filter coefficient automatically, hence reduces the resonance vibration. Setup value 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. 2) Write the result to EEPROM when you want to save it. 234 [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 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) 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 abnormal 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 switching 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 have 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. 1st notch frequency [Hz] Pr2F 1st notch frequency [Hz] Pr2F 1st notch frequency [Hz] 0 (invalid) 22 766 44 326 1 (invalid) 23 737 45 314 2 (invalid) 24 709 46 302 3 (invalid) 25 682 47 290 4 (invalid) 26 656 48 279 5 1482 27 631 49 269 (invalid when Pr22 > =15) 6 1426 28 607 50 258 (invalid when Pr22 > =15) 7 1372 29 584 51 248 (invalid when Pr22 > =15) 8 1319 30 562 52 239 (invalid when Pr22 > =15) 9 1269 31 540 53 230 (invalid when Pr22 > =15) 10 1221 32 520 54 221 (invalid when Pr22 > =14) 11 1174 33 500 55 213 (invalid when Pr22 > =14) 12 1130 34 481 56 205 (invalid when Pr22 > =14) 13 1087 35 462 57 197 (invalid when Pr22 > =14) 14 1045 36 445 58 189 (invalid when Pr22 > =14) 15 1005 37 428 59 182 (invalid when Pr22 > =13) 16 967 38 412 60 (invalid) 17 930 39 396 61 (invalid) 18 895 40 381 62 (invalid) 19 861 41 366 63 (invalid) 20 828 42 352 64 (invalid) 21 796 43 339 *Set up 1500 to Pr1D (1st notch frequency) in case of " invalid " of the above table. 235 Adjustment Pr2F Normal Mode Auto-Gain Tuning Outline Position command The motor will be driven per the command with a pattern generated by the driver automatically. The driver estimates the load inertia from the necessary torque, and sets up an appropriate gain automatically. Normal mode auto-gain tuning Position command Load inertia calculation Generation of internal positional command Motor current Gain autoadjust Torque command Position/Velocity Control Current control Motor Motor torque Motor speed Encoder Applicable Range Servo driver This function works under the following condition. Conditions under which the normal mode auto-gain tuning is activated Control mode Others Applies to all control modes. * Servo-ON status * No entry of deviation counter clear signal <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 Conditions which obstruct normal auto-gain tuning * Too small or too big compared to the rotor inertia Load inertia (smaller than 3 times or larger than 20 times) * Load inertia varies. Load * Machine stiffness is extremely low. * Chattering such as backlash exists. * Tuning error will be triggered when an error, Servo-OFF, the main power shutdown, validation of overtravel 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 extra attention to the safety. When oscillation occurs, shut off the main power or turn to ServoOFF immediately. Bring back the gain to default with parameter setup. Refer to cautions of P.71, "Auto-Gain Tuning Mode" of Preparation as well. 236 [Adjustment] Auto-Gain Tuning 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 every 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 Servo-ON. (5) Start up the auto-gain tuning. Use the front panel or the "PANATERM(R)". 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 Stiffness value 0 [1] 2 3 [4] 5 6 7 8 9 12 32 39 48 63 72 90 108 135 162 9 18 22 27 35 40 50 60 75 90 8 9 62 31 25 21 16 14 12 11 0 0 0 0 0 0 0 0 0 0 253 126 103 84 65 57 45 38 30 25 300 300 300 300 300 300 300 300 300 300 50 50 50 50 50 50 50 50 50 50 19 38 46 57 73 84 105 126 157 188 9 18 22 27 35 40 50 60 75 90 999 999 999 999 999 999 999 999 999 999 0 0 0 0 0 0 0 0 0 0 25 30 38 45 57 253 126 103 84 65 Estimated load inertia ratio 0 0 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 10 10 10 10 10 10 10 10 10 10 30 30 30 30 30 30 30 30 30 30 50 50 50 50 50 50 50 50 50 50 33 33 33 33 33 33 33 33 33 33 20 20 20 20 20 20 20 20 20 20 0 0 0 0 0 0 0 0 0 0 10 206 115 7 0 20 300 50 241 115 999 0 20 11 251 140 6 0 16 300 50 293 140 999 0 16 12 305 170 5 0 13 300 50 356 170 999 0 13 13 377 210 4 0 11 300 50 440 210 999 0 11 14 449 250 4 0 10 300 50 524 250 999 0 10 15 557 310 3 0 10 300 50 649 310 999 0 10 0 1 10 30 50 33 20 0 0 1 10 30 50 33 20 0 0 1 10 30 50 33 20 0 0 1 10 30 50 33 20 0 0 1 10 30 50 33 20 0 0 1 10 30 50 33 20 0 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. 237 Adjustment Pr Title No. 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 Normal Mode Auto-Gain Tuning How to Operate from the Front Panel Display of rotational speed of the motor (initial display) (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. Machine stiffness No. (2) Enter the machine stiffness No. by pressing . Machine stiffness No. (High) Value changes toward the direction as an arrow shows by pressing and changes toward the reversed direction by pressing . Machine stiffness No. Drive method Ball screw direct connection 8 -14 Ball screw + timing belt 6 -12 Timing belt 4 -10 Gear, Rack & Pinion 2-8 Others, low stiffness machine 0-8 Machine stiffness No. (Low) (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. Tuning finishes normally Tuning error <Caution> Do not use the normal mode auto-gain tuning with the motor and driver alone. Pr20 (Inertia ratio) becomes to 0. <Notes> Cause One of alarm, Servo-OFF or deviation counter clear has occurred. Value of parameter Load inertia cannot be identified. related to gain (such as Pr10) is kept as same as before the execution. CL (Pin-30) of CN X5 is entered. Motor does not run. Content Display of error. 238 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. Release of Automatic Gain Adjusting Function [Adjustment] Outline Cautions are described when you want to invalidate the real time auto-gain tuning of default 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 invalidate the real-time auto-gain tuning by 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 have 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. 1st notch frequency [Hz] Pr2F 1st notch frequency [Hz] Pr2F 1st notch frequency [Hz] 0 (invalid) 22 766 44 326 1 (invalid) 23 737 45 314 2 (invalid) 24 709 46 302 3 (invalid) 25 682 47 290 4 (invalid) 26 656 48 279 5 1482 27 631 49 269 (invalid when Pr22 > =15) 6 1426 28 607 50 258 (invalid when Pr22 > =15) 7 1372 29 584 51 248 (invalid when Pr22 > =15) 8 1319 30 562 52 239 (invalid when Pr22 > =15) 9 1269 31 540 53 230 (invalid when Pr22 > =15) 10 1221 32 520 54 221 (invalid when Pr22 > =14) 11 1174 33 500 55 213 (invalid when Pr22 > =14) 12 1130 34 481 56 205 (invalid when Pr22 > =14) 13 1087 35 462 57 197 (invalid when Pr22 > =14) 14 1045 36 445 58 189 (invalid when Pr22 > =14) 15 1005 37 428 59 182 (invalid when Pr22 > =13) 16 967 38 412 60 (invalid) 17 930 39 396 61 (invalid) 18 895 40 381 62 (invalid) 19 861 41 366 63 (invalid) 20 828 42 352 64 (invalid) 21 796 43 339 *Set up 1500 to Pr1D (1st notch frequency) in case of "invalid "of the above table. 239 Adjustment Pr2F Manual Gain Tuning (Basic) As explained previously, MINAS-A4 series features the automatic gain tuning function, however, 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 corresponding 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, however, you can adjust more securely by using wave graphic function of the setup support software, PANATERM(R), 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, refer to P.41, "Wiring to the Connector, CN X5" of Preparation, and "Parameter Setup" of each control mode. 1k 42 IM 1k 43 SP 17 CN X5 2. Waveform graphic function of the PANATERM(R) You can display the command to the motor, motor movement (speed, torque command and deviation pulses) as a waveform graphic on PC display. Refer to P.276, "Outline of the Setup Support Software, PANATERM(R)" of Supplement. RS232 connection cable * Caution Connect to CN X4 (Do not connect to CN X3) 240 [Adjustment] Adjustment in Position Control Mode Position control of MINAS-A4 series is described 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. Parameter No. Title of parameter (Pr ) 1st gain of position loop 10 Standard value 27 11 1st gain of velocity loop 15 12 1st time constant of velocity loop integration 13 1st filter of velocity detection 14 1st time constant of torque filter time 15 16 Parameter No. Title of parameter (Pr ) Inertia ratio 20 Standard value 100 21 Setup of real time auto-gain tuning mode 0 37 23 Adaptive filter setup mode 0 0 2B 1st damping frequency 0 152 2C Setup of 1st damping filter 0 Velocity feed forward 0 2D 2nd damping frequency 0 Time constant of feed forward filter 0 2E Setup of 2nd damping filter 0 18 2nd gain of position loop 27 30 2nd gain setup 0 19 2nd gain of velocity loop 15 31 Mode of position control switching 0 1A 2nd time constant of velocity loop integration 37 32 Delay time of position control switching delay 0 1B 2nd filter of speed detection 0 33 Level of position control switching 0 1C 2nd time constant of torque filter 152 34 Hysteresis at position control switching 0 1D Selection of 1st notch frequency 1500 35 Position gain switching time 0 1E Selection of 1st notch width 2 4C Setup of smoothing filter 1 4D Setup of FIR filter 0 (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 Parameter Standard No. Title of parameter value (Pr ) Pr11 1st gain of velocity loop 30 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. 2 Pr14 1st time constant of torque filter Setup so as to make Pr11 x Pr14 becomes smaller than 10000. If you want to 50 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. Pr10 position loop 50 Pr12 velocity loop 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 1st time constant of 4 Adjust this observing the positioning time. Larger the setup, faster the 25 integration 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. 5 Pr15 Velocity feed forward 300 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 described 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. 241 Adjustment 3 1st gain of Manual 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 numerator of external scale division (Pr79) and denominator of external scale division so that the following formula can be established. Pr79 17 Pr78 1 x 2 Pr7A 5000 = Number of encoder pulses per motor rotation Number of external scale pulses per motor rotation * If this ratio is incorrect, a gap between the position calculated from the encoder pulse counts and that of calculated from the external scale pulse counts will be enlarged and hybrid deviation 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. 242 [Adjustment] 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[m], max. speed 2[m/s]) * ST771 by Mitutoyo (Resolution 0.5[m], 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. We recommend the external scale as 1/20 < = external scale ratio < = 20. (4) 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 manually in addition to 1st gain and you can switch the Action gain depending on the various requirements of the Status action such cases as, * you want to increase the response by increasing Gain the gain in motion * you want to increase the servo-lock stiffness by increasing the gain at stopping * switch to the optimum gain according to the action mode * lower the gain to suppress the vibration at stopping. Command speed Stop (Servo-Lock) Low gain (1st gain) Run High gain (2nd gain) Stop (Servo-Lock) Time Low gain (1st gain) 1ms 2ms Suppress the vibration by lowering the gain. <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. Title of parameter 10 11 12 13 14 15 16 18 19 1A 1B 1C 30 31 32 33 34 35 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 Set up the same value as Pr10-14 (1st gain) to Pr18-1C (2nd gain) Set up Pr30-35 (Gain switching condition) 63 35 16 0 65 300 50 Adjust P411 and 14 at stopping (1st gain) 27 Adjustment Parameter No. (Pr ) 84 63 35 16 0 65 0 1 7 30 0 0 0 * Enter the known value from load calculation * Measure the inertia ratio by executing nor mal auto-gain tuning * Default is 250 243 Manual Gain Tuning (Basic) Setup of Gain Switching Condition * Positing control mode, Full-closed control mode ( Setup of gain switching condition Pr31 Switching condition to 2nd gain 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. 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 6 7 8 9 10 Fig. A C : Corresponding parameter is valid, - : invalid) Setup parameters at position control, full-closed control Hysteresis *2 Level Delay time *1 Pr34 Pr33 Pr32 *3[0.05%/166s] *3[0.05%/166s] [r/min] [r/min] D *4[pulse] *4[pulse] E - - F - - [r/min] [r/min] *6 C G [r/min] [r/min]*6 * Velocity control mode Setup of gain switching condition Pr31,36 Switching condition to 2nd gain 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. Fig. A B C Setup parameters at velocity control mode Level Delay time *1 Hysteresis *2 Pr33, 38 Pr32, 37 Pr34, 39 *3 *3 [0.05%/166s] [0.05%/166s] *5 *5 [10(r/min)/s] [10(r/min)/s] [r/min] [r/min] * Torque control mode Setup of gain switching condition Pr31,36 Setup of gain switching condition Fig. 0 1 2 3 Fixed to 1st gain Fixed to 2nd gain Gain switching input, GAIN ON Variation of torque command is large. A Setup parameters at torque control mode Delay time *1 Level Hysteresis *2 Pr32, 37 Pr33, 38 Pr34, 39 *3 *3 [0.05%/166s] [0.05%/166s] *1 Delay time (Pr32 and 37) will be valid only when returning from 2nd to 1st gain. *2 Hysteresis is defined as the fig. below shows. *3 When you make it a condition that there is 10% torque variation during 166s, set up the value to 200. 10%/166s = Setup value 200 x [0.05%/166 s] *4 Designate with either the encoder resolution or the external scale resolution depending on the control mode. *5 When you make it a condition that there is speed variation of 10r/min in 1s, set up the value to 1. *6 When Pr31=10, the meanings of delay time, level and hysteresis are different from the normal. (refer to Fig. G) Hysteresis (Pr34, 39) Level (Pr33, 38) 0 244 H L [Adjustment] Fig.A speed N motor speed or commanded speed level Fig. C delay delay torque T 1st T 2nd gain 1st 1st Fig. D speed N Fig. E command speed S 2nd gain 1st Fig. F speed N level deviation pulse delay 1 2 2 1st gain 1 2 2 1 level COIN 1 delay delay Fig. B command speed S 2nd gain command pulse exists. at stall S level 1st gain 2nd 1st gain 1st 1st no command pulse x Pr32,delay time in action 2nd gain 2nd gain |actual speed |< Pr33 level 1st Fig. G at settling proximity of stall 2nd gain 2nd gain for velocity integrating only and 1st gain for others |actual speed |< (Pr33 level - Pr34 hysteresis) delay 1st 1st 2nd 1st |actual speed |< (Pr33 level - Pr34 hysteresis) <Caution> Above Fig. does not reflect a timing lag of gain switching due to hysteresis (Pr34 and 39). Adjustment 245 Manual Gain Tuning (Basic) Suppression of Machine Resonance In case of a low machine stiffness, you cannot set up a higher gain because vibration 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 / (2 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. Pr23 Setup of adaptive filter mode 1 : Adaptive filter is valid. Pr2F Adaptive filter frequency Displays the table No, corresponding to adaptive filter frequency (not changeable) * 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. Machine characteristics at resonance Set up lower a frequency by 10% from the measured one through frequency characteristics analysis of the PANATERM(R). Pr1D 1st notch frequency Resonance gain Pr1E 1st notch width selection Set up according to the resonance characteristics. Anti-resonance Set up lower a frequency by 10% from the Pr28 2nd notch frequency measured one through frequency characteristics analysis of the PANATERM(R). Pr29 Selection of 2nd notch width Pr2A Selection of 2nd notch depth frequency Notch filter characteristics Set up according to the resonance characteristics. gain Notch frequency width width torque command after filtering torque command Depth frequency automatic following Adaptive filter ( ) Suppress resonance point instantaneously. ( frequency frequency 1st notch filter 2nd notch filter Copying of the setup from the adaptive filter to 1st notch filter is enabled. (refer to P.253) ) ( ) Adjustment of frequency, width and depth is enabled. Example of application machine Gain Gain Gain frequency frequency frequency velocity response Machine which resonance point varies by each machine or by aging 246 Machine which has multiple resonance points Machine which has small peak nearby velocity response [Adjustment] How to Check the Resonance Frequency of the Machine (1) Start up the Setup Support Software, "PANATERM(R) " and bring the frequency characteristics measurement 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 measurement 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 you set a larger value 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 247 Adjustment 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). Manual 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. will be displayed when the automatic gain setup completes normally, and (3) 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 Parameters Which Are Automatically Set Parameter No. Title of parameter 10 1st gain of position loop 11 1st gain of velocity loop 12 1st time constant of velocity loop integration 13 1st filter of speed detection 14 1st time constant of torque filter time 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 Parameters Which Setup Values Are Automatically Fixed Title of parameter Parameter No. Setup value 15 Velocity feed forward 300 16 Time constant of feed forward filter 50 27 Instantaneous speed observer 0 30 2nd gain setup 1 31 1st control switching mode 32 1st delay time of control switching 30 33 1st level of control switching 50 34 1st Hysteresis of control switching 33 35 Switching time of position gain 20 36 2nd mode of control switching 0 10*1 *1 In case of position and full-closed control, this becomes 10, and 0 in case of velocity and torque control. 248 Manual Gain Tuning (Application) [Adjustment] Instantaneous Speed Observer Outline Velocity command Velocity control Estimated velocity Instantaneous value speed observer Load model This function enables both realization of high response and reduction of vibration at stopping, by estimating the motor speed using a load model, hence improving the accuracy of the speed detection. Position control Torque command Motor Current current control Motor Load (Total inertia) Motor position Encoder Servo driver Applicable Range This function can be applicable only when the following conditions are satisfied. 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 Control mode Pr02 = 1 : Velocity control Pr02 = 3 : Position and Velocity control Pr02 = 4 : Position control only Pr02 = 5 : Position control only Encoder * 7-wire absolute encoder Caution This function does not work properly or no effect is obtained under the following conditions. 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. Load Non-linear factor such as large backlash exists. * Load inertia varies. * Disturbance torque with harmonic component is applied. Others * Settling range is very small. How to Use (1) Setup of inertia ratio (Pr20) Set up as exact inertia ratio as possible. (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 position 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. 249 Adjustment * 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. Manual Gain Tuning (Application) Damping Control Front edge vibrates. Outline This function reduces the vibration by removing the vibration frequency component from the command when the load end of the machine vibrates. Setup of front edge vibration frequency Position command Torque command Position/Velocity Current control control Damping filter Driver Motor Coupling Work Ball screw Machine PLC Motor current Motor position base Motor Load Encoder Servo driver Applicable Range Vibration measurement with displacement sensor travel This function can only be applicable when the following conditions are satisfied. 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 Control mode 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 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. Conditions which obstruct the damping control effect * Vibration is triggered by other factors than command (such as disturbance). Load * Ratio of resonance frequency and anti-resonance frequency is large. * Vibration frequency is out of the range of 10.0-200.0 [Hz]. How to Use (1) Setup of damping frequency (1st : Pr2B, 2nd : Pr2D)) Measure the vibration frequency of the front edge of the machine. When you use such instrument as laser displacement meter, and can directly measure the load end vibration, read out the vibration frequency 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 ripple 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 saturation 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 depending on the vibration condition of the machine. 250 Command speed Damping filter setup is appropriate. Position deviation Calculation of vibration frequency Damping filter setup is too large. Torque saturation Torque command Pr24 0 1 2 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 [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 .................................................................. Unstable Rotation (Not Smooth)/Motor Runs Slowly Even with Speed Zero at Velocity Control Mode ....................................... Positioning Accuracy Is Poor ..................................................... Origin Point Slips ....................................................................... Abnormal Noise or Vibration ..................................................... Overshoot/Undershoot, Overheating of the Motor (Motor Burn-Out) ....................................................................... Motor Speed Does Not Reach to the Setup/Motor Revolution (Travel) Is Too Large or Small ................................................... Parameter Returns to Previous Setup ...................................... Display of "Communication port or driver cannot be detected" Appears on the Screen While using the PANATERM(R) . ............ 