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CHAPTER 12 POSITIONING DATA

12.1 Operation Modes ············································································ 12-2

12.1.1 Operation Method ······································································ 12-2

12.1.2 Operation Mode Selection ··························································· 12-4

12.2 Settings ························································································· 12-6

12.2.1 Positioning Data Specifications ····················································· 12-6

12.2.1.1

Position data (stop position) ················································ 12-7

12.2.1.2

Speed data (motor axis rotation speed) ·································· 12-7

12.2.1.3

Stand still timer (stop time) ·················································· 12-8

12.2.1.4

Acceleration time and deceleration time ································· 12-8

12.2.1.5

Status (command system, step mode) ··································· 12-9

12.2.2 Immediate Value Data Specifications ··········································· 12-12

12.3 Startup ························································································ 12-13

12.4 Setting Change ············································································· 12-15

12.5 Response Time ············································································ 12-15

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Summary of Contents for ALPHA5 Smart

Page 1: ...24C7 E 0016c FUJI SERVO SYSTEM ALPHA5 Smart USER S MANUAL...

Page 2: ......

Page 3: ...is manual may be inconsistent to the product due to improvements added to the product Description given in this manual is subject to change without notice Illustrations included in this manual show th...

Page 4: ...ii...

Page 5: ...5 SERVO ADJUSTMENT 5 CHAPTER 6 KEYPAD 6 CHAPTER 7 MAINTENANCE AND INSPECTION 7 CHAPTER 8 SPECIFICATIONS 8 CHAPTER 9 CHARACTERISTICS 9 CHAPTER 10 PERIPHERAL EQUIPMENT 10 CHAPTER 11 ABSOLUTE POSITION S...

Page 6: ...0 11 0 2 2 Servo Amplifier 0 12 0 3 Model Nomenclature 0 13 0 3 1 Servomotor 0 13 0 3 2 Servo Amplifier 0 14 0 4 Combination between Servomotor and Servo Amplifier 0 15 0 4 1 VV Type 0 15 CHAPTER 1 IN...

Page 7: ...of output signals 2 22 Input signal 2 23 Servo on S ON Sequence input signal Reference value 1 2 23 Forward command FWD Sequence input signal Reference value 2 2 23 Reverse command REV Sequence input...

Page 8: ...8 Override 2 Sequence input signal Reference value 45 2 48 Override 4 Sequence input signal Reference value 46 2 48 Override 8 Sequence input signal Reference value 47 2 48 Interrupt input enable Sequ...

Page 9: ...9 2 75 Data error Sequence output signal Reference value 30 2 76 Address error Sequence output signal Reference value 31 2 76 Alarm code 0 Sequence output signal Reference value 32 2 76 Alarm code 1 S...

Page 10: ...4 Connection Example Positioning unit QD75 type 2 94 CHAPTER 3 OPERATION 3 1 Signal Description Priority among Input Signals 3 2 3 2 Selection of Operation Procedure 3 3 3 3 Operation Check 3 4 3 3 1...

Page 11: ...incidence range 4 21 PA1_30 Zero speed range 4 22 PA1_31 Deviation unit selection 4 22 PA1_32 Zero deviation range In position range 4 22 PA1_33 to 35 In position output signals 4 22 PA1_36 to 40 Acce...

Page 12: ...tion LS signal edge selection 4 46 PA2_14 Home position shift unit amount 4 46 PA2_15 Deceleration operation for creep speed 4 47 PA2_16 Home position after homing completion 4 47 PA2_17 Home position...

Page 13: ...ning data in RAM 1 to 3 4 90 PA2_89 to 90 Sequence test mode Mode selection and encoder selection 4 91 PA2_93 Parity stop bit selection for Modbus 4 91 PA2_94 Response time for Modbus 4 92 PA2_95 Comm...

Page 14: ...10 5 3 4 Auto Tuning Adjustment Procedure 5 11 5 4 Auto Tuning Application 5 12 5 4 1 Parameters Used for Auto Tuning Application 5 12 5 4 2 Notch Filter Setting Method 5 13 5 4 3 Adjustment Procedur...

Page 15: ...g Display 6 3 6 1 4 Displaying Upper middle lower Data 6 3 6 1 5 Mode Selection 6 4 6 2 Function List 6 5 6 3 Sequence Mode 6 9 6 4 Monitor Mode 6 13 6 5 Station Number Mode 6 27 6 6 Maintenance Mode...