260 261 262 263 263 264 264 264 264 251 When in Trouble What to Check ? Isn't error code No. is displayed ? Doesn't the power voltage vary ? Is the power turned on ? Any loose connection ? Aren't the parameter setups wrong ? 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 ? 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. Host controller Is abnormal noise generated from the motor ? Is the wiring to CN X5 correct ? Or aren't any wires pulled off ? Isn't the electromagnetic brake engaged ? Is the wiring to CN X6 correct ? Or aren't any wires pulled off ? Machine Motor Isn't the connection loose ? Ground Is the wiring to CN X7 in case of full-closed control correct ? Or aren't any wires pulled off ? External scale 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(R)". <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). For resumption, shut off the power to remove 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) 252 [When in Trouble] Protective Function (Detail of Error Code) Protective Error function code No. Control 11 power supply undervoltage protection Overvoltage protection 12 Causes Measures 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. 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 phaseadvancing capacitor or UPS (Uninterruptible Power Supply) have occurred. 2)Disconnection of the regeneration discharge resistor Measure the voltage between lines of connector (L1, L2 and L3). 1)Enter correct voltage. Remove a phase-advancing capacitor. 3)Replace the driver with a new one. 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)External regeneration discharge resistor is not appro- 3)Change to the one with specified resistance and priate and could not absorb the regeneration energy. wattage. 4)Failure of servo driver (failure of the circuit) 4)Replace the driver with a new one. 13 Instantaneous power failure has occurred between L1 and Measure the voltage between lines of connector (L1, L3 for longer period than the preset time with Pr6D (Main L2 and L3). 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 1)Increase the power capacity. Change the power supply. failure has occurred 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 2)Instantaneous power failure has occurred. time). Set up each phase of the power correctly. 3)Lack of power capacity...Power supply voltage has 3)Increase the power capacity. For the capacity, refer to P.32, "Driver and List of Applicable Peripheral fallen down due to inrush current at the main powerEquipments" of Preparation. on. 4)Phase lack...3-phase input driver has been operated 4)Connect each phase of the power supply (L1, L2 and L3) correctly. For single phase, 100V and 200V with single phase input. driver, use L1 and L3. 5)Replace the driver with a new one. 5)Failure of servo driver (failure of the circuit) *Overcurrent protection 14 Current through the converter portion has exceeded the specified value. 1)Failure of servo driver (failure of the circuit, IGBT or 1)Turn to Servo-ON, while disconnecting the motor. If other components) error occurs immediately, replace with a new driver. 2)Short of the motor wire (U, V and W) 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)Earth fault of the motor wire 3)Measure the insulation resistance between motor wires, U, V and W and earth wire. In case of poor insulation, replace the motor. 4)Burnout of the motor 4)Check the balance of resister between each motor line, and if unbalance is found, replace the motor. 5)Poor contact of the motor wire. 5)Check the loose connectors. If they are, or pulled out, fix them securely. 6)Melting of the relays for dynamic brake due to 6)Replace the driver. Prohibit the run/stop operation frequent Servo-ON/OFF operation with Servo-ON/OFF. 7)The motor is not applicable to the driver. 7)Check the name plate and capacity of the motor and driver, and replace with motor applicable to the driver. 8)Timing of pulse input is same as or earlier than 8)Enter the pulses 100ms or longer after Servo-ON. Servo-ON. 9)Overheating of the dynamic brake circuit (F-frame 9)Discontinue the run/stop operation with Servo ON-OFF. Allow approx. 3 minutes pause when the dynamic only) 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 1)Improve the ambient temperature and cooling temperature. condition. 2)Over-load 2)Increase the capacity of the driver and motor. Set up longer acceleration/deceleration time. Lower the load. 253 When in Trouble Main power supply undervoltage protection When in Trouble Protective Error Causes Measures function code No. Torque command value has exceeded the over-load Check that the torque (current) does not oscillates nor Over-load 16 level set with Pr72 (Setup of over-load level) and fluctuate up an down very much on the graphic screen protection 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. of the PANATERM(R). Check the over-load alarm display and load factor with the PANATERM(R). 1)Increase 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)Machine has collided or the load has gotten heavy. 4)Remove the cause of distortion. Lower the load. Machine has been distorted. 5)Measure the voltage between brake terminals. 5)Electromagnetic brake has been kept engaged. Release the brake 6)While wiring multiple axes, miswiring has occurred by 6)Make a correct wiring by matching the correct motor and encoder wires. connecting the motor cable to other axis. 7)Set up Pr72 to 0. (Set up to max. value of 115% of 7)Pr72 setup has been low. the driver) *Overregeneration load protection 18 Regenerative energy has exceeded the capacity of Check the load factor of the regenerative resistor on regenerative resistor. the monitor screen of the PANATERM(R). Do not use in the continuous regenerative brake application. 1)Due to the regenerative energy during deceleration 1)Check the running pattern (velocity monitor). Check the load factor of the regenerative resistor and overcaused by a large load inertia, converter voltage has regeneration warning display. Increase the capacity risen, and the voltage is risen further due to the lack of the driver and the motor, and loosen the of capacity of absorbing this energy of the deceleration time. Use the external regenerative regeneration discharge resistor. resistor. 2)Regenerative energy has not been absorbed in the 2)Check the running pattern (speed monitor). Check the load factor of the regenerative resistor. Increase specified time due to a high motor rotational speed. the capacity of the driver and the motor, and loosen the deceleration time. Lower the motor rotational speed. Use an external regenerative resistor. 3)Active limit of the external regenerative resistor has 3)Set up Pr6C to 2. been limited to 10% duty. <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. *Encoder communication error protection 21 *Encoder communication data error protection 23 Position deviation excess protection 24 254 Communication between the encoder and the driver * Make a wiring connection of the encoder as per the has been interrupted in certain times, and wiring diagram. Correct the miswiring of the disconnection detecting function has been triggered. connector pins. Note that the encoder cable to be connected to CN X6. * Secure the power supply for the encoder of Communication error has occurred in data from the DC5V5% (4.75-5.25V)...pay an attention especially encoder. Mainly data error due to noise. Encoder when the encoder cables are long. cables are connected, but communication data has * Separate the encoder cable and the motor cable if they are bound together. some errors. * Connect the shield to FG...Refer to P.38, "Wiring to the Connector, CN X6" of Preparation. Deviation pulses have exceeded the setup of Pr70 (Setup of position deviation excess). 1)The motor movement has not followed the command. 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)Setup value of Pr70 (Setup of position deviation 2)Set up a larger value to Pr70, or set up 0 (invalid). excess) is small. [When in Trouble] Protective Error function code No. *Hybrid 25 deviation excess error protection Causes Measures Position of load by the external scale and position of * Check the connection between the motor and the load. the motor by the encoder slips larger than the setup * Check the connection between the external scale and pulses with Pr7B (Setup of hybrid deviation excess) at the driver. * Check that the variation of the motor position full-closed control. (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 * Do not give an excessive speed command. value of Pr73 (Over-speed level setup) * Check the command pulse input frequency and division/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 * Check the setup values of Pr48 to 4B. the 1st and the 2nd numerator/denominator of the * Set up the division/multiplication ratio so that the electronic gear (Pr48 to 4B) are not appropriate. command pulse frequency after division. multiplication may become less than 80Mpps at deviation counter input portion, and 3Mpps at command input portion. *External scale communication data error protection 28 Communication error has occurred in data from the * Secure the power supply for the encoder of DC55% encoder. Mainly data error due to noise. Encoder (4.75-5.25V)...pay attention especially when the cables are connected, but communication date has encoder cables are long. some error. * 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 Deviation counter value has exceeded 227 (134217728). Software limit protection 34 The motor position has exceeded the range set with Refer to P.258,"Software Limit Function" before using software limit. this. 1)Gain has not matched up. 1)Check the gain (balance of position loop gain and velocity loop gain) and the inertia ratio. 2)Setup value of Pr26 (Software limit setup) is small. 2)Setup a larger value to Pr26. *External scale communication error protection 35 Communication between the external scale and the * Make a wiring connection of the external scale as per driver has been interrupted in certain times, and the wiring diagram. disconnection detecting function has been triggered. * Correct the miswiring of the connector pins. *EEPROM parameter error protection 36 Data in parameter storage area has been damaged * Set up all parameters again. when reading the data from EEPROM at power-on. * If the error persists, replace the driver (it may be a failure.) Return the product to the dealer or manufacturer. *EEPROM check code error protection 37 Data for writing confirmation to EEPROM has been Replace the driver. (it may be a failure). Return the damaged when reading the data from EEPROM at product to a dealer or manufacturer. power-on. Over-travel inhibit input protection 38 Connection of both CW and CCW over-travel inhibit * Check that there are not any errors in switches, wires input (CWL, Pin-8/CCW, Pin-9) to COM- have been or power supply which are connected to CW/CCW opened, while Pr04 (Over-travel inhibit input setup) is 0. over-travel inhibit input. Check that the rising time of Or either one of the connection of CW or CCW over- the control power supply (DC12-24V) is not slow. travel inhibit input to COM- has been opened, while Pr04 is set to 2. * Check that the motor runs as per 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 (1st torque limit setup) and Pr5F (2nd torque limit setup). * Make a wiring connection of the encoder as per the wiring diagram. When in Trouble 255 When in Trouble Protective Error function code No. Analog 39 input excess protection Causes Measures Higher voltage has been applied to the analog * Set up Pr71 (Setup of analog input excess) correctly. command input (SPR : CN X5, Pin-14) than the value Check the connecting condition of the connector, CN X5. that has been set by Pr71 (Analog input excess setup) This protective function is validated when SPR/TRQR/ * Set up a larger value to Pr57 (Filter setup of Velocity command). SPL is valid such cases as, * Set up Pr71 to 0 and invalidate the protective 1)Velocity control when Pr02 (Control mode setup) is set to 1, 3 or 5 and function. 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. (velocity 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)Torque control when Pr02 (Control mode setup) is set to 2, 4 or 5 and Pr5B (Torque command selection) is set to 1, and speed zero clamp is invalidated (Velocity command is not zero.) Absolute system down error protection 40 Voltage of the built-in capacitor has fallen below the After connecting the power supply for the battery, clear specified value because the power supply or battery the absolute encoder. (Refer to P.271, "Setup for the 17-bit absolute encoder has been down. (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 * Set up an appropriate value to Pr0B (Absolute exceeded the specified value. 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 * Check the supply voltage at the encoder side when only the supply from the battery has been (5V5%) supplied to 17-bit encoder during the power failure. * 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 Replace the motor. has been detected. Single turn counter error of 2500[P/r], 5-wire serial encoder has been detected. *Absolute multi-turn counter error protection 45 Multi turn counter error of 17-bit absolute encoder has Replace the motor. been detected. Multi turn counter error of 2500[P/r], 5-wire serial encoder has been detected. Absolute status error protection 47 17-bit absolute encoder has been running at faster Arrange so as the motor does not run at power-on. speed than the specified value at power-on. *Encoder Z-phase error protection 48 Missing pulse of Z-phase of 2500[P/r], 5-wire serialThe encoder might be a failure. Replace the motor. encoder has been detected *Encoder CS signal error protection 49 CS signal logic error of 2500[P/r], 5-wire serial encoderThe encoder might be a failure. Replace the motor. has been detected 256 [When in Trouble] Protective Error Causes Measures function code No. Bit 0 of the external scale error code (ALMC) has been Remove the causes of the error, then clear the external *External 50 turned to 1. scale error from the front panel. scale Check the specifications of the external scale. And then, shut off the power to reset. status 0 error protection *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. CCWTL input excess protection 65 Higher voltage than 10V has been applied to the * Check the connecting condition of connector, CN X5. analog command input (CCWTL : CN X5, Pin-16) * Set the CCWTL voltage within 10V. 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. CWTL input excess protection 66 Higher voltage than 10V has been applied to the * Check the connecting condition of connector, CN X5. analog command input (CCWTL : CN X5, Pin-18) * Set the CWTL voltage within 10V. 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. *Motor automatic recognition error protection 95 The motor and the driver has not been matched. Replace the motor which matches to the driver. Some error has occurred inside of the driver while triggering self-diagnosis function of the driver. Stop using the products, and replace the motor and the driver. Return the products to the dealer or manufacturer. 257 When in Trouble *Other error Other Control circuit has malfunctioned due to excess noise * Turn off the power once, then re-enter. or other causes. * If error repeats, this might be a failure. No. When in Trouble * Time characteristics of Err16 (Overload protection) time [sec] 100 Overload protection time characteristics (Motor type M*MA) MAMA MQMA MAMA MSMA MDMA MHMA MFMA MGMA 10 100W 100W - 400W 200W - 750W 1kW - 5kW 1kW - 5kW 1kW - 5kW 400W - 4.5kW 900W - 4.5kW 1 0.1 115 100 time [sec] 100 150 200 250 300 350 400 450 500 torque [100%] Overload protection time characteristics (Motor type M*MD) MSMD MSMD MSMD MSMD MSMD MSMD 10 50W 100W (100V) 100W (200V) 200W 400W 750W 1 0.1 115 100 150 200 250 300 350 400 450 500 torque [100%] * 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 travels exceeding the movable range which is set up with Pr26 (Set up of software 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. Conditions under which the software limit works Control mode * 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. Others 258 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). [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 functioning of the PANATERM(R). 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. Motor Load Pr26 Pr26 Err34 occurrence range Motor movable range Err34 occurrence range (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 expanded by entered position command, and the movable range will be the position command input range + Pr26 setups in both sides. Motor Load Pr26 Err34 occurrence range Position command input range Pr26 Err34 occurrence range Motor movable range (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. Motor Load Err34 occurrence range Position command input range Motor movable range When in Trouble Pr26 Pr26 Err34 occurrence range 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 overtravel inhibition) is 2 and over-travel inhibition input is valid.) * At the starting and the finishing of the normal auto-gain tuning. 259 Troubleshooting Motor Does Not Run When the motor does not run, refer to P.68, "Display of Factor of No-Motor Running" of Preparation as well. Classification Causes Parameter Setup of the control mode is not correct Selection of torque limit is not correct Wiring 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. Setup of electronic gear is not correct. (Position/Full-closed) Check that the motor moves by expected revolution against the command pulses. Servo-ON input of CN X5 (SRV-ON) is open. 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 command 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. 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) Measures 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). Check that the input signal 1)Check and make wiring so as to open the CL input 2)Set up No.0A does not show "A" , with Pr4E (Counter clear input mode) to 2 (invalid). monitor mode of the front panel. Check that the velocity com- 1)Check the setups of Pr50-52 again by setting up Pr05 mand input method (external (Internal or external switching of speed setup) to 0, when you analog command/internal velociuse the external analog command. ty command) is correct. 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. Check that the input signal 1)Check and make wiring so as to connect speed zero clamp No.05 does not show "A" , with input to COM-. monitor mode of the front panel. 2)Set up Pr06 (Selection of ZEROSPD input) to 0 (invalid). Check that the torque command 1)Check that the input voltage is applied correctly by setting up input method (SPR/TRQR input, Pr5B (Selection of torque command) to 0, when you use CCWTL/TRQR input) is correct. 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. Velocity control is Check that the velocity limit input 1)Set up the desired value to Pr56 (Speed setup/4th speed) by invalid (Torque) method (internal velocity, SPR/ setting up Pr5B (Selection of torque command) to 0, when TRQR/SPL input) is correct. 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. Installation Main power is shut off. Check that the output signal Check the wiring/voltage of main power of the driver (L1, L2 and No.0 does not show "-", with L3). monitor mode of the front panel. The motor shaft drags, 1)Check that you can turn the motor If you cannot turn the motor shaft, consult with the dealer for the motor does not shaft, after turning off the power repair. run. 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. 260 [When in Trouble] Unstable Rotation (Not Smooth) Motor Runs Slowly Even with Speed Zero at Velocity Control Mode Classification Parameter Adjustment Wiring Causes Measures Setup of the control mode is not correct. 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 Gain adjustment is not proper. Pr14 and increase the setup of Pr11 again. Velocity and position command are not Check the motor movement with check pin of the front panel or the waveform graphic function of the PANATERM(R). Review the wiring, stable. connector contact failure and controller. Each input signal of CN X5 is chattering. 1)Check the wiring and connection between Pin29 and 41 of the 1) Servo-ON signal 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) CW/CCW torque limit input signal 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) Deviation counter input signal 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) Speed zero clamp signal 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) Command pulse inhibition input 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. Noise is on the velocity command. 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. Slip of offset 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. When in Trouble 261 Troubleshooting Positioning Accuracy Is Poor Classification System Causes Position command is not correct. Captures the positioning complete signal at the edge. Adjustment Parameter Shape or width of the command pulse is not per the specifications. Noise is superposed on deviation counter clear input CL (CN X5, Pin-5). Position loop gain is small. Setup of the positioning complete range is large. Command pulse frequency have exceeded 500kpps or 2Mpps. Setup of the division/multiplication is not correct. Velocity loop gain is proportion action at motor in stall. Wiring Installation 262 Measures Count the feedback pulses with a monitor function of the PANATERM(R) 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(R). 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(R) 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 Pin27 and 41 of the gain switching input connector, CN X5 becomes off while you set up Pr30 of 2nd gain setup, to 1. Each input signal of CN X5 is chattering. 1) Servo-ON signal 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) Deviation counter clear input signal 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) CW/CCW torque limit input signal 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) Command pulse inhibition input 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. Load inertia is large. Check the overshoot at stopping with graphic function of the PANATERM(R). If no improvement is obtained, increase the driver and motor capacity. [When in Trouble] Origin Point Slips Classification System Causes Z-phase is not detected. Homing creep speed is fast Wiring Measures 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. Chattering of proximity sensor (proximity Check the dog sensor input signal of the controller with oscilloscope. Review the wiring near to proximity dog and make a noise measure or dog sensor) output reduce noise. Reduce noise (installation of noise filter or ferrite core), shield treatment Noise is on the encoder line. 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 No Z-phase signal output 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 Miswiring of Z-phase output not. Use a CZ output (open collector if the controller is not differential input. Abnormal Motor Noise or Vibration Classification Wiring Adjustment Installation Causes Measures 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 Gain setup is large. loop gain and Pr10 and 18 of position loop gain. Enlarge the setup of Pr13 and 1B, velocity detection filter within the Velocity detection filter is changed. range where noise level is acceptable, or return to default value. Re-adjust Pr14 and 1C (Torque filter). Check if the machine resonance Resonance of the machine and exists or not with frequency characteristics analyzing function of the the motor. PANATERM(R). Set up the notch frequency to Pr1D or Pr28 if resonance exists. Motor bearing 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. Electro-magnetic sound, gear noise, Check the noise of the motor while running the motor with no load. rubbing noise at brake engagement, hub Replace the motor to check. Request for repair. noise or rubbing noise of encoder Noise is on the speed command. When in Trouble 263 Troubleshooting Overshoot/Undershoot Classification Overheating of the Motor (Motor Burn-Out) Causes Adjustment Gain adjustment is not proper. Installation 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. Measures Check with graphic function of PANATERM(R) 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(R) 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. Motor Speed Does Not Reach to the Setup Motor Revolutions (Travel) Is Too Large or Small Classification Parameter Adjustment Causes Measures Velocity command input gain is not cor- Check that the setup of Pr50, speed command input gain, is made so as to make the setup of 500 makes 3000 r/min. rect. Set up Pr10, position loop gain to approx. 100. Position loop gain is low. Division/Multiplication is not proper. 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 Returns to Previous Setup Classification Parameter Causes Measures No writing to EEPROM has been carried Refer to P.70, "How to Operate-EEPROM Writing" of Preparation. out before turning off the power. Display of "Communication port or driver cannot be detected" Appears on the Screen While Using the PANATERM(R). Classification Wiring 264 Causes Measures Communication cable (for RS232C) is Connect the communication cable (for RS232C) to connector, CN X4. connected to the connector, CN X3. [Supplement] page Absolute System ................................................... 266 Outline of the Setup Support Software, PANATERM(R) ...... 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 ... 360 265 Absolute System Outline of Absolute System When you compose an absolute system using an absolute encoder, you 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 battery for absolute encoder 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 absolute 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). M M S 8th place Rotary encoder specifications Absolute Specifications There are 3 connecting methods of the host controller and MINAS-A4 driver as described below, and select a method depending on the interface of the host controller specs or number of axis to be connected. Designate 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.) 45 67 B CD 01 23 EF 8 9A RSW M * DD driver 266 [Supplement] Absolute System Configuration with RS232 Communication RS232 Selector Host Host RS485 RS485 RS485 Max. 16 axis RSW(ID)=0 Host controller RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 Servo driver RS232 Interface 5 3 4 TXD RXD GND * 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. SN751701 or equivalent CN X4 RXD TXD GND CN X5 Battery for absolute encoder Positioning controller CN X6 Motor Absolute System Configuration with RS485 Communication RS485 Module ID=0 Host Max. 15 axis RSW(ID)=1 Host controller RSW(ID)=2 RSW(ID)=4 Servo driver RS485 Interface CN X3 7 RS485+ 8 RS485- 4 GND RS485+ RS485- GND ADM485 or equivalent Set up RSW (ID) of the front panel to 1 to F. * 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. Next driver CN X4 7 RS485+ 8 RS485- 4 GND CN X5 Battery for absolute encoder CN X6 Supplement Positioning controller RSW(ID)=3 Motor 267 Absolute System 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 battery. 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 communication (refer to P.302), all of error and multi-turn data will be cleared together with alarm, 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. 2) Take off the cover of the battery box. Connector with lead wire of the battery to CN601 and leave of 5 min. Pull out the connector from CN601 5 min after. CN601 Pull out after 5 min. connection Raise the latch and take off the cover. 3) Install the battery to the battery box. Place the battery with + facing downward. 268 Connect the connector. [Supplement] 4) Close the cover of the battery box. Close the cover not to pinch the connector cable. <Caution> Use the following battery for absolute encoder. Part No. : DV0P2990 (Lithium battery by Toshiba Battery Co., Ltd. ER6V, 3.6V 2000mAh) 269 Supplement <Cautions> * Be absolutely sure to follow the precautions below since improper use of the battery can cause electrolyte 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 electrically 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 restrictions. 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 factored 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 ON Power supply Mon. to Sat. 313 days/365 day Sun. 52 days/365 days 24h 24h 10h 2h 10h 2h a bc a bc OFF c a : Current consumption in normal mode 3.6[A] b : Current consumption at power failure timer mode 280[A] * 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[A] 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] 2) 1 cycle/day (2nd cycle of the above 1) is for rest. 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] 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 instruction 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 Junction connector for encoder cable (Optional connector kit) 7 (H) E5V 8 (G) E0V BAT+ BAT- PS PS FG 1 2 4 5 3 (T) (S) (K) (L) (J) Pin number when a connector is used Pin number when a cannon plug is used 1 2 BAT+ BAT- 1 Battery BAT+ 2 BAT- Connector, ZHR-2 (by J.S.T.) Battery for absolute encoder (Option) DV0P2060 or DV0P2990 Title Manufacturer Part No. J.S.T. Connector ZMR-2 Connector pin SMM-003T-P0.5 J.S.T. Connector for absolute encoder connection Clamping Jig YRS-800 J.S.T. (To be provided by customer) 270 Twisted pair Connector, CN X6 (Optional connector kit) 1 E5V 2 E0V 5 6 PS PS FG (Case) Part No. DV0P2060 Lithium battery by Toshiba Battery Co., Ltd. ER6V 3.6V 2000mAh 50 Lead wire [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, turn off the power and turn on the power again. Setup Operation of Absolute Encoder (Auxiliary function mode) Mode Selection (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 encoder clear mode". Refer to P.51, "Setup of Parameter and Mode" of Preparation. Execution Automatic offset adjustment mode Motor trial run mode Alarm clear mode Absolute encoder clear mode (3) Execute the following key operation at EXECUTION DISPLAY Bars increase while keep pressing (approx. 3sec). Absolute encoder clearing starts. Absolute encoder clearing finishes in a second. Note) In case of incremental encoder, absolute encoder clear starts. display appears when (4)Turn off the control power once, then re-enter the power. Supplement 271 Absolute System 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 05h transmission 04h reception Host requests for absolute data to driver Data of *1 and *2 are determined by the setup of RSW (ID) of the front panel. N RSW(ID) 0 1 2 3 4 5 6 7 8 9 A B C D E F Y 00h transmission 01h transmission *1 D2h transmission 2Dh transmission *2 06h reception N Y 05h reception N Y 04h transmission Host receives absolute data from driver Reception of absolute data (15 characters) Check sum OK'ed reception Data of *1 Data of *2 2Eh 00h 2Dh 01h 2Ch 02h 2Bh 03h 2Ah 04h 29h 05h 28h 06h 27h 07h 26h 08h 25h 09h 24h 0Ah 23h 0Bh 22h 0Ch 21h 0Dh 20h 0Eh 1Fh 0Fh Check sum becomes OK'ed when the lower 8-bit of the sum of the received absolute data (15 characters) is 0. N Y 06h transmission 15h transmission transmission finishes 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". * 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. 272 [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). Transmission starts 81h transmission 05h transmission Host requests for absolute data to driver *1 81h reception *1 04h reception Y N RSW(ID) Data of *1 Data of *2 Data of *3 0 not usable with RS485 communication 2Dh 01h 1 81h 2Ch 02h 2 82h 2Bh 03h 3 83h 2Ah 04h 84h 4 29h 05h 85h 5 28h 06h 86h 6 27h 07h 87h 7 26h 08h 88h 8 25h 09h 89h 9 24h 0Ah 8Ah A 23h 0Bh 8Bh B 22h 0Ch 8Ch C 21h 0Dh 8Dh D 20h 0Eh 8Eh E 1Fh 0Fh 8Fh F 00h transmission 01h transmission *2 D2h transmission 2Dh transmission *3 06h reception Y 80h reception 05h reception N N Y 80h transmission 04h transmission Host receives absolute data from driver Reception of absolute data (15 characters) Check sum OK'ed reception 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. N Y 06h transmission 15h transmission transmission finishes 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". 273 Supplement * 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. Absolute System Composition of Absolute Data Absolute data consists of singe-turn data which shows the absolute position per one revolution and multiturn data which counts the number of revolution of the motor after clearing the encoder. 131071 0,1,2 Single-turn data ... 13107 1 0,1,2 ... 131071 0,1, -1 0 Multi-turn data Motor rotational direction 01 12 origin CW CCW Single-turn data and multi-turn data are composed by using 15-character data (hexadecimal binary code) which are received via RS232 or RS485. 0Bh Setup value of RSW (ID) of the front panel RSW (ID) D2h 03h 11h Encoder status (L) Received absolute data (15 characters) Refer to next page, "Encoder status". Encoder status (H) Single-turn data (L) Single-turn data Single-turn data (M) =Single-turn data (H) x 10000h + Single-turn data (M) x 100h + Single-turn data (L) Single-turn data (H) Multi-turn data Multi-turn data (L) =Multi-turn data (H) x 100h + Multi-turn data (L) Multi-turn data (H) Date : 0 to 65535, Range : -32767 to 32767 00h Becomes to 0 when the communication is carried out normally. If not 0, capture the absolute data from the driver again Error code Checksum * Details of multi-turn data Multi-turn data 65535 CW Absolute counter over error protection Error 0 Normal CCW Error <Remark> If the multi-turn data of the above fig. is between 32768 and 65535, convert it to signed date after deducting 65536. * Encoder status (L)-----1 represents error occurrence. bit7 bit6 Encoder status (L) bit5 bit4 bit3 bit2 0 bit1 bit0 Over-speed Full absolute status Counter error Counter overflow Multi-turn error Battery error Battery alarm 274 Err42 (Absolute over-speed error protection) Err47 (Absolute status error protection) Err44 (Absolute single-turn counter error protection) Err41 (Absolute counter over error protection) Err45 (Absolute multi-turn counter error protection) Err40 (Absolute system down error protection) Battery alarm [Supplement] * Encoder status (L)-----1 represents error occurrence. bit7 0 bit6 0 Encoder status (L) bit5 bit4 bit3 bit2 0 0 bit1 0 bit0 0 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 * Transmit the absolute data while fixing the motor with brake by turning to Servo-Off. <Note> For details of the above error protection, refer to P.252, "Protective Function" of When in Trouble, and for contents of alarms, refer to the following "Display of Battery Alarm". Display of Battery Alarm Following alarm will be displayed when making the front panel to alarm execution mode of monitor mode. ... No alarm, .... Alarm occurrence 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 65C or signal intensity have not been enough. (Mounting adjustment is required.) How to Clear the Battery Alarm Replace the battery for absolute encoder when battery alarm 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). Supplement 275 Outline of Setup Support Software, "PANATERM(R)" Outline of PANATERM(R) With the PANATERM(R), you can execute the followings. (1) Setup and storage of parameters, and writing to the memory (EEPROM). (2) Monitoring 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 * Connecting cable DV0P1960 RS232 (DOS/V) * Caution Connect to CN X4. Setup support software Setup disc of "PANATERM(R)" DV0P4460 (English/Japanese version) Supporting OS : Windows(R) 98, Windows(R) 2000, Windows(R) Me, Windows(R) XP <Caution> * Don't connect to CN X3. Display of "Communication port or driver cannot be detected." appears even though you log on "PANATERM(R)". Install the "PANATERM(R)" to Hard Disc <Cautions/Notes> 1. 15MB capacity of hard disc is required. OS to be Window(R) 98, Windows(R) 2000, Windows(R) Me or Windows(R) XP. 2. Install the "PANATERM(R)" to a hard disc, using the setup disc according to the procedures below to log on. 3. Part No. of the "PANATERM(R)" may be changed based on the version up. Refer to the catalog for the latest part No. 276 [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(R)" 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 run the targeted setup file. 4) Operate according to the guidance of the setup program. 5) Click OK on the installation verification window to start the setup. 6) Exit all applications and log on Windows(R) again. "PANATERM(R)" will be added on program menu when you log on again. Log on of the "PANATERM(R)" . <Cautions/Notes> 1. Once the "PANATERM(R)" 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.) and click. 4) Select the "PANATERM(R)" with program 5) The screen turns to "PANATERM(R)" after showing opening splash for approx. 2sec. For more detailed information for operation and functions of the "PANATERM(R)", refer to the instruction manual of the Setup Support Software, "PANATERM(R)". 277 Supplement * Windows(R), Windows(R) 98, Windows(R) 2000, Windows(R) Me and Windows(R) XP are trade marks of Microsoft Corp. 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(R), refer to the instruction manual of the PANATERM(R). "PANATERM(R)" English/Japanese version (Windows 98/Me/2000/XP) DV0P4460 DV0P1960 DV0P1970 (200[mm]) DV0P1971 (500[mm]) DV0P1972 (1000[mm]) Connecting cable for PC (DOS/V) Connecting cable between drivers DV0P1960 DV0P1970 Host 278 DV0P1970 DV0P1970 [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 transmission protocol. Selector etc. RS232 Host X4 RSW(ID)=1 X4 X4 RSW(ID)=1 X4 RSW(ID)=1 RSW(ID)=1 * 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. RS232 RS485 RS485 RS485 X3 X3 X3 X4 X4 X4 Host X4 Max. 16 axis RSW(ID)=0 RSW(ID)=1 RSW(ID)=2 RSW(ID)=3 * 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. RS485 RS485 RS485 RS485 X3 X3 X3 X4 X4 X4 Module ID=0 Host X4 Max. 15 axis RSW(ID)=2 RSW(ID)=3 RSW(ID)=4 Allow 500ms or longer interval for switching the axes while capturing data of multiple axes. 279 Supplement RSW(ID)=1 Communication Interface of Communication Connector * Connection to the host with RS232 Host 1 MINAS-A4 SN751701 or equivalent RTS 2 CTS 3 RXD TXD 4 G G 5 TXD RXD 6 FG 7 DTR RS485+ 8 DSR RS485- ADM485 or equivalent FG (Case) 1 CN X3 2 3 4 G Connectors, CN X3 and CN X4 are MD-S8000 * 10 (by JST) or equivalent. 5 6 7 RS485+ 8 RS485- FG (Case) 1 CN X4 2 3 TXD 4 G 5 RXD 6 7 RS485+ 8 RS485- FG (Case) 280 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. [Supplement] * Connection to the host with RS485 1 MINAS-A4 SN751701 or equivalent 2 Host 3 RS485+ TXD 4 RS485- G 5 G RXD 6 FG 7 RS485+ 8 RS485- ADM485 or equivalent FG (Case) 1 CN X3 2 3 4 G 5 6 7 RS485+ 8 RS485- FG (Case) 1 Connectors, CN X3 and CN X4 are MD-S8000 * 10 (by JST) or equivalent. 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. CN X4 2 3 TXD 4 G 5 RXD 6 7 RS485+ 8 Supplement RS485- FG (Case) 281 Communication 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 * 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. List of User Parameters for Communication PrNo. Title of parameter Setup range 00 Axis address 0 - 15 0C Baud rate setup of RS232 communication 0-5 0D Baud rate setup of RS485 communication 0-5 Functions/contents 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 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 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 * 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. * Handshake code Following codes are used for line control. Function Code 05h (Module recognition byte of the transmitted) 04h (Module recognition byte of the transmitted) 06h 15h Title ENQ EOT ACK NAK Enquire for transmission Ready for receiving Acknowledgement Negative acknowledgement 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 received block is judged abnormal, NAK will be sent. A judgment is based on checksum 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. bit7 bit6 bit5 bit4 1 0 0 0 bit3 bit2 bit1 bit0 Module ID 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. 282 [Supplement] Transmission Sequence * Transmission protocol * In case of RS232 Host MINAS-A4 1) ENQ(05h) 2) EOT(04h) 3) Data block Receiving data 4) ACK(06h) (or NAK (15h)) 5) ENQ(05h) 6) EOT(04h) 7) Data block Transmitting data 8) ACK(06h) (or NAK (15h)) * In case of RS485 Host Module ID : 0 MINAS-A4 1) 81h, ENQ (05h) 2) 81h, EOT (04h) 3) Data block Module ID : 1 Receiving data 4) ACK (06h) (or NAK (15h)) 5) 80h, ENQ (05h) 6) 80h, EOT (04h) 7) Data block Transmitting data 8) ACK (06h) (or NAK (15h)) * 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 transmission failure of command byte counts. If no ACK is received within T2 period, or other code than NAK or ACK is received, sequence will be retried. Retry will start from ENQ. 283 Supplement * Reception control On entering to reception mode, the module receives the transmitted block continuously. It will receive 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. Communication * Data Block Composition Below shows the composition of data block which is transmitted in physical phase. (1 byte) N axis mode command Parameter (N byte) check sum 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 * Protocol Parameter Following parameters are used to control the block transmission. You can set any value with the INIT command (described later). Title Function T1 Time out between characters T2 Protocol time out Initial value RS232 5 (0.5 sec) RS485 1 (0.1 sec) RS232 5 (0.5 sec) RS485 1 (0.1 sec) Setup range Unit 1-255 0.1 sec 1-255 1 sec RTY Retry limit 1 (once) 1-8 M/S Master/Slave 0 (Slave) 0, 1 (Master) Once 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 ....... * Permissible time interval for the driver to transmit ENQ and to receive EOT. If the actual reception 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 reception 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 retry times. Transmission error occurs if the actual retry 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) 284 [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 RSW(ID)=0 RS232 Host RSW(ID)=1 RSW(ID)=2 RS485 RS485 RS485 X3 X3 X3 X4 X4 X4 RSW(ID)=3 X4 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 communication Host 05 (ENQ) 00 01 D2 2D 04 (EOT) MINAS-A4 (0) 04 (EOT) 06 (ACK) 05 (ENQ) 0B 01 D2 Obtain data with RS485 (see the below) 06 (ACK) Host MINAS-A4 (0) 03 11 00 00 D8 FF 01 00 01 D2 00 00 00 00 36 * RS485 communication MINAS-A4 (0) 81 05 (ENQ) 2D 81 04 (EOT) MINAS-A4 (1) 80 04 (EOT) 06 (ACK) 80 05 (ENQ) MINAS-A4 (0) MINAS-A4 (1) MINAS-A4 (0) 0B 01 D2 03 11 00 00 D8 FF 01 00 00 06 (ACK) Allow 500ms or longer interval for switching the axis while capturing data of multiple axes. 285 Supplement 00 00 36 MINAS-A4 (1) <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 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) Writing of individual parameter, and (3) Writing 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. 