Page 16: ...8 16 8 3 6 GYG Motor With a Brake 8 16 8 3 7 GYC Motor 8 17 8 3 8 GYC Motor With a Brake 8 17 8 3 9 GYS Motor 8 18 8 3 10 GYS Motor With a Brake 8 18 8 4 Dimensions of Servo Amplifier 8 19 8 5 Option...

Page 17: ...28 Sequence I O connector kit 10 29 Encoder connector kit Amplifier side 10 29 Encoder connector kit Motor side 10 30 Encoder connector kit Motor side 10 30 Recommended connector kit motor side for GY...

Page 18: ...4 11 4 11 2 3 Battery Replacement Procedure 11 4 11 3 Starting Up Procedure 11 5 11 4 Battery Warning 11 6 11 5 Calculation of Battery Life 11 7 CHAPTER 12 POSITIONING DATA 12 1 Operation Modes 12 2 1...

Page 19: ...0 Protocol Level Error 13 44 13 2 11 Wiring CN3 13 45 13 2 12 Communications 13 47 CHAPTER 14 PC LOADER 14 1 Operating Environment 14 2 14 2 Installation Method 14 2 14 3 Communications Setting 14 6 1...

Page 20: ...lection Calculation 15 16 15 5 3 Capacity Selection Calculation Example 15 24 15 6 Replacement from FALDIC W 15 30 15 6 1 Overview 15 30 15 6 2 Combination with FALDIC W Motor 15 30 15 6 3 Wiring betw...

Page 21: ...ons 0 2 0 2 Outline of System 0 11 0 2 1 Servomotor 0 11 0 2 2 Servo Amplifier 0 12 0 3 Model Nomenclature 0 13 0 3 1 Servomotor 0 13 0 3 2 Servo Amplifier 0 14 0 4 Combination between Servomotor and...

Page 22: ...of description will cause danger in which deaths or serious injuries may be caused CAUTION Negligence of description will cause danger in which minor or medium injuries or material losses may be cause...

Page 23: ...t cause injuries CAUTION Use the servomotor and servo amplifier in a designated set It might cause fire and failure Perform the wiring correctly and firmly It might cause failure Never use at places s...

Page 24: ...nce a month Precautions on transportation CAUTION Do not hold cables or motor shaft when transporting It might cause failure and injuries Overloaded products will cause collapse of cargo hence observe...

Page 25: ...sures on the machine side to block entry of water coolant or similar from entering inside the servomotor It might cause failure If case of application when massive water or oil is splashed on the main...

Page 26: ...r test to the U V and W terminals of the servomotor disconnect the servo amplifier Do not connect encoder terminals in inappropriate order Otherwise the encoder and servo amplifier will be damaged In...

Page 27: ...re and power restoration because sudden restart may be triggered Design the machine so that personal safety is secured even if the machine restarts suddenly It might cause injuries The brake incorpora...

Page 28: ...te In case unnecessary product cannot be sold and will be discarded the product falls in the category of industrial waste described in the law The industrial waste must be handled in due course includ...

Page 29: ...with the low voltage directive and that support compliant with the EMC directive as well as a relevant guideline are prepared Compliance with RoHS directive RoHS directive concerns with toxic materia...

Page 30: ...Directive Low Voltage Directive EMI EMS Servo amplifier EN61800 5 1 EN55011 Class A group 1 EN61800 3 Servomotor EN60034 1 EN60034 5 EN55011 Class A group 1 EN61800 3 Note The machine on your shop fl...

Page 31: ...ealizes the best motion control for the target machine 0 2 1 Servomotor The variation of the servomotor includes five types Middle inertia type GYB GYH GYG low inertia type GYC Ultra low Inertia type...

Page 32: ...CHAPTER 0 INTRODUCTION 0 12 Outline of System 0 0 2 2 Servo Amplifier The servo amplifier of general purpose interface type VV is prepared...

Page 33: ...ture When unpacking Check the following items Check if the delivered item is what you have ordered Check if the product is not damaged during transportation Check if the instruction manual is included...

Page 34: ...CHAPTER 0 INTRODUCTION 0 14 Model Nomenclature 0 0 3 2 Servo Amplifier The model name and serial number are also marked on the front panel of the servo amplifier body...

Page 35: ...nation between Servomotor and Servo Amplifier 0 15 0 0 4 Combination between Servomotor and Servo Amplifier Use the servomotor and servo amplifier in one of the following sets Do not use them of other...