1) Capture of execution right Host 05 01 01 71 01 8C 04 (ENQ) (EOT) 04 MINAS-A4 (1) 06 (EOT) Host 05 01 01 00 D9 71 (ACK) (ENQ) 2) Writing of individual parameter 06 05 03 01 18 0B 00 (ACK) (ENQ) MINAS-A4 (1) 00 8D 04 06 (EOT) Host 3) Writing of parameter to EEPROM 04 06 (EOT) MINAS-A4 (1) 05 05 01 01 48 01 18 00 E6 01 01 71 04 (EOT) B7 06 MINAS-A4 (1) 00 (ACK) (ENQ) (ENQ) Host (ACK) 04 06 (EOT) (ACK) 05 01 01 48 00 B6 (ACK) (ENQ) 4) Release of execution right Host 05 01 01 71 00 8D 04 (ENQ) (EOT) 04 MINAS-A4 (1) 06 (EOT) Host 05 (ACK) (ENQ) 06 (ACK) MINAS-A4 (1) 00 8D <Caution> For details of command, refer to P.290, "Details of Communication Command". 286 [Supplement] Status Transition Chart * RS232 Communication Transmitter Reception of EOT Size Command bytes+3 T2 stop Ready for EOT Enquiry for transmission, and retry times are within setup Transmission of ENQ T2 start Transmission of one character Size Command bytes-1 Block transmission Reception of ENQ and at slave Return ENQ to reception buffer(reception processing) T2 time out One count of retry times T2 stop Clear of transmission buffer Size becomes 0 T2 START Ready for ACK/NAK Enquiry for transmission, but retry times are over. Reset of retry times Clear of transmission enquiry Reception of other than 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 Clear of transmission enquiry Idling = It waits for the reception of ENQ, and or it is dealing with reception. ENQ Transmission of EOT T2 start T2 time out Transmission of NAK, 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 Ready for command byte counts Failure of reception. (Check sum OK'ed when size becomes o.) Transmission of ACK, T1 stop T1 time out Transmission of NAK, T1 stop Ready for finish of receiving data Reception of remained block Reception of command byte counts Size command byte counts + 3 Sum command byte counts T1 start, T2 stop Receiver Reception of one character Size Size -1 Sum Sum + received character T1 start Reception of one character T1 start Supplement 287 Communication * RS485 Communication Module identification byte of transmitter is the module ID | 80h of the counterpart. Transmitter Reception of EOT Size Command bytes +3 T2 stop Module ID of opponent T1 start Ready for ID Enquiry for transmission, and retry times are within setup Module recognition byte, Transmission of ENQ T2 start ID reception of other than opponent and at slave Return ENQ to reception buffer (receipt processing) Enquiry for transmission, but retry times are over. Reset of retry times Clear of transmission enquiry Ready for EOT 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 Transmission of one character Size Size - 1 Block transmission Size becomes 0 T2 START Ready for ACK/NAK 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 Idling = It waits for the reception of Module ID, and or it is dealing with reception. Reception of module recognition bytes T1 start T1 time out T1 stop Ready for ENQ or EOT Module identification byte is not 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 is module ID, and T2 stop in other case Reception of of EOT T2 start Transmission to other axis (module recognition byte is not module ID when size becomes 0) T1 stop Failure of reception. (Check sum error when size becomes o.) T1 start Reception of remained block Reception of command byte counts Size command byte counts + 3 Sum command byte counts T1 start, T2 stop Receiver 288 T1 time out Transmission of NAK, T1 stop Ready for finish of receiving data Ready for command byte counts Module recognition byte is module ID and reception of ENQ Module recognition byte, Transmission of ENQ, T2 start T1 time out Transmission of NAK and T1 stop when module recognition byte is module ID. T1 stop in other case than the above. Reception of one character Size Size - 1 Sum Sum + received character T1 start Reception of one character T1 start [Supplement] Timing of Data Communication * In case of RS485 (RS232 to follow) T3 T4 T3 T5 T4 Host to driver Data block Enquiry for transmission Driver to host Permission for transmission 0 - 2ms RS485 bus occupation T3 T5 T3 0 - 2ms 0 - 2ms T4 ACK/ NAK 0 - 2ms T5 Host to driver Permission for transmission ACK/NAK Driver to host 0 - 2ms RS485 bus occupation Enquiry for transmission 0 - 2ms 0 - 2ms Data block 0 - 2ms Symbol Title Minimum Maximum T3 Continuous inter-character time Stop bit length Protocol parameter T1 T4 Response time of driver 4ms Protocol parameter T2 T5 Response time of host 2ms Protocol parameter T2 <Caution> Above time represents a period from the rising edge of the stop bit. Supplement 289 Communication List of Communication Command command 0 1 2 8 9 B 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(R) 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(R) Individual read out of user parameter Page read out of user parameter Page writing of parameter 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 * Use the above commands only. If you 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. Details of Communication Command command 0 mode 1 * Read out of CPU Version Information Reception data Transmission data 0 axis 1 1 0 checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 0Dh 3 axis axis 0 Model of ,motor (upper) Version (upper) Version Model of (lower) motor (lower) Error code Error code checksum checksum 1 0 * 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 data as 0.) * Version will be displayed in figures from 0 to 9. (e.g. Version 3.1 will be upper data 30h, lower data 13h.) 290 [Supplement] command 0 mode 5 * Read out of Driver Model Transmission data 0Dh axis Reception data 0 axis 5 0 5 0 Model of ,driver (upper) checksum Model of driver (lower) Error code checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0 * Driver model consist of 12-characters, and will be transmitted in ASCII code. (e.g.) "MADDT1503***" command 0 mode 6 * Read out of Motor Model Transmission data 0Dh axis Reception data 0 axis 6 0 6 0 Model of ,motor (upper) checksum Model of motor (lower) Error code checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0 * Motor model consist of 12-characters, and will be transmitted in ASCII code. (e.g.) "MSMD012S1***" command 1 mode 1 * Setup of RS232 Protocol Parameter Reception data 3 axis 1 Transmission data 1 axis 1 1 T1 T2 M/S 1 Error code checksum RTY checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 RTYerror 2 T2error 1 T1error 0 M/Serror Supplement * 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 291 Communication command 1 mode 2 * Setup of RS485 Protocol Parameter Reception data 3 axis 2 Transmission data 1 axis 1 2 T1 T2 M/S 1 Error code checksum RTY checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 RTYerror 2 T2error 1 T1error 0 M/Serror * 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. command 1 mode 7 * Capture and Release of Execution Right Transmission data 1 axis Reception data 1 axis 7 1 7 mode checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 1 Error code checksum 3 mode error 2 1 0 in use * 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. 292 [Supplement] command 2 mode 0 * Readout of Status Reception data 0 axis 0 Transmission data 3 axis 2 0 checksum 2 control mode status error code checksum status bit7 Error code bit7 0 : Normal 1 : Error 6 5 CCW torque generating 4 CW torque generating 6 5 4 Command error RS485 error 3 CCW running 2 CW running 3 1 0 Slower than DB Torque in-limit permission 2 1 0 * Control modes are defined as follows. 0 1 2 3 Position control mode Velocity control mode Torque control mode Full-closed control mode * 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. command 2 mode 1 * Read out of Command Pulse Counter Reception data 0 axis 1 Transmission data 5 axis 2 1 checksum 2 counter value L H error code checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0 * 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. Supplement 293 Communication command 2 mode 2 * Read out of Feedback Pulse Counter Reception data 0 axis 2 Transmission data 5 axis 2 2 2 counter value L checksum H error code checksum Error code bit7 0 : Normal 1 : Error 6 3 5 4 Command error RS485 error 2 1 0 * 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 command 2 mode 4 * Read out of Present Speed Reception data 0 axis 4 Transmission data 3 axis 2 4 2 Data (present speed) L H error code checksum checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0 * Reads out the present speed. (Unit : [r/min]) * Output value in 16 bit * Speed will be "-" for CW and "+" for CCW. command 2 mode 5 * Read out of Present Torque Output Reception data 0 axis 5 Transmission data 3 axis 2 5 2 Data (present torque) L H error code checksum checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 * 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. 294 1 0 [Supplement] command 2 mode 6 * Read out of Deviation Counter Reception data 0 axis 6 Transmission data 5 axis 6 2 2 data (deviation) L checksum H Error code checksum Error code bit7 0 : Normal 1 : Error 6 3 5 4 Command error RS485 error 2 1 0 * 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. command 2 mode 7 * Read out of Input Signal Reception data 0 axis 7 Transmission data 5 axis 2 7 checksum 2 data L data H Error code checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0 Data bit7 Reserved 6 Switching of electronic gear bit15 Reserved 14 Reserved bit23 Reserved bit31 Reserved 5 Speed zero clamp 4 Control mode switching 3 CCW over-travel inhibit 2 1 CW over-travel Alarm clear inhibit 0 Servo-ON 11 Reserved 10 Counter clear 9 Gain switching 8 Command pulse input inhibition 13 12 Internal speed command selection 2 Internal speed command selection 1 22 Reserved 21 Torque limit switching Internal speed command selection 3 19 Damping control switching 18 Reserved 17 Reserved 16 Reserved 31 Reserved 29 Reserved 28 Reserved 27 Reserved 26 Reserved 25 Reserved 24 Reserved 20 * 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. Supplement 295 Communication command 2 mode 8 * Read out of Deviation Counter Reception data 0 axis 8 Transmission data 7 axis 2 8 checksum 2 data L alarm data bit8 External scale bit7 Over-load bit6 Fan lock bit5 Over-regeneration bit0 Battery error code bit7 0 : Normal 1 : Error 6 data H alarm data L H error code checksum 5 4 Command error RS485 error 3 2 1 0 Data bit7 Reserved 6 In-speed 5 Torque in-limit bit15 Reserved 14 Reserved bit23 Reserved bit31 Reserved 4 Zero speed selection 3 2 Positioning Release of complete mechanical brake (In-position) Servo-Alarm Servo-Ready 13 12 Dynamic brake Reserved engagement 11 Reserved 9 At-speed 8 Reserved 22 Reserved 21 Reserved 20 Reserved 19 Reserved 18 Reserved 17 Reserved 16 Reserved 31 Reserved 29 Reserved 28 Reserved 27 Reserved 26 Reserved 25 Reserved 24 Reserved 10 Full-closed positioning complete 1 0 * The table below shows the relation of the signals and actions. 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 296 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 [Supplement] command 2 mode 9 * Read out of Present Speed, Torque and Deviation Counter Reception data 0 axis 9 Transmission data 9 axis 2 9 Error cod bit7 0 : Normal 1 : Error 2 data L (speed) H data L (torque) H data L checksum (deviation) H error code checksum 6 5 4 Command error RS485 error 3 2 1 0 * 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). command 2 mode A * Read out of Status, Input Signal and Output Signal Reception data 0 axis A Transmission data 0Dh axis 2 A checksum 2 control mode status input signal L input signal H output signal L output signal H alarm data L alarm data H error code checksum Error cod bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0 * 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). Supplement 297 Communication command 2 mode C * Read out of External Scale Transmission data 0Bh axis Reception data 0 axis C 2 C 2 encoder ID (L) (H) status (L) (H) (L) checksum absolute position data (48bit) (H) error code checksum Encoder ID Encoder ID (L) Address "0" data of EEPROM Address "0" data of EEPROM ST771 AT500series Encoder ID (H) 32h 31h * Command error occurs at other control modes than full-closed control. * ST771 Status (L) bit7 Thermal alarm Status (H) bit7 0 6 5 4 Signal intensity Signal intensity Transducer alarm error error 5 Encoder error *1 *1 bit5 : Logical sum of bit0 to bit 5 of status (L) * AT500 series Status (L) bit7 6 5 Thermal alarm 0 Communication error Status (H) bit7 6 5 0 0 Encoder error *3 *3 bit5 : Logical sum of bit0 to bit 5 of status (L) Error code bit7 0 : Normal 1 : Error 6 0 6 3 ABS detection error 2 Hardware error 4 3 2 1 Encoder 0 0 0 error *2 *2 bit4 : logical sum of bit6 and bit 7 of status (L) 4 CPU, memory error 3 Capacity and photoelectric error 2 Encoder non-matching error 1 Initialization error 4 3 2 1 Encoder 0 0 0 alarm *4 *4 bit4 : logical sum of bit6 and bit 7 of status (L) 5 4 Command error RS485 error 3 * Absolute position data = 48bit (0 x 800000000000 to 0 x 7FFFFFFFFFFFh) 298 1 Initialization error 2 1 0 Over speed 0 0 0 Over speed 0 0 0 [Supplement] command 2 mode D * Read out of Absolute Encoder Reception data 0 axis D Transmission data 0Bh axis 2 D Encoder ID (L) 3 17bit absolute Status (L) bit7 Battery alarm 6 System down 5 Multi-turn error 2 encoder ID (L) (H) status (L) (H) (L) single-turn data (H) multi-turn data (L) (H) 0 Error code checksum checksum Encoder ID (H) 11h 4 3 Counter overflow 0 2 Count error 1 Full absolute status 0 Over speed Status (H) * bit4 : System down * bit5 : Battery alarm, multi-turn error, counter overflow, count error, full absolute status and logical sum of over speed Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 1 0 * 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) command 2 mode E * Read out of External Scale Accumulation and Deviation Reception data 0 axis E Transmission data 9 axis 2 E 2 (L) checksum external scale FB pulse sum (H) (L) external scale deviation (H) Error code bit7 0 : Normal 1 : Error error code checksum 6 5 4 Command error RS485 error 3 2 1 0 Supplement * 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. 299 Communication command 8 mode 0 * Individual Read out of Parameter Reception data 1 axis 0 Transmission data 3 axis 8 0 parameter No. checksum Error code bit7 0 : Normal 1 : Error 6 8 parameter value L H error code checksum 5 4 Command error RS485 error 3 No.Error 2 1 0 * If the parameter No. is not within the range of 0 x 00 to 0 x 7F, No. error will be returned. command 8 mode 1 * Individual Writing of Parameter Reception data 3 axis 1 Transmission data 1 axis 1 8 Error code bit7 0 : Normal 1 : Error 6 Data Error 8 error code checksum parameter No. parameter value L H checksum 5 4 Command error RS485 error 3 No.Error 2 1 0 * 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. command 8 mode 4 * Writing of Parameters to EEPROM Transmission data 1 axis Reception data 0 axis 4 8 4 checksum Error code bit7 0 : Normal 1 : Error 6 Data Error 5 4 Command error RS485 error 8 error code checksum 3 2 1 Control LV 0 * 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. 300 [Supplement] command 9 mode 0 * Read out of Present Alarm Data Reception data 0 axis 0 Transmission data 2 axis 0 9 Error code bit7 0 : Normal 1 : Error 6 9 alarm No. error code checksum checksum 5 4 Command error RS485 error 3 2 1 0 * 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. command 9 mode 1 * Individual Read out of Alarm History Reception data 1 axis 1 Transmission data 3 axis 9 1 history No. checksum Error code bit7 0 : Normal 1 : Error 6 9 history No. alarm No. error code checksum 5 4 3 Command error Command error No.Error 2 1 0 * 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. command 9 mode 2 * Batch Read out of Alarm History Reception data 0 axis 2 Transmission data 0Fh axis 9 2 1st. latest 2nd. latest checksum 14th. latest Error code bit7 0 : Normal 1 : Error 6 5 4 Command error Command error 3 9 alarm No. alarm No. - alarm No. Error code checksum 2 1 0 * You can read out last 14 error events. Supplement 301 Communication command 9 mode 3 * Alarm History Clear Reception data 0 axis 3 Transmission data 1 axis 3 9 Error code bit7 0 : Normal 1 : Error 6 Data Error 9 Error code checksum checksum 5 4 Command error RS485 error 3 2 1 Control LV 0 * 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. command 9 mode 3 * Alarm Clear Reception data 0 axis 4 Transmission data 1 axis 9 4 checksum Error code bit7 0 : Normal 1 : Error 6 9 Error code checksum 5 4 Command error RS485 error 3 2 1 0 * Clears the present alarm. (only those you can clear) command 9 mode B * Absolute Clear Reception data 0 axis B Transmission data 1 axis 9 B checksum Error code bit7 0 : Normal 1 : Error 6 5 4 Command error RS485 error 3 2 * Clears absolute encoder error and multi-turn data * Command error will be returned when you use other encoder than 17bit absolute encoder. 302 9 Error code checksum 1 0 [Supplement] command B mode 0 * Individual Read out of User Parameter Reception data 1 axis 0 Transmission data 9 axis B 0 parameter No. checksum Property bit7 Parameter not in use bit15 Error code bit7 0 : Normal 1 : Error 6 5 Display inhibited (for special customer) 14 6 13 B parameter value L H MIN. value L H MAX. value L H Property L H Error code checksum 4 Change at initialization 12 5 4 Command error RS485 error 3 System related 2 1 11 10 9 3 No.Error 2 1 0 8 Read only 0 * If the parameter No. is not within the range of 0 x 00 to 0 x 7F, No. error will be returned. command B mode 1 * Page Read out of User Parameter Reception data 1 axis 1 Transmission data 82h axis B 1 page No. checksum 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 Property bit7 Parameter not in use 6 Display inhibited bit15 14 6 5 (for special customer) 13 4 Change at initialization 12 5 4 Command error RS485 error 3 System related 2 1 11 10 9 3 No.Error 2 1 0 8 Read only Supplement Error code bit7 0 : Normal 1 : Error B 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 0 * 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. 303 Communication command B mode 2 * Page Writing of User Parameter Transmission data 2 axis Reception data 21h axis 2 B 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 Error code bit7 0 : Normal 1 : Error 6 Data Error 5 4 Command error RS485 error 2 B page No. Error code checksum 3 No.Error 2 1 0 * 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. 304 [Supplement] MEMO Supplement 305 Division Ratio for Parameters Relation between Electronic Gear and Position Resolution or Traveling Speed Driver Electronic gear ratio Pulse train position command [ ] Travel distance : P1 [P] Traveling speed : F [PPS] D= Pr48 x 2 Pr4B Pr4A Rotational speed : N[r/min] + Motor - Gear Machine Reduction ratio : R Encoder Example of ball screw drive by servo motor Encoder pulse counts : E [P/r] * 10000 (=A/B-phase 2500 [P/r] x 4) * 131072 (=17-bit) 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, , considering 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) 2n Decimal 20 21 22 23 24 25 26 27 28 29 210 211 212 213 214 215 216 217 306 1 2 4 8 16 32 64 128 256 512 1024 2048 4096 8192 16384 32768 65536 131072 [Supplement] Pr4A M x E x R Electronic gear ratio D = L Lead of ball screw, L =10mm Gear reduction ratio, R = 1 Position resolution, M =0.005mm Encoder, 2500P/r (E= 10000P/r) 0.005 x 10000 x 1 10 Lead of ball screw, L =20mm Gear reduction ratio, R = 1 Position resolution, M =0.0005mm Encoder, 2500P/r (E= 10000P/r) 0.0005 x 10000 x 1 20 Pr48 x 2 D= Pr4B 10000 x 2 2000 =5 = 0.25 D < 1, hence use 17-bit. Pr48 = 10000 Pr4A = 0 Pr4B = 2000 "D = 1" is the condition for minimum resolution. 17 17 Encoder : 17-bit (E = 2 P/r) 0.0005 x 2 x 1 20 17 1x2 40000 = 2 Pr48 = 1 Pr4A = 15 Pr4B = 10000 15 1x2 x2 22 x 10000 = Motor rotational speed (r/min), N = F x Lead of ball screw, L =10mm Gear reduction ratio, R = 1 Position resolution, M = 0.0005mm Line driver pulse input, 500kpps Encoder, 17-bit 15 500000 x = 50 x 60 x 1x2 10000 1 2 17 x 17 2000 x 2 500000 x 60 15 Ditto To make it to 2000r/min. x 60 1 = 750 22 Electronic gear ratio D = D= D x 60 E 1 x 23 x 2 = 3 2 x 3750 1 = NxE F x 60 Pr48 x 2P D= Pr4B Pr4A 17 2 x 1000 x 2 30000000 15 1x2 = 3750 Pr48=1 Pr4A=15 Pr4B=3750 Travel distance per command pulse (mm) (Position resolution) D 1 M = x xL E R 15 2 1 1 1 20 20 x 17 x x 20 = x 2 = = 0.00133mm 3750 2 1 3750 2 3750 x 4 Supplement 307 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. However, our AC 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 (condition) with certain locating distance and wiring of the servo motor and the driver. And actual working condition often differs from this model condition especially in wiring and grounding. Therefore, 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 Subject Motor Motor/ Motor and driver IEC EN EMC UL CSA Conformed Standard IEC60034-1 IEC60034-5 UL1004 CSA22.2 No.100 EN50178 UL508C Radio Disturbance Characteristics of Industrial, Scientific EN55011 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 Conforms to LowVoltage Directives Standards referenced by EMC Directives : International Electrotechnical Commission : Europaischen Normen : Electromagnetic Compatibility : Underwriters Laboratories : 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 Control box Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC-60664-1 (e.g. Install the driver in control panel with IP54 protection structure.) Controller Insulated power supply for interface Noise filters for signal lines Power supply Circuit breaker Ground-fault breaker (RCD) Noise filter Surge absorber Noise filters for CN X1 signal lines L1 L2 CN X2 L3 U V W L1C L2C CN X6 Protective earth (PE) 308 CN X5 Driver Motor M RE [Supplement] Power Supply 100V type : Single phase, (A, B and C-frame) 200V type : Single phase, (B, C-frame) 200V type : Single/3-phase, (C, D-frame) 200V type : 3-phase, (E, F-frame) 100V +10% -15% to 115V +10% -15% 50/60Hz 200V +10% -15% to 240V +10% -15% 50/60Hz 200V +10% -15% to 240V +10% -15% 50/60Hz 200V +10% -15% to 230V +10% -15% 50/60Hz (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 absorber 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 between power supply and noise filter. marked) 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. Voltageforspecifications Manufacturer's part No.Applicable driver (frame) Manufacturer driver SUP-EK5-ER-6 A and B-frame DV0P4170 Single phase 100V/200V Okaya Electric Ind. 100.0 2.0 88.0 75.0 7.0 Terminal cover (transparent) 53.11.0 5.0 Circuit diagram IN 1 12.0 50.0 60.0 2.0 R OUT Cy Cx Option part No. DV0P4180 DV0P4220 2 - o4.5 Voltage specifications for driver 3-phase 200V 3 Cy 2 2 - o4.5 x 6.75 L Cx 10.0 Label L 4 (11.6) (13.0) 6 - M4 Manufacturer's part No.Applicable driver (frame) Manufacturer 3SUP-HQ10-ER-6 C-frame Okaya Electric Ind. D and E-frame 3SUP-HU30-ER-6 A Circuit diagram B C H F D E Label 10 Earth terminal M4 Screw for cover M3 IN OUT L1 1 2 5 3 6 R M4 4 Cx1 Cx1 G Cover Body Supplement Cy1 A B C D E F G H K L DV0P4180 115 105 95 70 43 10 52 5.5 M4 M4 DV0P4220 145 135 125 70 50 10 52 5.5 M4 M4 309 Conformity to EC Directives and UL Standards Voltage specifications for driver 3-phase 200V Manufacturer's part No.Applicable driver (frame) Manufacturer 3SUP-HL50-ER-6B F-frame Okaya Electric Ind. 2863.0 270 2551.0 240 2-o5.5 x 7 150 6-6M Label Circuit diagram IN 2-o5.5 (13) (18) 901.0 120 Option part No. DV0P3410 OUT 1 4 2 5 3 6 Surge Absorber Provide a surge absorber for the primary side of noise filter. Voltage specifications for driver 3-phase 200V Manufacturer's part No. Manufacturer R . A .V-781BXZ-4 Okaya Electric Ind. 5.51 111 Option part No. DV0P1450 Circuit diagram (1) (2) (3) UL-1015 AWG16 2 3 281 1 4.50.5 200 +30 -0 28.51 o4.20.2 411 5.51 111 Option part No. Voltageforspecifications Manufacturer's part No. Manufacturer driver DV0P4190 Single phase 100/200V R . A .V-781BWZ-4 Okaya Electric Ind. Circuit diagram (1) 2 281 1 (2) UL-1015 AWG16 4.50.5 200 +30 -0 28.51 o4.20.2 411 <Remarks> Take off the surge absorber when you execute a dielectric test to the machine or equipment, or it may damage the surge absorber. 310 [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. Option part No. Manufacturer's part No. DV0P1460 ZCAT3035-1330 Manufacturer TDK Corp. 391 341 <Caution> Mass: 62.8g Fix the signal line noise filter in place to 301 131 eliminate excessive stress to the cables. 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 primary side of the power supply. <Note> For driver and applicable peripheral equipments, refer to P.32 "Driver and List of Applicable Peripheral 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 60C 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 Over-load protective function will be activated when the effective current exceeds 115% or more than the rated current based on the time characteristics. Confirm 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). Supplement 311 Options Specifications of for Motor Connector * Pin disposition for encoder connector * Pin disposition for motor/brake connector (with brake) MSMA MSMA MSMA 1kW, 1.5kW, 2kW MSMA 3kW, 4kW, 5kW MDMA MDMA MDMA 1kW, 1.5kW, 2kW MDMA 3kW, 4kW, 5kW MFMA MFMA MFMA 400W, 1.5kW MFMA 2.5kW, 4.5kW MHMA MHMA MHMA 500W, 1kW, 1.5kW MHMA 2kW,3kW,4kW,5kW MGMA MGMA MGMA 900W MGMA 2kW, 3kW, 4.5kW M B N L K A C P T R S J H G M D E N/MS3102A20-29P * Specifications of 2500P/r incremental encoder Pin No. Content Pin No. Content PS K A NC NC L B PS NC M C NC NC NC D N NC P E NC R F NC NC S G EOV NC T H E5V NC Frame J GND C P T R S J H F G B N L K A G H A B I F A D B C E F D E E D C G H I F N/MS3102A20-29P * Specifications of 17bit absolute/incremental encoder Pin No. Content Pin No. Content PS K A NC NC L B PS NC M C NC NC NC D N NC P E NC R F NC NC S G EOV BAT-* T H E5V BAT+* Frame J GND JL04V-2E20-18PE-B-R (by Japan Aviation Electronics or equivalent) Content Brake Brake NC U-phase V-phase W-phase Earth Earth NC Pin No. G H A F I B E D C JL04V-2E24-11PE-B-R (by Japan Aviation Electronics or equivalent) Content Brake Brake NC U-phase V-phase W-phase Earth Earth NC Pin No. A B C D E F G H I *Connection to Pin-S and T are not required when used in incremental. * Pin disposition for motor/brake connector (without brake) MSMA 1kW, 1.5kW, 2kW MSMA 3kW, 4kW, 5kW MDMA 1kW, 1.5kW, 2kW MDMA 3kW, 4kW, 5kW MHMA 500W, 1kW, 1.5kW MHMA 2kW,3kW,4kW,5kW MGMA 900W MGMA 2kW, 3kW, 4.5kW MFMA 400W, 1.5kW G D A D A C B C B JL04V-2E20-4PE-B-R (by Japan Aviation Electronics or equivalent) PIN No. A B C D Content U-phase V-phase W-phase Earth JL04V-2E22-22PE-B-R (by Japan Aviation Electronics or equivalent) PIN No. A B C D Do not connect anything to NC pins. 312 Content U-phase V-phase W-phase Earth H A E D A B I F D C JL04V-2E20-18PE-B-R (by Japan Aviation Electronics or equivalent) PIN No. G H A F I B E D C MFMA 2.5kW, 4.5kW Content NC NC NC U-phase V -phase W-phase Earth Earth NC B C E G H F I JL04V-2E24-11PE-B-R (by Japan Aviation Electronics or equivalent) PIN No. A B C D E F G H I Content NC NC NC U-phase V -phase W-phase Earth Earth NC [Supplement] Table for junction cable by model of MINAS A4 series Motor type MAMA 100W to 750W MSMD Type of junction cable Encoder 17bit, 7-wire 50W to 750W Without battery holder for absolute encoder Part No of junction cable Fig.No. MFECA0**0EAE Fig.2-1 MFECA0**0EAD Fig.2-2 MFECA0**0EAM Fig.2-3 Motor MFMCA0**0EED Fig.3-1 Brake MFMCB0**0GET Fig.5-1 With battery holder for absolute encoder MFECA0**0ESE Fig.2-4 Without battery holder for absolute encoder MFECA0**0ESD Fig.2-5 MQMA 100W to 400W MSMA 1.0kW, 1.5kW With battery holder for absolute encoder 2500P/r, 5-wire Encoder 17bit, 7-wire MDMA 1.0kW, 1.5kW MHMA 0.5kW to 1.5kW 2500P/r, 5-wire MFECA0**0ESD Fig.2-5 MGMA 900W Motor without Brake MFMCD0**2ECD Fig.3-2 MSMA 2.0kW Encoder 17bit, 7-wire Brake MDMA 2.0kW With battery holder for absolute encoder Without battery holder for absolute encoder Motor MSMA 3.0kW to 5.0kW Encoder MFMCA0**2FCD Fig.4-1 MFECA0**0ESE Fig.2-4 MFECA0**0ESD Fig.2-5 2500P/r, 5-wire MFECA0**0ESD Fig.2-5 without Brake MFMCD0**2ECT Fig.3-3 Brake MFMCA0**2FCT Fig.4-2 With battery holder for absolute encoder MFECA0**0ESE Fig.2-4 Without battery holder for absolute encoder MFECA0**0ESD Fig.2-5 17bit, 7-wire MDMA 3.0kW to 5.0kW MHMA 2.0kW to 5.0kW 2500P/r, 5-wire MFECA0**0ESD Fig.2-5 MGMA 2.0kW to 4.5kW Motor without Brake MFMCA0**3ECT Fig.3-4 MFMA 0.4kW, 1.5kW 17bit, 7-wire Brake Encoder With battery holder for absolute encoder Without battery holder for absolute encoder Motor MFMA 2.5kW, 4.5kW Encoder Motor MFMCA0**3FCT Fig.4-3 MFECA0**0ESE Fig.2-4 MFECA0**0ESD Fig.2-5 2500P/r, 5-wire MFECA0**0ESD Fig.2-5 without Brake MFMCA0**2ECD Fig.3-5 Brake MFMCA0**2FCD Fig.4-1 With battery holder for absolute encoder MFECA0**0ESE Fig.2-4 Without battery holder for absolute encoder MFECA0**0ESD Fig.2-5 17bit, 7-wire 2500P/r, 5-wire MFECA0**0ESD Fig.2-5 without Brake MFMCD0**3ECT Fig.3-6 Brake MFMCA0**3FCT Fig.4-3 Supplement 313 Options Junction Cable for Encoder MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W 17-bit absolute encoder with battery holder MFECA0**0EAE Fig. 2-1 Title L 300 (16) (o8) 110 (4) (14) (4) Part No. Manufacturer L(m) Part No. 551055100-0600 or 3 MFECA0030EAE Connector Molex Inc. 55100-0670 (lead-free) 5 MFECA0050EAE Connector 172161-1 10 MFECA0100EAE Tyco Connector pin Electronics AMP 20 MFECA0200EAE 170365-1 Oki 2 Cable 0.20mm x 4P Electric Cable Co. Note) Battery for absolute encoder is an option. MSMD 50W to 750W, MQMA100W to 400W, MAMA 100W to 750W 17-bit incremental encoder without battery holder MFECA0**0EAD Fig. 2-2 L Part No. Manufacturer L(m) Part No. 55100-0600 or 3 MFECA0030EAD Connector Molex Inc. 55100-0670 (lead-free) 5 MFECA0050EAD Connector 172161-1 10 MFECA0100EAD Tyco Connector pin Electronics AMP 20 MFECA0200EAD 170365-1 Oki 2 Cable 0.20mm x 3P Electric Cable Co. (16) (o6.5) Title (4) (14) (4) MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W 2500P/r encoder MFECA0**0EAM Fig. 2-3 L Part No. Manufacturer L(m) Part No. 55100-0600 or 3 MFECA0030EAM Connector Molex Inc. 55100-0670 (lead-free) 5 MFECA0050EAM Connector 172160-1 10 MFECA0100EAM Tyco Connector pin Electronics AMP 20 MFECA0200EAM 170365-1 Oki Cable 0.20mm2 x 3P Electric Cable Co. (11.8) (o6.5) Title (4) (14) (4) MSMA, MDMA, MHMA, MGMA, MFMA 17-bit absolute encoder with battery holder MFECA0**0ESE Fig. 2-4 Title L 300 (o8) 110 Part No. Manufacturer L(m) Part No. 55100-0600 or 3 MFECA0030ESE Connector Molex Inc. 55100-0670 (lead-free) 5 MFECA0050ESE Straight plug N/MS3106B20-29S Japan Aviation 10 MFECA0100ESE Electronics Ind. Cable clamp N/MS3057-12A 20 MFECA0200ESE Oki 2 Cable 0.20mm x 4P Electric Cable Co. Note) Battery for absolute encoder is an option. MSMA, MDMA, MHMA, MGMA, MFMA 17-bit incremental encoder without battery holder, 2500P/r encoder L Title (o6.5) MFECA0**0ESD Fig. 2-5 314 Part No. 55100-0600 or Connector 55100-0670 (lead-free) Straight plug N/MS3106B20-29S Cable clamp N/MS3057-12A 2 Cable 0.20mm x 3P Manufacturer Molex Inc. Japan Aviation Electronics Ind. Oki Electric Cable Co. L(m) 3 5 10 20 Part No. MFECA0030ESD MFECA0050ESD MFECA0100ESD MFECA0200ESD [Supplement] Junction Cable for Motor (ROBO-TOP(R) 105C 600V * DP) ROBO-TOP(R) is a trade mark of Daiden Co.,Ltd. MFMCA0**0EED Fig. 3-1 MSMD 50W to 750W, MQMA 100W to 400W, MAMA 100W to 750W (50) (50) (12.0) (o11) L (4) (10.0) (4) MSMA 1.0kW to 1.5kW, MDMA 1.0kW to 1.5kW MHMA 500W to 1.5kW, MGMA 900W MFMCD0**2ECD Fig. 3-2 (50) o37.3 (o12.5) L MFMCD0**2ECT Fig. 3-3 (50) (o12.5) o37.3 L(m) 3 5 10 20 Part No. MFMCD0032ECD MFMCD0052ECD MFMCD0102ECD MFMCD0202ECD Title Part No. Manufacturer Straight plug JL04V-6A20-4SE-EB-R Japan Aviation Cable clamp JL04-2022CK(14)-R Electronics Ind. Nylon insulated N2-5 J.S.T Mfg. Co., Ltd. round terminal ROBO-TOP 600V 2.0mm2 Daiden Co.,Ltd. Cable L(m) 3 5 10 20 Part No. MFMCD0032ECT MFMCD0052ECT MFMCD0102ECT MFMCD0202ECT L(m) 3 5 10 20 Part No. MFMCA0033ECT MFMCA0053ECT MFMCA0103ECT MFMCA0203ECT L(m) 3 5 10 20 Part No. MFMCA0032ECD MFMCA0052ECD MFMCA0102ECD MFMCA0202ECD L(m) 3 5 10 20 Part No. MFMCD0033ECT MFMCD0053ECT MFMCD0103ECT MFMCD0203ECT MSMA 3.0kW to 5.0kW, MDMA 3.0kW to 5.0kW MHMA 2.0kW to 5.0kW, MGMA 2.0kW to 4.5kW MFECA0**3ECT Fig. 3-4 (50) (o14) L o40.5 Title Part No. Manufacturer Straight plug JL04V-6A20-4SE-EB-R Japan Aviation Cable clamp JL04-2022CK(14)-R Electronics Ind. Phoenix Rod terminal AI2.5-8BU J.S.T Mfg. Co., Nylon insulated N2-M4 round terminal Ltd. Cable ROBO-TOP 600V 2.0mm2 Daiden Co.,Ltd. MSMA 2.0kW, MDMA 2.0kW L MFMCA0**2ECD Fig. 3-5 Title Part No. Manufacturer Straight plug JL04V-6A22-22SE-EB-R Japan Aviation Cable clamp JL04-2022CK(14)-R Electronics Ind. Nylon insulated N5.5-5 J.S.T Mfg. Co., Ltd. round terminal 2 ROBO-TOP 600V 3.5mm Daiden Co.,Ltd. Cable MFMA 400W to 1.5kW (50) o37.3 (o12.5) L MFMCD0**3ECT Fig. 3-6 Title Part No. Manufacturer Straight plug JL04V-6A20-18SE-EB-R Japan Aviation Cable clamp JL04-2022CK(14)-R Electronics Ind. Phoenix Rod terminal AI2.5-8BU J.S.T Mfg. Co., Nylon insulated N2-M4 round terminal Ltd. Cable ROBO-TOP 600V 2.0mm2 Daiden Co.,Ltd. MFMA 2.5kW to 4.5kW (50) Title Part No. Manufacturer Straight plug JL04V-6A24-11SE-EB-R Japan Aviation Cable clamp JL04-2428CK(17)-R Electronics Ind. Nylon insulated N5.5-5 J.S.T Mfg. Co., Ltd. round terminal ROBO-TOP 600V 3.5mm2 Daiden Co.,Ltd. Cable 315 Supplement (o14) L o43.7 Title Part No. Manufacturer 172159-1 Connector Tyco L(m) Part No. Electronics AMP 170366-1 Connector pin 3 MFMCA0030EED Phoenix Rod terminal AI0.75-8GY 5 MFMCA0050EED 10 MFMCA0100EED J.S.T Mfg. Co., Nylon insulated N1.25-M4 round terminal Ltd. 20 MFMCA0200EED ROBO-TOP 600V 0.75mm2 Daiden Co.,Ltd. Cable Options Junction Cable for Motor with Brake (ROBO-TOP(R) 105C 600V * DP) MSMA 1.0kW to 1.5kW, MDMA 1.0kW to 1.5kW MHMA 500W to 1.5kW, MFMA 400W to 1.5kW MGMA 900W MFMCA0**2FCD Fig. 4-1 Manufacturer Title Part No. Straight plug JL04V-6A20-18SE-EB-R Japan Aviation Cable clamp JL04-2022CK(14)-R Electronics Ind. Phoenix Rod terminal AI2.5-8BU J.S.T Mfg. Co., Ltd. L(m) N2-M4 Nylon insulated Earth Part No. round terminal Brake N1.25-M4 3 MFMCA0032FCD ROBO-TOP 600V 0.75mm2 5 MFMCA0052FCD Daiden Co.,Ltd. 10 MFMCA0102FCD Cable and 20 MFMCA0202FCD ROBO-TOP 600V 2.0mm2 (50) (o 9 .8) (o12.5) L L (50 MFMCA0**2FCT Fig. 4-2 ROBO-TOP(R) is a trade mark of Daiden Co.,Ltd. ) MSMA 2.0kW, MDMA 2.0kW (50) Title Part No. Manufacturer Straight plug JL04V-6A20-18SE-EB-R Japan Aviation Cable clamp JL04-2022CK(14)-R Electronics Ind. N2-5 Nylon insulated Earth Part No. J.S.T Mfg. Co., Ltd. L(m) round terminal Brake N1.25-M4 3 MFMCA0032FCT ROBO-TOP 600V 0.75mm2 5 MFMCA0052FCT Cable Daiden Co.,Ltd. 10 MFMCA0102FCT and 20 MFMCA0202FCT ROBO-TOP 600V 2.0mm2 (o 9 .8) o37.3 (o12.5) L L (50 ) 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 Fig. 4-3 (50) Title Part No. Manufacturer Straight plug JL04V-6A24-11SE-EB-R Japan Aviation Cable clamp JL04-2428CK(17)-R Electronics Ind. N5.5-5 Nylon insulated Earth Part No. J.S.T Mfg. Co., Ltd. L(m) round terminal Brake N1.25-M4 3 MFMCA0033FCT ROBO-TOP 600V 0.75mm2 5 MFMCA0053FCT Cable Daiden Co.,Ltd. 10 MFMCA0103FCT and 20 MFMCA0203FCT ROBO-TOP 600V 3.5mm2 (o 9 .8) o43.7 (o14) L L (50 ) Junction Cable for Brake (ROBO-TOP(R) 105C 600V * DP) ROBO-TOP(R) is a trade mark of Daiden Co.,Ltd. MSMD 50W to 750W MQMA 100W to 400W MAMA 100W to 750W MFMCB0**0GET Fig. 5-1 (10.0) (5.6) 316 L (o9.8) (12.0) (40) (50) Title Part No. Manufacturer L(m) Part No. Connector 3 MFMCB0030GET 172157-1 Tyco Connector pin 170366-1,170362-1 Electronics AMP 5 MFMCB0050GET 10 MFMCB0100GET Nylon insulated J.S.T Mfg. Co., Ltd. N1.25-M4 round terminal 20 MFMCB0200GET Cable ROBO-TOP 600V 0.75mm2 Daiden Co.,Ltd. [Supplement] Connector Kit for External Peripheral Equipments 1) Par No. DV0P4350 Title 2) Components Part No. Connector Quantity 54306-5011 or 54306-5019 (lead-free) 1 54331-0501 1 Connector cover Manufacturer Note Molex Inc. For CN X5 (50-pins) 3) Pin disposition (50 pins) (viewed from the soldering side) 26 28 30 32 34 36 38 40 42 44 46 48 COIN-/ CL CSALM IM ZEROSPD/ DIV/ PULSH1 SIGNH1 OB EX-COIN-/ TLC VS-SEL INTSPD3 INTSPD2 MODE RDY AT-SPEED27 29 31 33 35 37 39 41 43 45 47 COIN+/ GAIN/ SRV ASALM SP INH/ PULSH2 SIGNH2 EX-COIN+/ COM TL-SEL -ON CLR INTSPD1 RDY AT-SPEED+ 1 3 5 7 9 11 13 15 17 19 21 23 OPC1 PULS1 SIGN1 COM CCWL BRK- GND GND GND CZ OA OZ OFF 2 4 6 8 10 12 14 16 18 20 22 OPC2 PULS2 SIGN2 CWL BRK- ZSP CCWTL CWTL NC OA SPR/ OFF TRQR/SPL /TRQR 50 FG 49 OB 25 GND 24 OZ <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. Interface Cable 2) Dimensions 2000+200 0 Cable of 2m is connected. 3) Table for wiring 1) Par No. DV0P4360 12.7 (39) (52.35) 50 25 50 +10 0 26 1 <Remarks> Color designation of the cable e.g.) Pin-1 Cable color : Orange (Red1) : One red dot on the cable Pin No. color Pin No. color Pin No. color Pin No. color Pin No. color 1 Orange (Red1) 11 Orange (Black2) 21 Orange (Red3) 31 Orange (Red4) 41 Orange (Red5) 2 Orange (Black1) 12 Yellow (Black1) 22 Orange (Black3) 32 Orange (Black4) 42 Orange (Black5) 3 Gray (Red1) 13 Gray (Red2) 23 Gray (Red3) 33 Gray (Red4) 43 Gray (Red5) 4 Gray (Black1) 14 Gray (Black2) 24 Gray (Black3) 34 White (Red4) 44 White (Red5) 5 White (Red1) 15 White (Red2) 25 White (Red3) 35 White (Black4) 45 White (Black5) 6 White (Black1) 16 Yellow (Red2) 26 White (Black3) 36 Yellow (Red4) 46 Yellow (Red5) (Blk2)/ 7 Yellow (Red1) 17 Yel 37 Yellow (Black4) 47 Yellow (Black5) Pink (Blk2) 27 Yellow (Red3) 18 Pink (Red2) 8 Pink (Red1) 28 Yellow (Black3) 38 Pink (Red4) 48 Pink (Red5) 9 Pink (Black1) 19 White (Black2) 29 Pink (Red3) 39 Pink (Black4) 49 Pink (Black5) 10 Orange (Red2) 20 30 Pink (Black3) 40 Gray (Black4) 50 Gray (Black5) Communication Cable (for connection to PC) Par No. DV0P1960 (DOS/V machine) 2000 33 18 Mini-DIN 8P MD connector D-sub connector 9P Communication Cable (for RS485) L Mini-DIN 8P MD connector Part No. L[mm] DVOP1970 200 DVOP1971 500 DVOP1972 1000 1) Part No. DV0P4460 (English/Japanese version) 2) Supply media : CD-ROM <Caution> For setup circumstance, refer to the Instruction Manual of [PANATERM (R)]. 317 Supplement Setup Support Software "PANATERM(R)" Options Connector Kit for Motor/Encoder Connection These are required when you make your own encoder and motor cables. * Applicable motor models : MSMD 50W to 750W MQMA 100W to 400W MAMA 100W to 750W For brake, purchase our optional brake cable. 17-bit absolute 1) Part No. DV0P4290 2) Components Title Connector Part No. 55100-0600 or 55100-0670 (lead-free) Connector Connector pin Connector Connector pin 2 E0V 3 E5V 4 E0V 5 PS 6 PS Manufacturer Note 1 Molex Inc. For CN X6 (6-pins) Tyco Electronics AMP For junction cable to encoder (9-pins) Tyco Electronics AMP For junction cable to motor (4-pins) 172161-1 170365-1 172159-1 1 9 1 170366-1 4 4) Pin disposition of junction cable for encoder 3) Pin disposition of connector, CN X6 1 E5V Number 1 2 BAT+ BAT- 4 ( Case FG ) 5 5) Pin disposition of junction cable for motor power 3 1 2 6 U V 3 4 W E FG PS PS NC 7 8 9 E5V E0V NC *When you connect the battery for absolute encoder, refer to P.270, "When you make your own cable for 17-bit absolute encoder" * Applicable motor models : MSMD 50W to 750W MQMA 100W to 400W MAMA 100W to 750W For brake, purchase our optional brake cable. 2500P/r incremental encoder 1) Part No. DV0P4380 2) Components Title Part No. Number Manufacturer Note Molex Inc. For CN X6 (6-pins) Tyco Electronics AMP For junction cable to encoder (6-pins) Tyco Electronics AMP For junction cable to encoder (4-pins) Connector 55100-0600 or 55100-0670 (lead-free) 1 Connector 172160-1 1 Connector pin 170365-1 6 Connector 172159-1 1 Connector pin 170366-1 4 3) Pin disposition of connector, CN X6 1 E5V 2 E0V 3 E5V 4 E0V 5 PS 6 PS 4) Pin disposition of junction cable for encoder 5) Pin disposition of junction cable for motor power 1 2 3 1 2 NC PS PS U V 4 5 6 3 4 E5V E0V FG W E ( Case FG ) For DVOP2490, DV0P3480, * recommended manual crimp tool (to be prepared by customer) 318 Title Part No. For junction cable to encoder 755330 - 1 For junction cable to motor 755331 - 1 Manufacturer Tyco Electronics AMP [Supplement] * Applicable motor models : MSMA MDMA MHMA MGMA 1) Part No. DV0P4310 2) Components 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 * Applicable motor models : MSMA MDMA MHMA MGMA 1) Part No. DV0P4320 2) Components Title Connector Straight plug Cable clamp Straight plug Cable clamp 2) Components Title Connector Straight plug Cable clamp Straight plug Cable clamp 2) Components Title Straight plug Cable clamp Straight plug Cable clamp Note Molex Inc. For CN X6 (6-pins) Japan Aviation Electronics For junction cable to Industry Ltd. encoder Japan Aviation Electronics For junction cable to Industry Ltd. motor power Number 1 1 1 1 1 Manufacturer Note Molex Inc. For CN X6 (6-pins) Japan Aviation Electronics For junction cable to Industry Ltd. encoder Japan Aviation Electronics For junction cable to Industry Ltd. motor power 1.0kW to 2.0kW 1.0kW to 2.0kW 17-bit absolute incremental encoder, With brake 0.5kW to 1.5kW 2500P/r incremental encoder 900W 17-bit absolute incremental encoder, Without brake With brake Part No. 55100-0600 or 55100-0670 (lead-free) N/MS3106B20-29S N/MS3057-12A N/MS3106B20-18S N/MS3057-12A Number 1 1 1 1 1 Manufacturer Note Molex Inc. For CN X6 (6-pins) Japan Aviation Electronics For junction cable to Industry Ltd. encoder Japan Aviation Electronics For junction cable to Industry Ltd. motor power 3.0kW to 5.0kW 3.0kW to 5.0kW 17-bit absolute incremental encoder, With brake 2.0kW to 5.0kW 2500P/r incremental encoder 2.0kW to 4.5kW 17-bit absolute incremental encoder, Without brake With brake MFMA 2.5kW to 4.5kW 2500P/r incremental encoder Part No. 55100-0600 or 55100-0670 (lead-free) N/MS3106B20-29S N/MS3057-12A N/MS3106B24-11S N/MS3057-16A Number 1 1 1 1 1 Manufacturer Note Molex Inc. For CN X6 (6-pins) Supplement Connector 1 1 1 1 Manufacturer MFMA 0.4kW to 1.5kW 2500P/r incremental encoder * Applicable motor models : MSMA MDMA MHMA MGMA 1) Part No. DV0P4340 Number 1 3.0kW to 5.0kW 3.0kW to 5.0kW 17-bit absolute incremental encoder, Without brake 2.0kW to 5.0kW 2500P/r incremental encoder 2.0kW to 4.5kW Part No. 55100-0600 or 55100-0670 (lead-free) N/MS3106B-20-29S N/MS3057-12A N/MS3106B22-22S N/MS3057-12A * Applicable motor models : MSMA MDMA MHMA MGMA 1) Part No. DV0P4330 1.0kW to 2.0kW 1.0kW to 2.0kW 17-bit absolute incremental encoder, Without brake 500W to 1.5kW 2500P/r incremental encoder 900W Japan Aviation Electronics For junction cable to Industry Ltd. encoder Japan Aviation Electronics For junction cable to Industry Ltd. motor power 319 Options Mounting Bracket Frame symbol Mounting of applicable part No. screw driver Dimensions Bottom side Upper side 2-M4, Pan head 11 0.2 11 0.2 2.6 2.6 15 R2 21 21 9.5 17 2-M4, Pan head 9.5 M4 x L6 Pan head 4pcs 2.6 18 0.2 18 0.2 5.2 15 2.6 R2 .6 10 2.6 10 15 .2 o5 2.6 17 2-M4, Pan head DV0P 4272 .6 7 7 B-frame 2.6 5.2 10 .2 o5 2.6 M4 x L6 Pan head 4pcs 15 DV0P 4271 10 A-frame 9.5 9.5 17 17 2-M4, Pan head 7 7 28 28 2-M4, Pan head 30 0.2 30 0.2 2.6 2.6 15 20 20 40 40 2-M4, Pan head 17 9.5 17 9.5 2-M4, Pan head 5.2 40 60 2.6 2.6 5.2 2.6 2o5 .2 10 36 0.2 5 2.6 15 10 D-frame 36 0.2 M4 x L6 Pan head 4pcs 15 10 19 DV0P 4274 2.6 5.2 2.6 15 .2 o5 10 M4 x L6 Pan head 4pcs 10 C-frame DV0P 4273 9.5 9.5 17 17 2-M4, Pan head 10 40 0.2 60 <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). Console DV0P4420 (24) (62) (114) (15) Part No. Name plate (15) (1500) 320 MD connector Mini DIN-8P M3 L5 Tightening torque for the insert screw shall be 0.5N * m or less. [Supplement] Reactor Fig.1 Part No. A B C D E F G H I 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) o7.0 o7.0 o7.0 o7.0 M4 M4 M4 M4 M4 M5 M4 M4 M4 M4 X Y Z Fig.1 NP R S T 6-1 Fig.2 D C E A 4-H (Mounting pitch) B F (Mounting pitch) G Fig.2 2-1 A (Mounting pitch) B D C E 4-H F (Mounting pitch) G Motor series MSMD MQMA MSMD MQMA MSMD MQMA MAMA MFMA MHMA MSMD MQMA MAMA MAMA MFMA MHMA MSMD MAMA Power supply Single phase, 100V Rated output 50W to 100W 100W Part No. DV0P227 200W to 400W DV0P228 50W to 200W 100W to 200W Single phase, 200V DV0P220 400W 500W 400W to 750W 400W DV0P221 400W to 750W 400W 3-phase, 200V DV0P220 500W 750W DV0P221 Motor Power series supply MGMA MSMA MDMA MHMA MFMA MSMA MDMA 3-phase, MHMA 200V MGMA MFMA MSMA MDMA MHMA MGMA MSMA MDMA MHMA Rated Inductance current (mH) (A) 6.81 3 4.02 5 2 8 1.39 11 0.848 16 0.557 25 6.81 3 4.02 5 2 8 1.39 11 Rated output 900W 1.0kW 1.5kW Part No. DV0P222 1.5kW 2.0kW DV0P223 2.5kW 3.0kW 4.0kW DV0P224 DV0P225 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-purpose 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 technical 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 cooperate with us. On January, 2004, it has been decided to exclude the general-purpose inverter and servo driver from the "Guidelines for harmonic 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 inform you that the procedure to execute the harmonic restraint on general-purpose inverter and servo driver was modified as follows. 