Page 36: ...CHAPTER 0 INTRODUCTION 0 16 Combination between Servomotor and Servo Amplifier 0...

Page 37: ...perties 1 3 1 1 5 Servomotor Handling Precautions 1 4 1 1 6 Notes on Stress Given to Cable 1 4 1 1 7 Assembling Accuracy 1 5 1 1 8 Allowable Load 1 6 1 1 9 Cautionary Items on Servomotor Equipped with...

Page 38: ...m free from powder dust corrosive gases and direct sunlight Vibration 49 m s2 or less 3000 r min 0 75 kw or less 24 5 m s2 or less 3000 r min 1 kw or more 24 5 m s2 or less 1500 r min 2000 r min Obser...

Page 39: ...h water oil or oil mist Keep the temperature inside the cover to 40 degree or less Do not operate with cables immersed in oil Some coolant types can provide on sealant cable case or similar To install...

Page 40: ...n appropriate servo amplifier when used For how to connect the servomotor to a servo amplifier refer to CHAPTER 2 WIRING 1 1 6 Notes on Stress Given to Cable In applications where the servomotor and m...

Page 41: ...or is shown below Unit mm Servomotor model Runout at shaft end Misalignment flange Perpendicularity of flange face GYB D5 GYG 5 GYC D5 GYS D5 Within 0 02 Within 0 06 Within 0 08 GYH C6 Within 0 03 Wit...

Page 42: ...53 55 GYG152C5 2 510 253 55 GYG202C5 2 510 253 55 GYG501B5 2 449 253 58 GYG851B5 2 449 253 58 GYG132B5 2 575 253 58 GYC101D5 2 107 19 25 GYC201D5 2 235 39 30 GYC401D5 2 235 39 30 GYC751D5 2 460 88 40...

Page 43: ...end magnetization The shaft end of the servomotor equipped with a brake is subject to leaking magnetic flux during energization of the brake coil when the brake is released At the instance chips screw...

Page 44: ...following environment The servo amplifier is neither dust proof nor water proof Item Environmental condition Ambient temperature 10 to 55 C no freezing allowed Ambient humidity 10 to 90 RH no condens...

Page 45: ...installed inside the control panel Natural convection air tight structure totally enclosed type Air purge Forced ventilation Heat exchanger Servo amplifier Servo amplifier Servo amplifier Servo ampli...

Page 46: ...ier 1 4 Keep the clearances shown below between a servo amplifier and a peripheral equipment respectively to avoid rise in temperature of the servo amplifier 5 mm or more 5 mm or more 50 mm or more 10...

Page 47: ...r space in front of the servo amplifier which is connected with the sequence I O cable and encoder cable Servo amplifier frame 1 Servo amplifier frame 2 Encoder cable Amplifier depth Unit mm 80 165 40...

Page 48: ...NSTALLATION 1 12 Servo Amplifier 1 Servo amplifier frame 3 Servo amplifier frame 4 Sequence I O cable Encoder cable Amplifier depth Unit mm 80 185 195 80 Unit mm Amplifier depth Sequence I O cable Enc...

Page 49: ...2 14 2 1 4 RS 485 Communications CN3 2 14 2 1 5 Analog Monitor Output CN4 MON1 MON2 and M5 2 15 2 2 P N Junction 2 16 2 3 Servomotor 2 17 2 3 1 Brake Connector 2 17 2 4 Encoder 2 18 2 4 1 Encoder Cabl...

Page 50: ...00 mm Motor power cable Lead length 300 mm Battery and the case option Power supply TB1 Motor power TB3 L1 U L2 V L3 W Grounding terminal 2 pcs Screw size M4 RS 485 CN3A IN CN3B OUT Upper side CN3A lo...

Page 51: ...h 300 mm Motor power wiring Lead length 300 mm Keypad 4 digit 7 segment LED 4 buttons and monitor terminals are installed Sequence I O CN1 Encoder wiring CN2 Battery wiring CN5 Battery and the case op...

Page 52: ...Upper side CN3A lower side CN3B Charge LED L1 L2 L3 P RB1 RB2 RB3 N U V W Keypad 4 digit 7 segment LED 4 buttons and monitor terminals are installed Grounding terminal 2 pcs Screw size M4 TB2 Screw s...

Page 53: ...the servo amplifier and servomotor is 50 m You may not turn the power wiring of the servo amplifier or servomotor on or off with a contactor or you may not drive multiple servomotors selectively with...