321 Supplement 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 system 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 countermeasures 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. Options External Regenerative Resistor Part No. DV0P4280 DV0P4281 DV0P4282 DV0P4283 DV0P4284 DV0P4285 Specifications Rated power (reference) * Free air with fan [W] [W] 1m/s 2m/s 35 10 25 10 35 25 17 60 50 60 17 50 40 120 100 160 52 130 Manufacturer's Resistance part No. 50 RF70M RF70M 100 RF18B 25 RF18B 50 RF240 30 RH450F 20 DV0P4280, DV0P4281 DV0P4282,DV0P4283 65 57 2-O4.5 3m/s 45 45 75 75 150 200 1701 6-O4.5 5 5 1600.5 thermostat (light yellow x2) 10MAX 6.8 7 851 Drawing process (2mm MAX) 300 278 (5) - 4-O4.5 thermostat (light yellow x2) 100 140 130 70 20 10 288 18 11 9MAX 10MAX 71 DV0P4284 DV0P4285 Arrange 2 DV0P4285 in a parallel 50 300 10 DV0P4283 450 15 14 53 DV0P4283 DV0P4282 15 100 25 4.5 .5 O4 450 B C D E 450 thermostat (light yellow x2) 300 Power supply Single phase, 200V Single phase, 100V 3-phase, 200V DV0P4281 DV0P4280 A Frame F DV0P4285 300 290 280 25.5 30030 2.5 7 DV0P4284 10 14.5 17 10MAX 30 1.5 thermostat (light yellow x2) 450 23 560.5 52 8 60 13 13 13 450 280.5 24 21 1405C B-contact Open/Close capacity (resistance load) 4A 125VAC 10000 times 2.5A 250VAC 10000 times * Power with which the driver can be used without activating the built-in thermostat. Manufacturer : Iwaki Musen Kenkyusho 300 Activation temperature of built-in thermostat <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 100C at the worst running conditions with the machine, which brings large regeneration (such case as high supply voltage, load inertia is large or deceleration time is short) Install a fan for a forced cooling if necessary. <Caution> Regenerative resistor gets very hot. Take preventive measures for fire and burns. Avoid the installation near inflammable objects, and easily accessible place by hand. Battery For Absolute Encoder 84 Battery Lead wire length 50mm DV0P2990 (1) Part No. DV0P2990 (2) Lithium battery by Toshiba Battery Co. ER6V, 3.6V 2000mAh 00090001 14.5 ZHR-2 (J.S.T Mfg. Co., Ltd.) 1 18 2 BAT+ BAT- Paper insulator <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). 322 Recommended components [Supplement] Surge Absorber for Motor Brake Surge absorber for motor brake Motor 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 * C-5A2 or Z15D151 Ishizuka Electronics Co. * C-5A3 or Z15D151 Ishizuka Electronics Co. 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 * TNR9V820K Nippon Chemi_Con Co. List of Peripheral Equipments (reference only) As of Nov.2004 Manufacturer Automation Controls Company Matsushita Electric Works, Ltd. Iwaki Musen Kenkyusho Co., Ltd. Nippon Chemi_Con Corp. Ishizuka Electronics Corp. Renesas Technology Corp. TDK Corp. Okaya Electric Industries Co. Ltd. Japan Aviation Electronics Industry, Ltd. Sumitomo 3M Tyco Electronics AMP k.k, Japan Molex Inc. Hirose Electric Co., Ltd. J.S.T Mfg. Co., Ltd. Daiden Co., Ltd. Mitutoyo Corp. Tel No./URL 81-6-6908-1131 http://www.mew.co.jp 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 Peripheral components Non-fuse breaker Magnetic contactor Surge absorber Regenerative resistor Surge absorber for holding brake Noise filter for signal lines Surge absorber Noise filter Connector Cable Linear scale * The above list is for reference only. We may change the manufacturer without notice. Supplement 323 Dimensions (Driver) A-frame 40 Mounting bracket (Option) 130 21 22 7 O 5.2 41 Mounting bracket (Option) .2 O5 Main power input terminals CN X1 RS485 communication terminal, CN X3 Name plate Regenerative resistor connecting terminals CN X2 (Do not use RB3.) 150 170 180 RS232/RS485 communication terminal, CN X4 140 Control power input terminals CN X1 Control signal terminals, CN X5 External scale R2.6 terminals, CN X7 . R2 5.2 (75) 7 Mounting bracket (Option) 6 5 Encoder terminals, CN X6 Motor connecting terminals CN X2 5.2 Mounting bracket (Option) Rack mount type (Option : Front-end mounting) 28 6 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 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) 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. * Refer to P.322, "Mounting bracket for driver"of Options, when you use the optional mounting bracket. Mass 0.8kg B-frame 55 Mounting bracket (Option) 130 28 22 7 O 5.2 Mounting bracket (Option) O5 Main power input terminals CN X1 RS485 communication terminal, CN X3 Name plate Regenerative resistor connecting terminals CN X2 (Do not use RB3.) 150 170 180 RS232/RS485 communication terminal, CN X4 Control signal terminals, CN X5 External scale terminals, CN X7 2.6 R Mounting bracket (Option) .6 R2 5.2 7 Rack mount type (Option : Front-end mounting) Connector at driver side 324 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) 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. (75) 5 Encoder terminals, CN X6 Motor connecting terminals CN X2 Connector sign CN X7 CN X6 CN X5 CN X4 CN X3 CN X2 CN X1 140 Control power input terminals CN X1 .2 5.2 Mounting bracket (Option) 43 6 Base mount type (Standard : Back-end mounting) * Refer to P.322, "Mounting bracket for driver"of Options, when you use the optional mounting bracket. Mass 1.1kg [Supplement] C-frame Main power input terminals CN X1 65 O5 .2 22 20 150 170 180 140 Name plate RS232/RS485 communication terminal, CN X4 Regenerative resistor connecting terminals CN X2 (Do not use RB3.) Mounting bracket (Option) .2 O5 RS485 communication terminal, CN X3 Control power input terminals CN X1 6 R2. R2 .6 Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7 Motor connecting terminals CN X2 (75) 5.2 40 Connector at driver side 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. D-frame 50 7.5 Base mount type (Standard : Back-end mounting) Rack mount type (Option : Front-end mounting) 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) 5.2 Mounting bracket (Option) 20 Mounting bracket (Option) * Refer to P.322, "Mounting bracket for driver"of Options, when you use the optional mounting bracket. Mass 1.5kg Air movement (inside out) 85 Mounting bracket 10 (Option) O5 60 40 .2 170 22 2 O 5. Mounting bracket (Option) O5 RS485 communication terminal, CN X3 RS232/RS485 communication terminal, CN X4 Regenerative resistor connecting terminals CN X2 (Do not use RB3.) Name plate 150 170 180 Control power input terminals CN X1 Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7 Motor connecting terminals CN X2 .6 R2 10 Mounting bracket (Option) 140 Main power input terminals CN X1 .2 R2.6 5.2 40 .6 R2 5.2 5.2 Air movement (inside out) Rack mount type (Option : Front-end mounting) (75) Mounting bracket (Option) 70 5 Connector sign CN X7 CN X6 CN X5 CN X4 CN X3 CN X2 CN X1 170 40 5 Mounting bracket (Option) 7.5 Base mount type (Standard : Back-end mounting) Connector at driver side 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) 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. * Refer to P.322, "Mounting bracket for driver"of Options, when you use the optional mounting bracket. Supplement Connector sign CN X7 CN X6 CN X5 CN X4 CN X3 CN X2 CN X1 Mass 1.7kg 325 Dimensions (Driver) Air movement (inside out) E-frame (88) 85 50 5.2 32.1 5.2 2.6 .2 O5 Control power input terminals Regenerative resistor connecting terminals (Short between B1 and B2 in normal operation) Motor connecting terminals Mounting bracket (Standard) Mounting bracket (install the standard to back end) RS485 communication terminal, CN X3 Name plate RS232/RS485 communication terminal, CN X4 168 188 198 Main power input terminals 3.5 200 17.5 42.5 Control signal terminals, CN X5 Encoder terminals, CN X6 External scale terminals, CN X7 Earth terminals (75) 5.2 42.5 O5 .2 5.2 17.5 50 Air movement (inside out) Connector at driver side Connector type Manufacturer Connector sign CN X7 53460-0629 (or equivalent) Molex Inc. CN X6 53460-0629 (or equivalent) Molex Inc. CN X5 529865079 (or equivalent) Molex Inc. CN X4 MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. CN X3 MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. F-frame Mass 3.2kg 130 100 65 5.2 32.3 2.6 5.2 .2 O5 Control power input terminals Regenerative resistor connecting terminals (Short between B1 and B2 in normal operation) Motor connecting terminals RS485 communication terminal, CN X3 Mounting bracket (Standard) Mounting bracket (install the standard to back end) Name plate RS232/RS485 communication terminal, CN X4 Control signal terminals, CN X5 220 240 250 Main power input terminals 3.5 200 15 Encoder terminals, CN X6 Air movement (from front to back) External scale terminals, CN X7 100 Connector at driver side Connector type Manufacturer Connector sign CN X7 53460-0629 (or equivalent) Molex Inc. CN X6 53460-0629 (or equivalent) Molex Inc. CN X5 529865079 (or equivalent) Molex Inc. CN X4 MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. CN X3 MD-S8000-10 (or equivalent) J.S.T. Mfg.Co., Ltd. 326 (75) 5.2 65 15 85 O5 5.2 .2 Earth terminals Mass 6.0kg Dimensions (Motor) [Supplement] * MAMA 100W to 750W Motor connector Encoder connector Brake connector LR LL LF LE Motor cable 230 LC 200 (Key way dimensions) LW LK KW RH OLBh7 OLA KH LH OSh6 4-OLZ * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MAMA series (Ultra low inertia) 100W Motor output Motor model MAMA Rotary encoder specifications LL 012P1 * 200W 012S1 * 022P1 * 400W 022S1 * 042P1 * 750W 042S1 * 082P1 * 082S1 * 17-bit 17-bit 17-bit 17-bit 2500P/r 2500P/r 2500P/r 2500P/r Absolute/ Absolute/ Absolute/ Absolute/ Incremental Incremental Incremental Incremental Incremental Incremental Incremental Incremental Without brake 110.5 With brake 138 LR 127 111 154.5 139 126 139 154 167 154 160 182 192.5 175 207.5 24 30 30 35 S 8 11 14 19 LA 48 70 70 90 LB 22 50 50 70 LC 42 60 60 80 LE 2 3 3 3 LF 7 7 7 8 LH 34 43 43 53 LD Key way dimensions LG 3.4 4.5 4.5 6 14 20 25 25 LK 12.5 18 22.5 22 KW 3h9 4h9 5h9 6h9 KH 3 4 5 6 RH 6.2 8.5 11 15.5 Without brake 0.65 0.71 1.1 1.2 1.5 1.6 3.3 3.4 With brake 0.85 0.91 1.5 1.6 1.9 2.0 4.0 4.1 Connector/Plug specifications Supplement Mass (kg) LZ LW Refer to P.318, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 327 Dimensions (Motor) * MSMD 50W to 100W Brake connector Motor connector Encoder connector LL LR LE 230 LF (Key way dimensions) 200 4-OLZ LW LC KW KH OLA RH LH OLBh7 OSh6 LK LN TP * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MSMD series (low inertia) Motor output 50W Motor model MSMD Rotary encoder specifications LL 100W 5A * P1 * 5A * S1 * 01 * P1 * 01 * S1 * 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental Without brake 72 92 With brake 102 122 LR 25 25 S 8 8 LA 45 45 LB 30 30 LC 38 38 LE 3 3 LF 6 6 LH 32 32 LN 26.5 46.5 LZ 3.4 3.4 LD Key way dimensions LG LW 14 14 LK 12.5 12.5 KW 3h9 3h9 KH 3 3 RH 6.2 6.2 TP Mass (kg) M3 x 6 (depth) M3 x 6 (depth) Without brake 0.32 0.47 With brake 0.53 Connector/Plug specifications 0.68 Refer to P.318, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 328 [Supplement] * MSMD 200W to 750W (Key way dimensions) LW Brake connector Motor connector LL LK KW KH Encoder connector LR LE 200 220 RH LF LC LH OLA OLBh7 OSh6 4-OLZ TP * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MSMD series (low inertia) 200W Motor output Motor model MSMD Rotary encoder specifications Without brake LL 400W 750W 02 * P1 * 02 * S1 * 04 * P1 * 04 * S1 * 08 * P1 * 08 * S1 * 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental 79 98.5 112 115.5 135 149 LR 30 30 35 With brake S 11 14 19 LA 70 70 90 LB 50 50 70 LC 60 60 80 LD LE 3 3 3 LF 6.5 6.5 8 43 43 53 LZ 4.5 4.5 6 LW 20 25 25 LK 18 22.5 22 KW 4h9 5h9 6h9 KH 4 5 6 LG LH Key way dimensions LN 8.5 11 15.5 TP M4 x8 (depth) M5 x 10 (depth) M5 x 10 (depth) Without brake 0.82 1.2 2.3 With brake 1.3 1.7 3.1 Connector/Plug specifications Supplement Mass (kg) RH Refer to P.318, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 329 Dimensions (Motor) * MQMA 100W to 400W Encoder connector Motor connector LL LR Brake connector LC LE (7) 200 220 LF (7) (Key way dimensions) 4-OLZ LW KW KH LH OLBh7 oLA RH OSh6 LK TP * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MQMA series (low inertia) 100W Motor output Motor model MQMA Rotary encoder specifications LL 200W 400W 01 * P1 * 01 * S1 * 02 * P1 * 02 * S1 * 04 * P1 * 04 * S1 * 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental Without brake 60 87 67 94 82 109 With brake 84 111 99.5 126.5 114.5 141.5 LR 25 30 30 S 8 11 14 LA 70 90 90 LB 50 70 70 LC 60 80 80 LE 3 5 5 LF 7 8 8 LD Key way dimensions LG LH 43 53 53 LZ 4.5 5.5 5.5 LW 14 20 25 LK 12.5 18 22.5 KW 3h9 4h9 5h9 KH 3 4 5 RH 6.2 8.5 11 M3 x 6(depth) TP Mass (kg) Without brake 0.65 0.75 With brake 0.90 1.00 Connector/Plug specifications M4 x 8(depth) 1.4 1.8 1.9 2.0 2.1 2.5 2.6 Refer to P.318, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 330 M5 x 10(depth) 1.3 [Supplement] * MSMA 1.0kW to 2.0kW Motor/Brake connector LL LC LR (Key way dimensions) 4-OLZ LW LH OLBh7 KW KH LK OL A D OL RH LE LG LF OSh6 Encoder connector * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MSMA series (low inertia) 1.0kW Motor output Motor model 10 * S1 * 15 * P1 * 15 * S1 * 20 * P1 * 20 * S1 * 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental Without brake 175 175 180 180 205 205 With brake 200 200 205 205 230 Rotary encoder specifications Key way dimensions LR 230 55 55 55 S 19 19 19 LA 100 115 115 LB 80 95 95 LC 90 100 100 LD 120 135 135 LE 3 3 3 LF 7 10 10 LG 84 84 84 LH 98 103 103 LZ 6.6 9 9 LW 45 45 45 LK 42 42 42 KW 6h9 6h9 6h9 KH 6 6 6 RH 15.5 15.5 15.5 Without brake 4.5 4.5 With brake 5.1 5.1 Connector/Plug specifications 5.1 5.1 6.5 6.5 6.5 6.5 7.9 7.9 Supplement Mass (kg) 2.0kW 10 * P1 * MSMA LL 1.5kW Refer to P.312, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 331 Dimensions (Motor) * MSMA 3.0kW to 5.0kW Motor/Brake connector LL LC LR (Key way dimensions) 4-OLZ LH LW OLBh7 KW KH LK OL A D OL RH LE LG LF OSh6 Encoder connector LC D OL O135 O145 LZ * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MSMA series (low inertia) Motor output 3.0kW Motor model 40 * P1 * 40 * S1 * 50 * P1 * 50 * S1 * 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental Without brake 217 217 240 240 280 280 With brake 242 242 265 265 305 305 Key way dimensions LR 55 65 65 S 22 24 24 LA 130/145 (slot) 145 145 LB 110 110 110 LC 120 130 130 LD 162 165 165 LE 3 6 6 LF 12 12 12 LG 84 84 84 LH 111 118 118 LZ 9 9 9 LW 45 55 55 LK 41 51 51 KW 8h9 8h9 8h9 KH 7 7 7 RH Mass (kg) 20 20 18 Without brake 09.3 9.3 With brake 11.0 11.0 Connector/Plug specifications 12.9 12.9 14.8 14.8 Refer to P.312, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 332 5.0kW 30 * S1 * Rotary encoder specifications LL 4.0kW 30 * P1 * MSMA 17.3 17.3 19.2 19.2 [Supplement] * MDMA 1.0kW to 1.5kW LE 4-OLZ OSh6 OLBh7 LG LF LC (Key way dimensions) LW LK OL D KW KH Encoder connector LR OL A RH LL LH Motor/Brake connector * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MDMA series (Middle inertia) 1.0kW Motor output Motor model MDMA Rotary encoder specifications LL 10 * P1 * 150 With brake 175 Key way dimensions LR 15 * S1 * 150 175 175 200 175 200 55 55 S 22 22 LA 145 145 LB 110 110 LC 130 130 LD 165 165 LE 6 6 LF 12 12 LG 84 84 LH 118 118 LZ 9 9 LW 45 45 LK 41 41 KW 8h9 8h9 KH 7 7 RH 18 18 Without brake 6.8 6.8 8.5 8.5 With brake 8.7 8.7 10.1 10.1 Connector/Plug specifications Supplement Mass (kg) 15 * P1 * 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental 2500P/r Incremental Without brake 1.5kW 10 * S1 * Refer to P.312, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 333 Dimensions (Motor) * MDMA 2.0kW to 3.0kW LE 4-OLZ OSh6 OLBh7 LG LF (Key way dimensions) LW LK OL D KH Encoder connector LC LR KW OL A RH LL LH Motor/Brake connector * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MDMA series (Middle inertia) Motor output 2.0kW Motor model MDMA Rotary encoder specifications Key way dimensions LL 20 * P1 * 30 * S1 * Without brake 200 200 250 250 With brake 225 225 275 275 LR 55 65 S 22 24 LA 145 145 LB 110 110 LC 130 130 LD 165 165 LE 6 6 LF 12 12 LG 84 84 LH 118 118 LZ 9 9 LW 45 55 LK 41 51 KW 8h9 8h9 KH 7 7 20 18 Without brake 10.6 10.6 14.6 14.6 With brake 12.5 12.5 16.5 16.5 Connector/Plug specifications Refer to P.312, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 334 30 * P1 * 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental 2500P/r Incremental RH Mass (kg) 3.0kW 20 * S1 * [Supplement] * MDMA 4.0kW to 5.0kW LE 4-OLZ OSh6 OLBh7 LG LF LC (Key way dimensions) LW LK OL D KW KH Encoder connector LR OL A RH LL LH Motor/Brake connector * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MDMA series (Middle inertia) 4.0kW Motor output Motor model MDMA Rotary encoder specifications LL 40 * P1 * 242 With brake 267 Key way dimensions LR 50 * S1 * 242 225 267 250 225 250 70 65 S 28 35 LA 165 200 LB 130 114.3 LC 150 176 LD 190 233 LE 3.2 3.2 LF 18 18 LG 84 84 LH 128 143 LZ 11 13.5 LW 55 55 LK 51 50 KW 8h9 10h9 KH 7 8 RH 24 30 Without brake 18.8 18.8 25.0 25.0 With brake 21.3 21.3 28.5 28.5 Connector/Plug specifications Supplement Mass (kg) 50 * P1 * 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental 2500P/r Incremental Without brake 5.0kW 40 * S1 * Refer to P.312, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 335 Dimensions (Motor) * MGMA 900W to 2.0kW MGMA 900W to 2.0kW Encoder connector Motor/Brake connector LL LR LC (Key way dimensions) LF LE LH LW LK KH OSh6 D OL OL A KW RH LG 4-OLZ * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MGMA series (Middle inertia) Motor output 900W Motor model MGMA 09 * P1 * Key way dimensions 175 175 182 182 With brake 200 200 207 207 LR 70 80 S 22 35 LA 145 200 LB 110 114.3 LC 130 176 LD 165 233 LE 6 3.2 LF 12 18 LG 84 84 LH 118 143 LZ 9 13.5 LW 45 55 LK 41 50 KW 8h9 10h9 KH 7 8 30 18 Without brake With brake Connector/Plug specifications 8.5 8.5 17.5 17.5 10.0 10.0 21.0 21.0 Refer to P.312, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 336 20 * S1 * Without brake RH Mass (kg) 20 * P1 * 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental Rotary encoder specifications 2500P/r Incremental LL 2.0kW 09 * S1 * [Supplement] * MGMA 3.0kW to 4.5kW MGMA 3.0kW LL Motor/Brake connector LR LC Encoder connector 4-OLZ LH LG OSh6 OL Bh7 LF LE D OL OL A (Key way dimensions) MGMA 4.5kW Motor/Brake connector LL LW LK LR LC Eye bole (Thread 10) LF LE Encoder connector OL A KW RH D OL KH LH OL Bh7 OSh6 LG 4-OLZ * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MGMA series (Middle inertia) 3.0kW Motor output Motor model MGMA Rotary encoder specifications Key way dimensions LL 30 * P1 * 45 * P1 * 45 * S1 * 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental 2500P/r Incremental Without brake 222 222 300.5 300.5 With brake 271 271 337.5 337.5 LR 80 113 S 35 42 LA 200 200 LB 114.3 114.3 LC 176 176 LD 233 233 LE 3.2 3.2 LF 18 24 LG 84 84 LH 143 143 LZ 13.5 13.5 LW 55 96 LK 50 90 KW 10h9 12h9 KH 8 8 37 30 Without brake 25.0 25.0 34.0 34.0 With brake 28.5 28.5 39.5 39.5 Connector/Plug specifications Supplement RH Mass (kg) 4.5kW 30 * S1 * Refer to P.312, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 337 Dimensions (Motor) * MFMA 400W to 1.5kW Encoder connector 4-OLZ Motor/Brake connector LC LR LL LF LE (Key way dimensions) KH LK OL A D OL KW RH OLBh7 LG OSh6 LH LW * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MFMA series (Middle inertia) 400W Motor output Motor model MFMA 04 * P1 * Key way dimensions Mass (kg) Without brake 120 With brake 145 LR 55 15 * S1 * S 120 145 145 170 145 170 65 19 35 LA 145 200 LB 110 114.3 LC 130 176 LD 165 233 LE 6 3.2 LF 12 18 LG 84 84 LH 118 143 LZ 9 13.5 LW 45 55 LK 42 50 KW 6h9 10h9 KH 6 8 RH 15.5 30 Without brake 4.7 4.7 11.0 11.0 With brake 6.7 6.7 14.0 14.0 Connector/Plug specifications Refer to P.312, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 338 15 * P1 * 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental Rotary encoder specifications 2500P/r Incremental LL 1.5kW 04 * S1 * [Supplement] * MFMA 2.5kW to 4.5kW Encoder connector 4-OLZ Motor/Brake connector LC LR LL LF LE (Key way dimensions) KH LK KW OL D OL A RH OLBh7 LG OSh6 LH LW * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MFMA series (Middle inertia) 2.5kW Motor output Motor model MFMA Rotary encoder specifications Key way dimensions LL 25 * P1 * 45 * P1 * 45 * S1 * 17-bit 17-bit 2500P/r Incremental Absolute/Incremental Absolute/Incremental 2500P/r Incremental Without brake 139 139 163 163 With brake 166 166 194 194 LR 65 70 S 35 35 LA 235 235 LB 200 200 LC 220 220 LD 268 268 LE 4 4 LF 16 16 LG 84 84 LH 164 164 LZ 13.5 13.5 LW 55 55 LK 50 50 KW 10h9 10h9 KH 8 8 30 30 Without brake 14.8 14.8 19.9 19.9 With brake 17.5 17.5 24.3 24.3 Connector/Plug specifications Supplement RH Mass (kg) 4.5kW 25 * S1 * Refer to P.312, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 339 Dimensions (Motor) * MHMA 500W to 1.5kW Encoder connector Motor/Brake connector LL LR LF LC LE 4-OLZ (Key way dimensions) LH OL D KW KH LK OL A RH OSh6 OLBh7 LG LW * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MHMA series (High inertia) Motor output 500W Motor model 10 * P1 * 10 * S1 * 15 * P1 * 15 * S1 * 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental 2500P/r Incremental 17-bit Absolute/ Incremental Without brake 150 150 175 175 200 200 With brake 175 175 200 200 225 225 Key way dimensions LR 70 70 70 S 22 22 22 LA 145 145 145 LB 110 110 110 LC 130 130 130 LD 165 165 165 LE 6 6 6 LF 12 12 12 LG 84 84 84 LH 118 118 118 LZ 9 9 9 LW 45 45 45 LK 41 41 41 KW 8h9 8h9 8h9 KH 7 7 7 RH Mass (kg) 18 18 18 Without brake 5.3 5.3 With brake 6.9 6.9 Connector/Plug specifications 8.9 8.9 10.0 10.0 9.5 9.5 11.6 11.6 Refer to P.312, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 340 1.5kW 05 * S1 * Rotary encoder specifications LL 1.0kW 05 * P1 * MHMA [Supplement] * MHMA 2.0kW to 5.0kW Encoder connector Motor/Brake connector LL LC LR LF (Key way dimensions) LE 4-OLZ LK O D LA RH OL KW KH LH OSh6 OLBh7 LG LW * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MHMA series (High inertia) 2.0kW Motor output Motor model MHMA Rotary encoder specifications Key way dimensions LL 20 * P1 * 30 * P1 * 4.0kW 30 * S1 * 40 * P1 * 5.0kW 40 * S1 * 50 * P1 * 50 * S1 * 17-bit 17-bit 17-bit 17-bit 2500P/r 2500P/r 2500P/r 2500P/r Absolute/ Absolute/ Absolute/ Absolute/ Incremental Incremental Incremental Incremental Incremental Incremental Incremental Incremental Without brake 190 190 205 205 230 230 255 255 With brake 215 215 230 230 255 255 280 280 LR 80 80 80 80 S 35 35 35 35 LA 200 200 200 200 LB 114.3 114.3 114.3 114.3 LC 176 176 176 176 LD 233 233 233 233 LE 3.2 3.2 3.2 3.2 LF 18 18 18 18 LG 84 84 84 84 LH 143 143 143 143 LZ 13.5 13.5 13.5 13.5 LW 55 55 55 55 LK 50 50 50 50 KW 10h9 10h9 10h9 10h9 KH 8 8 8 8 16.0 16.0 18.2 With brake 19.5 19.5 21.7 Connector/Plug specifications 30 30 30 30 Without brake 18.2 22.0 22.0 26.7 26.7 21.7 25.5 25.5 30.2 30.2 Supplement RH Mass (kg) 3.0kW 20 * S1 * Refer to P.312, "Options". <Cautions> Reduce the moment of inertia ratio if high speed response operation is required. 