Page 54: ...LCB Servo amplifier AC reactor Power filter Electromagnetic contactor RS 485 communications L1 L2 L3 Sequence I O cable The signals from push buttons various sensors and pulse input output are connect...

Page 55: ...3 MON2 2 MON1 1 CN4 BAT M5 1 BAT 2 CN5 Battery for ABS encoder data backup 3 6 VDC 8 NC 4 RXD 5 RXD 6 TXD 7 M5 2 M5 3 TXD 1 NC CN3B OUT 1 4 22 VREF 13 M5 Analog speed command input Connect the extern...

Page 56: ...Motor power cable Should be fabricated by the customer Electromagnetic contactor External regenerative resistor Disconnect the jumper wire and connect across pins 2 and 3 RS 485 communications L1 L2...

Page 57: ...3 TXD 1 NC 1 5 22 VREF 13 M5 Analog speed command input Built in braking resistor provided Connect the external braking resistor across RB1 and RB2 Remove the jumper wire from RB2 RB3 Connector CN3B...

Page 58: ...plication by four 9 FFA 10 FFA 11 FFB 12 FFB 23 FFZ 24 FFZ Pulse output Differential output The number of output pulses per motor revolution 16 to 262144 or the output pulse division ratio can be desi...

Page 59: ...of servo amplifier Max 30 VDC 50 mA Photocoupler isolation The COMOUT is the reference potential terminal 22 VREF 18 TREF 13 M5 18 M5 Speed command voltage 10 V Resolution 15 bits full scale Torque co...

Page 60: ...he PPI terminal is not used 2 Open collector input 24 VDC The PPI terminal is used Do not connect wiring to the terminal CA CB The wiring length to the host should be 2 m or less 3 Open collector inpu...

Page 61: ...signals output one pulse per motor revolution The output position can be adjusted in the parameter PA1_12 In the case of GYB motor at speed of 100r min or less after the power turned on the output of...

Page 62: ...s consumed at each point The terminal function can be changed by setting the parameter For assignable signals refer to page 2 21 2 1 4 RS 485 Communications CN3 Use the RS 485 communications by connec...

Page 63: ...inal from the servo amplifier Set the details to be output using the parameter Max 10 V 0 5 mA Resolution 14 bits full scale The signal takes two seconds to be activated after the power is turned on T...

Page 64: ...o amplifier on the other side of the P N junction The capacity of the servo amplifier on the PN junction side must be equal to or less than that of the servo amplifier on the power supply side Wiring...

Page 65: ...rake of the servomotor equipped with a brake is a non exciting brake To rotate the servo motor supply the power of 24 VDC to this connector and release the brake There is no polarity in the brake inpu...

Page 66: ...464 AWG 25 2P AWG 23 2C Twisted type or AWG 23 3P For 10 m or smaller wiring length RMCV SB A UL2464 AWG 25 2P AWG 17 2C or its equivalent For wiring lengths 10 m and 50 m The relationship between AWG...

Page 67: ...diagrams on pages 2 6 and 2 8 Please notice that wrong wiring may cause the encoder or battery trouble Perform shield treatment at the encoder according to the procedure specified below Despite motor...

Page 68: ...ire Shell 3 N C FG P5 1 M5 2 SIG 5 SIG 6 Shell 7 H B P5 8 G I M5 5 C D SIG 4 D H SIG 3 F FG Servo amplifier Servomotor BAT 3 BAT 4 1 T BAT 2 S BAT P5 1 M5 2 SIG 5 SIG 6 Shell 7 H B P5 8 G I M5 5 C D S...

Page 69: ...Torque control 6 Home position LS LS 43 Override enable 7 OT 44 Override 1 8 OT 45 Override 2 10 Forced stop EMG 46 Override 4 11 Alarm reset RST 47 Override 8 14 ACC0 48 Interrupt input enable 16 Pos...

Page 70: ...ea 1 61 MD1 18 Point detection area 2 62 MD2 19 Limiter detection 63 MD3 20 OT detection 64 MD4 21 Cycle end detection 65 MD5 22 Homing completion 66 MD6 23 Zero deviation 67 MD7 24 Zero speed 75 Posi...

Page 71: ...sponding value 1 to the input terminal function setting parameter If this signal is not assigned to the CONT input terminals it is treated as always ON Forward command FWD Sequence input signal Refere...