341 Permissible Load at Output Shaft Radial load (P) direction Thrust load (A and B) direction L A M B L/2 P Unit : N (1kgf=9.8N) Motor series MSMD MSMA MQMA MDMA MHMA MFMA MGMA Motor output 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 At assembly During running Thrust load Thrust load A Radial thrust Radial thrust and B-direction A-direction B-direction 147 88 117.6 68.6 58.8 392 147 196 245 98 686 686 294 392 392 490 980 588 686 147 392 88 147 117.6 196 980 588 686 1666 784 980 980 1666 588 784 686 980 980 588 1862 686 980 1666 2058 588 784 980 <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. 686 980 1176 Motor series MSMD Motor output 392 392 490 784 68.6 245 490 147 147 196 343 58.8 98 196 784 343 490 784 392 490 784 196 343 147 196 294 686 1176 1470 196 490 Formula of Load and load point relation 50W P= 3533 L+39 100W P= 4905 L+59 200W P= 14945 L+46 400W P= 19723 L+65.5 750W P= 37044 L+77 L P 342 Motor Characteristics (S-T Characteristics) [Supplement] * 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). MQMA series (100W to 400W) With and without oil seal * MQMA011 * 1 * * MQMA012 * 1 * 1.0 (0.95) Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] 1.0 100 (0.95) 0.5 50 (0.32) Continuous running range 0 2.0 (1.91) Peak running range Continuous running range 1000 2000 3000 4000 5000 speed [r/min] ratio vs. rated torque [%] torque [N* m] 0 torque [N* m] 2.0 100 (1.91) 1.0 50 Peak running range (0.64) 0 40 20 30 ambient temp. [C] 10 50 0 40 20 30 ambient temp. [C] 10 Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] * Continuous torque vs. ambient temp. 100 50 0 10 40 20 30 ambient temp. [C] * MQMA042 * 1 * torque [N* m] 4.0 (3.82) Peak running range (1.3) Continuous running range 1000 2000 3000 4000 4500 speed [r/min] ratio vs. rated torque [%] Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) 0 100 Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. * MQMA041 * 1 * 2.0 1000 2000 3000 4000 5000 speed [r/min] * Continuous torque vs. ambient temp. * MQMA022 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) 1.0 0 40 20 30 ambient temp. [C] 10 * MQMA021 * 1 * (0.64) Peak running range ratio vs. rated torque [%] 0 torque [N* m] Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) torque [N* m] * Continuous torque vs. ambient temp. ratio vs. rated torque [%] 0.5 (0.32) Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. ratio vs. rated torque [%] torque [N* m] ratio vs. rated torque [%] Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) 4.0 100 (3.82) 2.0 50 Peak running range (1.3) Continuous running range 0 40 20 30 ambient temp. [C] 10 0 1000 2000 3000 4000 5000 speed [r/min] * Continuous torque vs. ambient temp. 100 50 0 10 40 20 30 ambient temp. [C] MAMA series (100W to 750W) without oil seal torque 1.0 [N* m] (0.95) 0.5 Peak running range Continuous running range (5000) 0 2000 4000 6000 speed [r/min] 100 1.0 Peak running range 50 (0.38) 0 10 20 2.0 Peak running range Continuous running range (5000) 4000 6000 speed [r/min] ratio vs. rated torque [%] torque 4.0 [N* m] (3.82) 2000 0 2000 4000 6000 speed [r/min] * Continuous torque vs. ambient temp. 100 50 0 10 20 30 40 ambient temp. [C] * MAMA082 * 1 * Input voltage to driver: AC200V 0 Continuous running range (5000) 30 40 ambient temp. [C] * MAMA042 * 1 * (0.76) Input voltage to driver: AC200V torque 2.0 [N* m] (1.91) * Continuous torque vs. ambient temp. 100 Input voltage to driver: AC200V torque 8.0 [N* m] (7.16) 4.0 Peak running range 50 (1.43) 0 20 30 40 ambient temp. [C] * When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Continuous running range (5000) 0 2000 4000 6000 speed [r/min] torque * Continuous torque vs. ambient temp. 100 50 0 10 20 30 40 ambient temp. [C] Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%) Continuous running range speed 343 Supplement * 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 40C is 100% in case of without oil seal, without brake. 10 ratio vs. rated torque [%] (0.19) * Continuous torque vs. ambient temp. ratio vs. rated torque [%] * MAMA022 * 1 * Input voltage to driver: AC200V ratio vs. rated torque [%] * MAMA012 * 1 * Motor Characteristics (S-T Characteristics) MSMD series (50W to 100W) without oil seal with oil seal * MSMD5AZ * 1 * * MSMD5AZ * 1 * Input voltage to driver: AC100V/200V Input voltage to driver: AC100V/200V (Dotted line represents torque at 10% less voltage.) (Dotted line represents torque at 10% less voltage.) 0.5 (0.48) 0.25 Peak running range (0.16) Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] with brake 100 95 0.5 (0.48) 0.25 50 (0.16) 0 * Continuous torque vs. ambient temp. torque [N* m] 10 20 30 40 ambient temp. [C] * MSMD011 * 1 * Peak running range Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] ratio vs. rated torque [%] torque [N* m] ratio vs. rated torque [%] * Continuous torque vs. ambient temp. without brake 70 60 50 0 0.5 Peak running range (0.32) Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] with brake 100 95 1.0 (0.95) 0.5 50 (0.32) 0 10 20 30 40 ambient temp. [C] * MSMD012 * 1 * (0.95) Peak running range 0.5 (0.32) Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] Peak running range Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] * Continuous torque vs. ambient temp. without brake with brake 100 75 70 50 0 10 20 30 40 ambient temp. [C] Input voltage to driver: AC200V ratio vs. rated torque [%] 1.0 20 30 40 ambient temp. [C] * MSMD012 * 1 * Input voltage to driver: AC200V torque [N* m] torque [N* m] * Continuous torque vs. ambient temp. with brake 100 95 torque [N* m] 1.0 (0.95) Peak running range 0.5 50 (0.32) Continuous running range 0 10 20 30 40 ambient temp. [C] 0 1000 2000 3000 4000 5000 speed [r/min] ratio vs. rated torque [%] (0.95) * Continuous torque vs. ambient temp. ratio vs. rated torque [%] (Dotted line represents torque at 10% less voltage.) ratio vs. rated torque [%] Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) 1.0 10 * MSMD011 * 1 * Input voltage to driver: AC100V torque [N* m] with brake 100 * Continuous torque vs. ambient temp. without brake with brake 100 75 70 50 0 10 20 30 40 ambient temp. [C] * 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 40C 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 Running range (Torque limit setup : 300%) Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%) Continuous running range speed 344 [Supplement] MSMD series (200W to 750W) without oil seal With oil seal * MSMD021 * 1 * * MSMD021 * 1 * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) (Dotted line represents torque at 10% less voltage.) torque [N* m] 2.0 (1.91) 1.0 Peak running range (0.64) Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] ratio vs. rated torque [%] * Continuous torque vs. ambient temp. 100 torque [N* m] 2.0 (1.91) 1.0 50 Peak running range (0.64) Continuous running range 0 10 20 30 40 ambient temp. [C] * MSMD022 * 1 * 0 1000 2000 3000 4000 5000 speed [r/min] ratio vs. rated torque [%] Input voltage to driver: AC100V * Continuous torque vs. ambient temp. without brake 50 0 2.0 1.0 (0.64) Peak running range Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] * Continuous torque vs. ambient temp. 100 torque [N* m] 2.0 (1.91) 1.0 50 (0.64) 0 10 20 30 40 ambient temp. [C] * MSMD041 * 1 * Peak running range Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] ratio vs. rated torque [%] (Dotted line represents torque at 10% less voltage.) ratio vs. rated torque [%] Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) (1.91) 100 80 70 0 (1.3) Peak running range Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] * Continuous torque vs. ambient temp. torque [N* m] 100 90 (3.8) 50 2.0 4.0 Peak running range (1.3) Continuous running range 0 10 20 30 40 ambient temp. [C] * MSMD042 * 1 * 0 1000 2000 3000 4000 5000 speed [r/min] ratio vs. rated torque [%] 2.0 ratio vs. rated torque [%] Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) 4.0 75 50 0 Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] * Continuous torque vs. ambient temp. 100 90 torque [N* m] 4.0 (3.8) 2.0 50 (1.3) 0 10 20 30 40 ambient temp. [C] * MSMD082 * 1 * Peak running range Continuous running range 0 1000 2000 3000 4000 5000 speed [r/min] ratio vs. rated torque [%] Peak running range ratio vs. rated torque [%] 2.0 75 50 0 1000 2000 3000 4000 5000 speed [r/min] 20 30 40 ambient temp. [C] 100 torque [N* m] 8.0 (7.1) 4.0 50 (2.4) 0 Peak running range 10 40 20 30 ambient temp. [C] 0 Continuous running range 1000 2000 3000 4000 5000 speed [r/min] * Continuous torque vs. ambient temp. 100 50 0 10 Supplement 0 Continuous running range * Continuous torque vs. ambient temp. ratio vs. rated torque [%] 4.0 (2.4) ratio vs. rated torque [%] Input voltage to driver: AC200V Peak running range 10 * MSMD082 * 1 * (Dotted line represents torque at 10% less voltage.) 8.0 40 100 (Dotted line represents torque at 10% less voltage.) (7.1) 30 * Continuous torque vs. ambient temp. Input voltage to driver: AC200V torque [N* m] 20 * MSMD042 * 1 * Input voltage to driver: AC200V (1.3) 10 ambient temp. [C] (Dotted line represents torque at 10% less voltage.) 4.0 20 30 40 ambient temp. [C] 100 (Dotted line represents torque at 10% less voltage.) (3.8) 10 * Continuous torque vs. ambient temp. Input voltage to driver: AC200V torque [N* m] with brake * MSMD041 * 1 * (Dotted line represents torque at 10% less voltage.) (3.8) 20 30 40 ambient temp. [C] * Continuous torque vs. ambient temp. without brake Input voltage to driver: AC100V torque [N* m] 10 * MSMD022 * 1 * Input voltage to driver: AC200V torque [N* m] with brake 100 80 70 40 20 30 ambient temp. [C] * These are subject to change. Contact us when you use these values for your machine design. 345 Motor Characteristics (S-T Characteristics) MSMA series (1.0kW to 5.0kW) With oil seal * MSMA102 * 1 * * MSMA152 * 1 * torque [N* m] 10 (9.5) 5 Peak running range (3.18) Continuous running range 0 1000 2000 3000 4000 5000 torque [N* m] * Continuous torque vs. ambient temp. 15 100 (14.3) 7.5 50 Peak running range (4.77) 0 10 20 30 Continuous running range (3500) 40 0 1000 2000 3000 4000 5000 * MSMA202 * 1 * * Continuous torque vs. ambient temp. 50 0 20 (19.1) Peak running range (6.36) Continuous running range 1000 2000 3000 4000 5000 * Continuous torque vs. ambient temp. without brake with brake 100 85 70 50 torque [N* m] 30 (28.6) Peak running range 15 (9.54) 0 10 20 speed [r/min] 30 Continuous running range 0 40 1000 2000 3000 4000 5000 * Continuous torque vs. ambient temp. 0 without brake with brake 10 20 30 40 ambient temp. [C] * MSMA502 * 1 * torque [N* m] 40 (37.9) Peak running range Continuous running range 1000 2000 3000 4000 5000 without brake * Continuous torque vs. ambient temp. with brake 100 90 85 50 torque [N* m] 50 (47.6) 25 Peak running range (15.8) 0 10 speed [r/min] 20 30 Continuous running range 0 40 1000 2000 3000 4000 5000 ambient temp. [C] ratio vs. rated torque [%] Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) ratio vs. rated torque [%] Input voltage to driver: AC200V 0 40 100 90 85 50 (Dotted line represents torque at 10% less voltage.) (12.6) 30 speed [r/min] ambient temp. [C] * MSMA402 * 1 * ratio vs. rated torque [%] torque [N* m] ratio vs. rated torque [%] Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) 20 20 * MSMA302 * 1 * (Dotted line represents torque at 10% less voltage.) 0 10 ambient temp. [C] Input voltage to driver: AC200V 10 without brake with brake 100 85 speed [r/min] ambient temp. [C] speed [r/min] ratio vs. rated torque [%] Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) ratio vs. rated torque [%] Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. 100 70 50 0 10 speed [r/min] 20 30 40 ambient temp. [C] MDMA series (1.0kW to 2.0kW) With oil seal * MDMA102 * 1 * * MDMA152 * 1 * torque [N* m] 15 (14.4) 10 Peak running range 5 (4.8) Continuous running range 0 1000 (2200) 2000 3000 torque [N* m] * Continuous torque vs. ambient temp. (21.5) 20 100 Peak running range 10 (7.15) 50 Continuous running range 0 10 speed [r/min] 20 30 40 ambient temp. [C] 0 1000 2000 3000 speed [r/min] * MDMA202 * 1 * Input voltage to driver: AC200V torque [N* m] 30 (28.5) 15 (9.54) Peak running range Continuous running range (2200) 0 1000 2000 3000 speed [r/min] ratio vs. rated torque [%] (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. 100 50 0 10 20 30 40 ambient temp. [C] * These are subject to change. Contact us when you use these values for your machine design. 346 ratio vs. rated torque [%] Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) ratio vs. rated torque [%] Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. 100 50 0 10 20 30 40 ambient temp. [C] [Supplement] MDMA series (3.0kW to 5.0kW) With oil seal * MDMA302 * 1 * * MDMA402 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) (Dotted line represents torque at 10% less voltage.) 50 (42.9) Peak running range 25 (14.3) Continuous running range 0 1000 2000 3000 torque [N* m] * Continuous torque vs. ambient temp. ratio vs. rated torque [%] torque [N* m] ratio vs. rated torque [%] Input voltage to driver: AC200V (56.4) 50 100 Peak running range 25 (18.8) Continuous running range 50 0 10 20 30 40 0 1000 2000 ambient temp. [C] speed [r/min] 3000 * Continuous torque vs. ambient temp. 100 85 70 50 0 10 speed [r/min] 20 without brake with brake 30 40 ambient temp. [C] * MDMA502 * 1 * Input voltage to driver: AC200V torque [N* m] (71.4) 70 Peak running range 35 (23.8) 0 Continuous running range 1000 2000 3000 ratio vs. rated torque [%] (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. 100 90 85 without brake with brake 50 0 10 20 30 speed [r/min] 40 ambient temp. [C] MFMA series (400W to 4.5kW) With oil seal * MFMA042 * 1 * * MFMA152 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) (5.3) 5 Peak running range 2.5 (1.9) 0 Continuous running range 1000 2000 3000 torque [N* m] * Continuous torque vs. ambient temp. ratio vs. rated torque [%] torque [N* m] ratio vs. rated torque [%] Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) (21.5) 20 100 Peak running range 10 (7.15) 50 0 10 20 30 40 Continuous running range 1000 0 2000 ambient temp. [C] speed [r/min] * MFMA252 * 1 * 3000 0 10 20 30 40 * MFMA452 * 1 * (30.4) 30 Peak running range 15 (11.8) Continuous running range 3000 speed [r/min] torque [N* m] * Continuous torque vs. ambient temp. ratio vs. rated torque [%] torque [N* m] ratio vs. rated torque [%] Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) 2000 50 ambient temp. [C] (Dotted line represents torque at 10% less voltage.) 1000 100 speed [r/min] Input voltage to driver: AC200V 0 * Continuous torque vs. ambient temp. (54.9) 50 100 Peak running range 25 (21.5) 50 0 10 20 30 40 Continuous running range 0 1000 ambient temp. [C] 2000 3000 speed [r/min] * Continuous torque vs. ambient temp. 100 50 0 10 20 30 40 ambient temp. [C] * These are subject to change. Contact us when you use these values for your machine design. * When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. torque Running range (Torque limit setup : 300%) Running range (Torque limit setup : 100%) Continuous running range speed 347 Supplement Running range (Torque limit setup : 200%) Motor Characteristics (S-T Characteristics) MHMA series (500W to 5.0kW) With oil seal * MHMA052 * 1 * * MHMA102 * 1 * Input voltage to driver: AC200V Input voltage to driver: AC200V torque (6.0) [N* m] 5.0 Peak running range 1000 2000 3000 speed [r/min] 100 50 5 (4.8) Continuous running range 0 10 40 20 30 ambient temp. [C] * MHMA152 * 1 * ratio vs. rated torque [%] torque [N* m](21.5) 20 Peak running range 10 (7.15) Continuous running range 2000 3000 speed [r/min] torque [N* m] 30 (28.5) 100 15 (9.54) 50 0 10 10 40 20 30 ambient temp. [C] 0 1000 2000 3000 speed [r/min] * Continuous torque vs. ambient temp. 100 50 0 10 40 20 30 ambient temp. [C] Input voltage to driver: AC200V ratio vs. rated torque [%] Peak running range Continuous running range 1000 2000 3000 speed [r/min] (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. torque ambient temp. [N* m](56.4) 100 50 85 Peak running range * Continuous torque vs. ambient temp. 100 50 0 25 (18.8) 10 20 30 40 ratio vs. rated torque [%] Peak running range Continuous running range 2000 3000 speed [r/min] 0 1000 2000 3000 * Continuous torque vs. ambient temp. 0 10 speed [r/min] 20 30 40 ambient temp. [C] torque Running range (Torque limit setup : 300%) 100 85 Running range (Torque limit setup : 200%) Running range (Torque limit setup : 100%) 50 0 50 * When you lower the torque limit setup (Pr5E and 5F), running range at high speed might be lowered as well. Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) torque [N* m](71.4) 70 Continuous running range ambient temp. [C] * MHMA502 * 1 * 1000 0 * MHMA402 * 1 * torque [N* m] 50 (42.9) 0 (2200) 40 20 30 ambient temp. [C] Input voltage to driver: AC200V 35 (23.8) Peak running range Continuous running range (Dotted line represents torque at 10% less voltage.) 0 50 (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. * MHMA302 * 1 * 25 (14.3) (2200) 2000 3000 speed [r/min] 100 Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) 1000 1000 * Continuous torque vs. ambient temp. * MHMA202 * 1 * Input voltage to driver: AC200V 0 0 ratio vs. rated torque [%] 0 Continuous running range torque [N* m] 15 (14.4) 10 Peak running range ratio vs. rated torque [%] 2.5 (2.38) (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. ratio vs. rated torque [%] ratio vs. rated torque [%] (Dotted line represents torque at 10% less voltage.) 10 Continuous running range 20 30 40 ambient temp. [C] speed MGMA series (900W to 4.5kW) With oil seal * MGMA202 * 1 * * MGMA092 * 1 * Input voltage to driver: AC200V Input voltage to driver: AC200V Peak running range Continuous running range 0 1000 2000 speed [r/min] torque [N* m] 50 (44) 100 50 0 25 (19.1) 10 20 30 40 ambient temp. [C] * MGMA302 * 1 * Peak running range Continuous running range 0 1000 2000 speed [r/min] 1000 2000 0 10 20 30 40 ambient temp. [C] speed [r/min] (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. torque (107) [N* m] 100 100 Peak running range 50 50 (42.9) Continuous running range 0 10 20 30 40 ambient temp. [C] 0 1000 2000 speed [r/min] * These are subject to change. Contact us when you use these values for your machine design. 348 50 Input voltage to driver: AC200V ratio vs. rated torque [%] 35 (28.4) Continuous running range * Continuous torque vs. ambient temp. 100 * MGMA452 * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 10% less voltage.) torque [N* m] 70 (63.7) 0 Peak running range ratio vs. rated torque [%] 10 (8.62) (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. ratio vs. rated torque [%] torque [N* m] 20 (19.3) ratio vs. rated torque [%] (Dotted line represents torque at 10% less voltage.) * Continuous torque vs. ambient temp. 100 50 0 10 20 30 40 ambient temp. [C] Motor with Gear Reducer [Supplement] Model No. of Motor with Gear Reduce Model Designation M S M D 0 1 1 P 3 1 N 1~4 Symbol MSMD 5~6 7 8 9 10 Type Low inertia Reduction ratio Symbol Reduction ratio 1N 1/5 2N 1/9 3N 1/15 4N 1/25 Motor rated output Voltage Symbol Output specifications 01 100W 02 04 08 200W 400W 750W Symbol Specifications 1 100V 2 200V Rotary encoder specifications Specifications Symbol Pulse count Resolution Wire count Format 2500P/r P Incremental 10,000 5-wire 17bit S Absolute/Incremental common 131,072 7-wire Motor structure Holding brake Shaft Symbol Without With Key way 3 4 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. * Incremental specifications, 2500P/r Applicable motor with gear reducer Applicable driver Rated output of motor Reduction ratio of 1/5 Reduction ratio of 1/9 Reduction ratio of 1/15 Reduction ratio of 1/25 Model No. of driver Frame of driver 100W MSMD011P * 1N MSMD011P * 2N MSMD011P * 3N MSMD011P * 4N MADDT1107 A-frame 200W MSMD021P * 1N MSMD021P * 2N MSMD021P * 3N MSMD021P * 3N MBDDT2110 B-frame 400W MSMD041P * 1N MSMD041P * 2N MSMD041P * 3N MSMD041P * 4N MCDDT3120 C-frame 100W MSMD012P * 1N MSMD012P * 2N MSMD012P * 3N MSMD012P * 4N MADDT1205 Single phase, 200W MSMD022P * 1N MSMD022P * 2N MSMD022P * 3N MSMD022P * 3N MADDT1207 200V 400W MSMD042P * 1N MSMD042P * 2N MSMD042P * 3N MSMD042P * 4N MBDDT2210 B-frame 750W MSMD082P * 1N MSMD082P * 2N MSMD082P * 3N MSMD082P * 4N MCDDT3520 C-frame 750W MSMD082P * 1N MSMD082P * 2N MSMD082P * 3N MSMD082P * 4N MCDDT3520 C-frame Power supply Single phase, 100V 3-phase, 200V A-frame * Absolute/Incremental specifications, 17bit Applicable motor with gear reducer Applicable driver Rated output of motor Reduction ratio of 1/5 Reduction ratio of 1/9 Reduction ratio of 1/15 Reduction ratio of 1/25 Model No. of driver Frame of driver 100W MSMD011S * 1N MSMD011S * 2N MSMD011S * 3N MSMD011S * 4N MADDT1107 A-frame 200W MSMD021S * 1N MSMD021S * 2N MSMD021S * 3N MSMD021S * 3N MBDDT2110 B-frame 400W MSMD041S * 1N MSMD041S * 2N MSMD041S * 3N MSMD041S * 4N MCDDT3120 C-frame 100W MSMD012S * 1N MSMD012S * 2N MSMD012S * 3N MSMD012S * 4N MADDT1205 Single phase, 200W MSMD022S * 1N MSMD022S * 2N MSMD022S * 3N MSMD022S * 3N MADDT1207 200V 400W MSMD042S * 1N MSMD042S * 2N MSMD042S * 3N MSMD042S * 4N MBDDT2210 B-frame 750W MSMD082S * 1N MSMD082S * 2N MSMD082S * 3N MSMD082S * 4N MCDDT3520 C-frame 750W MSMD082S * 1N MSMD082S * 2N MSMD082S * 3N MSMD082S * 4N MCDDT3520 C-frame Power supply Single phase, 100V <Note> * "*" of the model No. represents the structure of the motor. 349 Supplement 3-phase, 200V A-frame Dimensions/Motor with Gear Reducer Motor with Gear Reducer L (LG) LL LM 230 *(220) LT LQ KB1 LF Motor lead wire LH 200 Rotary encoder lead wire LR LE oSh6 oJ oLP oLBh7 (G) LN LK (unit : mm) Model Motor Reduction output rati0 1/5 MSMD01 * P31N MSMD01 * P32N MSMD01 * P33N Without brake 92 68 LT KB1 LF LR LQ LB 191.5 202 24 40.8 6 32 20 50 S LP LH 12 45 10 J (LG) LE (G) 14 67.5 234 50 30 70 19 62 17 22 1/5 183.5 32 20 50 12 45 10 14 72.5 1/9 218.5 MSMD02 * P33N 200W 1/15 MSMD02 * P34N 1/25 MSMD04 * P31N 1/5 MSMD04 * P32N 400W 1/9 79 56.5 22.5 25 78 1/25 92 89.5 6.5 3 100 229 50 22.5 30 70 19 62 17 22 89.5 238 98.5 76 42 34 100 1/15 248.5 MSMD04 * P34N 1/25 263.5 61 40 90 24 75 18 28 104 5 MSMD082P31N 1/5 255.5 50 30 70 19 62 17 22 93.5 3 1/9 270.5 61 40 90 24 75 18 28 32 20 50 12 45 10 14 MSMD04 * P33N MSMD082P33N MSMD 1/15 LM MSMD02 * P31N MSMD082P32N 750W 1/15 MSMD082P34N 1/25 MSMD01 * P41N 1/5 MSMD01 * P42N 100W 1/9 112 86.5 25.5 52.2 283 221.5 122 98 24 40.8 97.5 8 6 110 MSMD01 * P44N 1/25 264 50 30 70 19 62 17 22 MSMD02 * P41N 1/5 220 32 20 50 12 45 10 14 72.5 1/9 255 MSMD02 * P43N 200W 1/15 MSMD02 * P44N 1/25 MSMD04 * P41N 1/5 MSMD04 * P42N MSMD04 * P43N 400W 1/9 1/15 115.5 93 22.5 92 89.5 6.5 3 100 265.5 50 22.5 30 70 19 62 17 22 89.5 274.5 285 25 78 232 MSMD02 * P42N 5 67.5 1/15 MSMD01 * P43N With brake 1/9 LL MSMD01 * P34N MSMD02 * P32N 135 112.5 42 34 100 MSMD04 * P44N 1/25 300 61 40 90 24 75 18 28 104 5 MSMD082P41N 1/5 292.5 50 30 70 19 62 17 22 93.5 3 1/9 307.5 61 40 90 24 75 18 28 MSMD082P42N MSMD082P43N MSMD082P44N 350 100W L 750W 1/15 1/25 320 149 123.5 25.5 52.2 97.5 8 110 5 [Supplement] B T H LC 4-LZ Depth L oL A (unit : mm) LC 52 LA 60 LZ M5 LD 12 Kew way dimensions (B x H x LK) 4 x 4 x 16 T 2.5 LN Mass (kg) Moment of inertia (x 10-4kg * m2) 1.02 32 0.0910 0.0853 1.17 0.0860 78 90 M6 20 6 x 6 x 22 3.5 2.17 0.0885 52 60 M5 12 4 x 4 x 16 2.5 1.54 0.258 78 90 M6 6 x 6 x 22 3.5 2.9 20 3.3 98 115 M8 8 x 7 x 30 4 78 90 M6 6 x 6 x 22 3.5 98 115 M8 8 x 7 x 30 4 4.4 53 52 60 M5 12 4 x 4 x 16 2.5 5.7 6.1 1.23 32 0.440 0.428 43 MSMD Without brake 0.408 2.52 0.623 0.528 0.560 0.560 1.583 1.520 1.570 1.520 0.0940 0.0883 1.38 0.0890 78 90 M6 20 6 x 6 x 22 3.5 2.38 0.0915 52 60 M5 12 4 x 4 x 16 2.5 2.02 0.278 With brake 0.428 3.00 78 90 M6 6 x 6 x 22 3.5 0.448 43 3.4 20 0.460 0.643 0.548 3.8 0.580 115 M8 8 x 7 x 30 4 4.9 0.580 78 90 M6 6 x 6 x 22 3.5 5.2 1.683 6.5 1.620 98 115 M8 8 x 7 x 30 4 53 6.9 Supplement 98 1.670 1.620 Moment of inertia is combined value of the motor and the gear reducer, and converted to that of the motor shaft . 351 Permissible Load at Output Shaft Radial load (P) direction Thrust load (A and B) direction LR A GH GH M B LR/2 P Unit : N (1kgf=9.8N) Permissible load at shaft Motor output 100W 200W 400W 750W Motor output 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 Radial thrust 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 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. 352 Characteristics of Motor with Gear Reducer Reduction Supply ratio voltage Motor to driver output 1/5 1/9 MSMD011 * * 1N torque 4.0 [N * m] (3.72) 1/15 MSMD011 * * 2N torque [N * m] [Supplement] 1/25 MSMD011 * * 3N MSMD011 * * 4N torque16.0 [N * m] 8.0 torque 20.0 [N * m] (19.0) (6.86) (11.4) 100W Peak running range 2.0 Peak running range 4.0 Continuous running range 0 (6.72) Continuous running range 500 600 1000 0 MSMD021 * * 1N Continuous running range 333 400 555 speed [r/min] torque(8.04) 8.0 [N * m] 0 200 speed [r/min] MSMD021 * * 2N torque [N * m] 10.0 (3.72) (2.25) (1.18) Peak running range Peak running range 8.0 Continuous running range 333 MSMD021 * * 3N 200 100 120 speed [r/min] MSMD021 * * 4N torque 20.0 [N * m] (18.8) 16.0 0 speed [r/min] torque 40.0 [N * m] (33.3) 100V 200W Peak running range (11.3) 8.0 4.0 Peak running range (2.65) Continuous running range 0 (3.72) 500 600 1000 0 speed [r/min] MSMD041 * * 1N torque 20.0 [N * m] Peak running range 10.0 (11.1) (6.27) Continuous running range Continuous running range 333 400 555 0 200 speed [r/min] MSMD041 * * 2N torque 40.0 [N * m] Continuous running range 333 0 speed [r/min] MSMD041 * * 3N speed [r/min] torque 80.0 [N * m] (79.2) (47.5) (28.5) 400W Peak running range 10.0 1000 0 speed [r/min] MSMD012 * * 1N torque 4.0 [N * m](3.72) 333 400 555 0 torque 16.0 [N * m] Peak running range 1000 333 400 555 MSMD022 * * 1N (11.4) Peak running range 8.0 MSMD022 * * 2N Peak running range 10.0 (6.27) Continuous running range 0 Continuous running range 333 200 speed [r/min] torque 16.0 [N * m] speed [r/min] MSMD012 * * 4N (3.72) 0 200 100 120 torque 20.0 [N * m] (19.0) Continuous running range speed [r/min] 0 speed [r/min] MSMD012 * * 3N (2.25) torque(8.04) [N * m] 8.0 333 200 MSMD012 * * 2N Continuous running range 500 600 Continuous running range torque 8.0 [N * m] 4.0 (1.18) 0 (26.4) speed [r/min] (6.86) Peak running range Peak running range 40.0 Continuous running range Continuous running range 500 600 2.0 Peak running range 30.0 (15.8) (9.51) Continuous running range 0 Peak running range 20.0 (5.39) 100W 200 100 120 MSMD041 * * 4N torque 60.0 [N * m] (16.2) Peak running range 20.0 0 speed [r/min] MSMD022 * * 3N 200 100 120 speed [r/min] MSMD022 * * 4N torque 20.0 [N * m] (18.8) torque40.0 [N * m] (33.3) 200W Peak running range (11.3) 8.0 4.0 Peak running range (2.65) 10.0 1000 0 333 400 555 speed [r/min] 200V (11.1) Continuous running range Continuous running range 500 600 MSMD042 * * 1N torque 20.0 [N * m] 0 torque40.0 [N * m] Continuous running range 333 200 speed [r/min] MSMD042 * * 2N 0 MSMD042 * * 3N speed [r/min] MSMD042 * * 4N torque 80.0 [N * m] (79.2) (15.8) (28.5) 400W Peak running range 10.0 Peak running range 20.0 (5.39) 0 500 600 Peak running range 30.0 (26.4) Continuous running range Continuous running range 1000 0 speed [r/min] MSMD082 * * 1N torque 40.0 [N * m] 333 400 555 0 torque 80.0 [N * m] Continuous running range 333 200 speed [r/min] MSMD082 * * 2N 0 MSMD082 * * 3N speed [r/min] MSMD082 * * 4N torque 160.0 [N * m] (152.0) (91.2) (54.7) 20.0 Peak running range 40.0 60.0 speed [r/min] 0 80.0 333 400 500 speed [r/min] 0 Peak running range (50.7) Continuous running range Continuous running range Continuous running range 900 Peak running range (30.4) (18.2) Continuous running range 500 600 Peak running range 200 300 speed [r/min] 0 100 120 180 speed [r/min] Dotted line represents the torque at 10% less supply voltage. 353 Supplement (10.7) 0 200 100 120 speed [r/min] torque 120.0 [N * m] (32.1) Peak running range 40.0 (47.5) (9.51) Continuous running range 750W 200 100 120 speed [r/min] torque 60.0 [N * m] (16.2) Peak running range 20.0 (6.27) (3.72) Continuous running range 0 Peak running range 354 Pusle output Control output Control input Alarm signal Pulse train command Analog velocity command X5 RS232 X4 RS485 X3 RB1 RB3 RB2 L2C L1C L1 L2 L3 DL1 DL2 Fuse Voltage detection 16-bit A/D Division/ + mulitiplication - Fan (D-frame only) Internal speed command Internal Speed Position + - + Division processing Encoder signal processing limit Torque Torque limit Protective curcuit Error detection Speed Velocity deviation amp. EEPROM Speed detection Parameter control Sequence control Position deviation amp. External Display operation control 12V +5V PS for gate drive PS for RE Deviation counter DC/DC Front panel + N P Internal Block Diagram of MINAS-A4 Driver (A, B, C and D-frame) Current control A/D PWM circuit Gate drive X6 W V U RE M Block Diagram of Driver Supplement Pusle output Control output Control input Alarm signal Pulse train command Analog velocity command X5 RS232 X4 RS485 X3 P B1 B2 t r L1 L2 L3 Fuse + 16-bit A/D Division/ + mulitiplication - Front panel Voltage detection Fuse (F-frame only) Fuse (F-frame only) Fan Internal speed command Internal Speed Position - + Torque limit Protective curcuit Error detection Encoder signal processing limit Torque Speed Velocity deviation amp. EEPROM Division processing Speed detection + Parameter control Sequence control Position deviation amp. External Display operation control 12V +5V PS for gate drive PS for RE Deviation counter DC/DC N P Internal Block Diagram of MINAS-A4 Driver (E and F-frame) Current control A/D PWM circuit Gate drive X6 W V U RE M [Supplement] 355 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 Pulse train PULS SIGN Input setup Input Pr40 selection Reversal Mode FIR smoothing Velocity feed forward Damping control 1st frequency Pr2B Average Pr4D travel times Pr41 1st filter Pr42 Pr2C Gain Pr15 Filter Pr16 Torque command monitor 2nd Pr2D frequency Division/ Multiplication 1st numerator Pr48 2nd numerator Pr49 2nd filter Primary delay smoothing Pr2E + Position control + + - Selection Pr4C 1st Pr10 2nd Pr18 + - Multiplier Pr4A Denominator Pr4B Positional deviation monitor Velocity control 1st proportion Pr11 1st integration Pr12 2nd proportion Pr19 2nd integration Pr1A Notch filter 1st frequency Pr1D Inertia ratio Pr20 2nd depth Pr2A 1st width 1st Pr13 2nd Pr1B Pr1E 2nd frequency Pr28 1st limit Pr5E 2nd width Pr29 2nd limit Pr5F Motor Adaptation Pr2F Speed detection filter Command speed monitor Torque filter 1st time Pr14 constant 2nd time Pr1C constant Encoder Actual speed monitor Speed detection Division Serial communication data Numerator Pr44 Feedback pulses Encoder reception processing Denominator Pr45 OA/OB/OZ Selection Pr46 Velocity Control 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 Command speed monitor Analog velocity command SPR Torque command Velocity control Input setup 16bit A/D Gain Pr50 Reversal Pr51 Offset Pr52 Filter Pr57 Internal velocity setup Command selection Acceleration/ Deceleration limit + Selection Pr05 Acceleration Pr58 - Deceleration Pr59 Sigmoid Notch filter Torque filter Pr11 1st frequency Pr1D 1st time const. Pr14 Pr12 1st width 2nd time const. Pr1C Pr19 2nd frequency Pr28 1st limit Pr5E Pr1A 2nd width Pr29 2nd limit Pr5F Inertia ratio Pr20 2nd depth Pr2A Adaptation Pr2F 1st proportion 1st integration 2nd proportion 2nd integration Pr5A Velocity detection filter Pr1E Motor 1st speed Pr53 5th speed Pr74 1st Pr13 2nd Pr1B 2nd speed Pr54 6th speed Pr75 Encoder 3rd speed Pr55 7th speed Pr76 4th speed Pr56 8th speed Pr77 Actual speed monitor Velocity detection Division Feedback pulses OA/OB/OZ Numerator Denominator Pr45 Selection 356 Pr44 Pr46 Encoder reception process Serial communication data [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 Absolute value(magnitude) Command speed monitor Input setup 16bitA/D SPR/ TRQR Gain Pr5C Reversal Pr5D Offset Pr52 Filter Pr57 Velocity control Multiplication + Sign() 1st proportion 1st integration 2nd proportion 2nd integration + Analog torque command Torque command monitor - Internal velocity limit 4th speed Pr56 Pr11 Torque filter Notch filter Torque limit 1st frequency Pr1D 1st time const. Pr14 Pr12 1st width 2nd time const. Pr1C Pr19 2nd frequency Pr28 1st limit Pr5E Pr1A 2nd width Pr29 2nd limit Pr5F Inertia ratio Pr20 2nd depth Pr2A Pr1E Motor Velocity detection filter 1st Pr13 2nd Pr1B Encoder Monitor of actual speed Speed detection Division Numerator Feedback pulses Pr44 Encoder reception processing Denominator Pr45 OA/OB/OZ Selection Serial communication data Pr46 Full-closed Control Mode * when Pr02 (Setup of control mode) is 6 , Pulse train Input setup PULS SIGN FIR smoothing Input selection Pr40 Reversal Pr41 Mode Damping control Average Pr4D travel times 1st frequency Pr2B 1st filter Pr42 Pr2C Velocity feed forward Gain Pr15 Filter Pr16 Torque command monitor 2nd frequency Pr2D Division/Multiplication 2nd filter 1st delay smoothing 1st numerator Pr48 Multiplier Pr4A Denominator Pr4B - Selection Pr4C 2nd numerator Pr49 External scale correction Numerator Pr78 Numerator multiplier Pr79 Denominator Command speed monitor Pr2E Position control + Pr7A 1st Pr10 2nd Pr18 + + + - Full closed position deviation monitor Speed detection filter 1st Pr13 2nd Pr1B Velocity control 1st proportion Pr11 1st integration Pr12 2nd proportion Pr19 2nd integration Pr1A Notch filter 1st frequency Pr1D Inertia ratio Pr20 2nd depth Pr2A 1st width Pr1E 2nd frequency Pr28 1st limit Pr5E 2nd width Pr29 2nd limit Pr5F Adaptation Pr2F Encoder Actual speed monitor - Speed detection Division Encoder reception processing Pr44 Denominator Pr45 OA/OB/OZ Selection Pr46 Z-phase Pr47 Reversal Pr7C External scale reception processing Serial communication data Serial communication data External scale 357 Supplement Numerator Motor + Position deviation monitor Feedback pulses Torque filter 1st time Pr14 constant 2nd time Pr1C constant Specifications Main circuit Single phase, 100 - 115V +10% 50/60Hz -15% Control circuit Single phase, 100 - 115V +10% 50/60Hz -15% A and B-frame Single phase, 200 - 240V +10% 50/60Hz -15% C and D-frame Single/3-phase, 200 - 240V +10% 50/60Hz -15% E and F-frame 3-phase, 200 - 230V +10% 50/60Hz -15% A to D-frame Single phase, 200 - 240V +10% 50/60Hz -15% E and F-frame Single phase, 200 - 230V +10% 50/60Hz -15% Main circuit 200V Control circuit Input power 100V Environment Temperature Operating : 0 to 55C, Humidity Both operating and storage : 90%RH or less (free from condensation) Altitude 1000m or lower Vibration 5.88m/s2 or less, 10 to 60Hz (No continuous use at resonance frequency) Control method IGBT PWM Sinusoidal wave drive 17-bit (131072 resolution) absolute/incremental encoder, Encoder feedback Basic specifications Storage : -20 to +80C 2500P/r (10000 resolution) incremental encoder External scale feedback AT500 series by Mitutoyo (Resolution 0.05[m], max. speed 2[m/s]) ST771 by Mitutoyo (Resolution 0.5[m], max. speed 2[m/s]) 10 inputs Input (1) Servo-ON, (2) Control mode switching, (3) Gain switching/Torque limit switching, (4) Alarm clear Other inputs vary depending on the control mode. Control signal 6 outputs Output (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. Input 3 inputs (16Bit A/D : 1 input, 10Bit A/D : 2 inputs) 2 outputs (for monitoring) Analog signal (1) Velocity monitor (Monitoring of actual motor speed or command speed is enabled. Select the Output 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.) Input 4 inputs Select the exclusive input for line driver or photo-coupler input with parameter. 4 outputs Pulse signal Output 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. Communication function Front panel Regeneration Dynamic brake RS232 1 : 1 communication to a host with RS23 interface is enabled. RS485 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, Control mode (3) Toque control, (4) Position/Velocity control, (5) Position/Torque control, (6) Velocity/Torque control and (7) Full-closed control. 358 [Supplement] Inputs of 1) Servo-ON, 2) Alarm clear, 3) Gain switching, 4) Control mode switching, Control input 5) CW over-travel inhibition and 7) CCW over-travel inhibition are common, and other inputs vary depending on the control mode. Control input Control output Position control Pulse input (1) Deviation counter clear, (2) Command pulse inhibition, (3) Damping control switching, (4) Gain switching or Torque limit switching Positioning complete (In-position) Max. command pulse frequency Exclusive interface for line driver : 2Mpps, Line driver : 500kpps, Open collector : 200kpps Input pulse signal format Support (1) RS422 line drive signal and (2) Open collector signal from controller. Type of input pulse (1) CW/CCW pulse, (2) Pulse signal/rotational direction signal, (3) 90C phase difference signal Electronic gear (Division/ Multiplication of command pulse) Process the command x pulse frequency (1 to 10000) x 2 (0 to 17) as a position command input 1 to 10000 Primary delay filter is adaptable to the command input Smoothing filter Selectable of (1) Position control for high stiffness machine and (2) FIR type filter for position control for low stiffness machine. Analog input Torque limit command input Control input Velocity control Control output Analog Velocity command input input Torque limit command input Speed control range Internal velocity command (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 = A} 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. Control input (1) CW over-travel inhibition, (2) CCW over-travel inhibition, (3) Speed zero clamp Control output (1) Speed arrival (at-speed) Setup of scale and CW/CCW torque generating direction of the motor against the command Analog Velocity command input input Speed limit input Control input Control output Full-closed control (1) Speed zero clamp, (2) Selection of internal velocity setup, Zero-speed clam Speed limit function Max. command pulse frequency Input pulse signal format Pulse input Analog input voltage is enabled with parameter, with the permissible max. voltage input = A} 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 (1 to 10000) x 2 (0 to 17) as a position command input 1 to 10000 Electronic gear (Division/ Multiplication of command pulse) Process the command x pulse frequency Smoothing filter Primary delay filter is adaptable to the command input. Torque limit command input Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque) Setup range of division/multiplication of external scale Real-time Auto-gain Normal mode tuning Fit-gain function Common Function Torque control Soft-start/down function Individual torque limit for both CW and CCW direction is enabled. (3V/rated torque) Masking of unnecessary input 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 Division of encoder feedback pulse Protective Soft error function Hard error Set up of any value is enabled (encoder pulses count is the max.). Traceability of alarm data Traceable up to past 14 alarms including the present one. Damping control function Manual setup with parameter Manual 5push switches on front panel Setup support software Excess position deviation, command pulse division error, EEPROM error etc. MODE Supplement Setup Over-voltage, under-voltage, over-speed over-load, over-heat, over-current and encoder error etc. SET PANATERM(R) (Supporting OS : Windows95, Windows98, Windows ME, Windows2000, Windows.NET and Windows XP) 359 "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 1st (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 2nd torque limit Pin-27 (GAIN/TL-SEL) Pin-27 (GAIN/TL-SEL) ON ON Pin-40 TLC (Torque in-limit) 2nd torque limit ON ON Pin-40 TLC (Torque in-limit) 50% Torque Torque hits Counter clear ON command command Motor speed Motor speed (1) hits Counter clear ON (1) (2) (2) (3) Z-phase (1) (1) (2) (2) origin origin (3) Parameter No. 5F 70 73 03 09 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) <Remarks> Make the Pin-27 H (Off=Open) after the Hit & Stop Homing is completed. 360 [Supplement] Press & Hold Control Application example Parameter No. 03 09 5E 5F 70 73 Press fit machine (1) (2) (3) (4) Setup example Setup of 2nd torque limit 3 Selection of alarm output 0 Setup of 1st torque limit 200 Setup of 2nd torque limit 50 Excess setup of position deviation 25000 Setup of over-speed level 0 Title (5) ON Pin-27 (GAIN/TL, SEL) : Torque limit switching input ON Pin-40 (TLC) : Torque in-limit output Setup value of 2nd torque limit (+) Torque (-) B (+) A Search speed (low speed) Command (-) C=A+B Holds the non-traveled portion with deviation counter (+) Motor speed (-) (1) (2) (3) (4) (5) Supplement 361 MEMO 362 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 363 After-Sale Service (Repair) 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 effort to ensure the highest quality of the products, however, application of exceptionally larger 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. * 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.) Date of purchase Model No. M M M DD MD MA Dealer Tel : ( ) - Motor Company Matsushita Electric Industrial Co., Ltd. 7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Tel : (81)-72-871-1212 (c) 2004 Matsushita Electric Industrial Co., Ltd. All Rights Reserved. IMC83 S1104-4046