Page 72: ...ontrol 37 signal turned on not necessary when 7 positioning operation is set to PA1_01 turn on the forward command FWD or reverse command REV signal The speed setting is the same as that of speed cont...

Page 73: ...AD0 through AD3 If PA2_40 internal positioning data selection is 0 disable positioning is made according to the position data and speed data sent via RS 485 communications Check for the active state o...

Page 74: ...n turn on the homing command 2 Once the in position signal is turned off you can turn off the homing command The motor rotates in the direction of PA2_10 homing direction after reference signal detect...

Page 75: ...ion the home position LS will be detected first Reverse traveling unit amount for homing PA2_09 If homing is executed from B in the figure above the distance to OT must be traveled in a round trip and...

Page 76: ...out detecting a home position LS reference signal Detection of an over travel signal in the opposite direction to the traveling direction Detection of an over travel signal during travel of the home p...

Page 77: ...act of detecting the OT or OT signal The OT detection signal is turned on upon detection of either OT 7 or OT 8 or software OT specified in PA2_26 27 software OT detection position If the host control...

Page 78: ...d off switch closed so that the output shaft of the servomotor becomes ready to rotate To assign the ready for servo on signal to a sequence output terminal specify the corresponding value 1 to the ou...

Page 79: ...est operation mode Fn05 Press and hold the and keys simultaneously for at least one second upon alarm detection En01 Alarm reset from PC Loader Shutdown and power on again Alarms canceled through alar...

Page 80: ...leration time deceleration time The acceleration time and deceleration time can be set separately The setting through ON OFF of the ACC0 signal despite the direction of rotation as shown in the table...

Page 81: ...equence input signal having been switched off to on As zero speed signal NZERO can be performed during ON it is recommended to conduct position preset while the servomotor is stopped After position pr...

Page 82: ...Speed loop gain 2 PA1_66 Speed loop integration time constant 2 ON PA1_67 Feed forward gain 2 Parameter setting To assign gain switch to a sequence input terminal specify the corresponding value 17 to...

Page 83: ...3 or 1 whichever is smaller If forced stop or servo on is turned off or if an over travel or minor failure alarm is detected limitation is set at 4 third torque limit PA2_62 the setting can be changed...

Page 84: ...terminal function setting parameter Immediate value continuation Sequence input signal Reference value 22 Positioning motion can be continued according to the next data from the target position speed...

Page 85: ...servo amplifier The immediate value continuation permission signal remains enabled for 50 ms after positioning is completed 2 Immediate value continuation completion signal The signal is turned on af...

Page 86: ...lue change command They can be changed at an arbitrary timing while the in position signal remains inactive Parameter setting To assign the immediate value change command to a sequence input terminal...

Page 87: ...g amount of the mechanical system Function Switch electronic gear numerator 0 or electronic gear numerator 1 to select one of four command pulse offsets The numerator of the electronic gear can be cha...

Page 88: ...ion in the extension mode mode compatible with conventional Series be sure to assign command pulse ratio 1 or command pulse ratio 2 to a CONT input signal Turn servo on position control and command pu...

Page 89: ...inal specify the corresponding value 29 to the input terminal function setting parameter Pause Sequence input signal Reference value 31 This signal temporarily stops the start positioning homing motio...

Page 90: ...operation Unlike forced stop controlled stop will be conducted within the selected deceleration time Parameter setting To assign positioning cancel to a sequence input terminal specify the correspondi...

Page 91: ...the following procedure 1 Designate the address of positioning data to which the current position is to be written among AD0 to AD3 2 Using the manual forward rotation command pulse operation or the l...

Page 92: ...ding value 36 to the input terminal function setting parameter Position control Sequence input signal Reference value 37 To be used to conduct position control positioning by pulse in the extension mo...

Page 93: ...incremental encoder each revolution of the motor shaft corresponds to 1048576 pulses 20 bits Use the electronic gear to change the rotation amount of the servomotor corresponding to each pulse of the...

Page 94: ...nd pulse ratio 2 28 remains turned on Command pulse ratio 1 27 Command pulse ratio 2 28 Electronic gear numerator selection 0 24 Electronic gear numerator selection 1 25 Command pulse ratio 1 PA2_54 C...

Page 95: ...e applied to TREF terminal Output torque rated torque 100 3 V 100 PA3_33 If the torque command scale value is the default value Parameter setting To assign torque control to a sequence input terminal...

Page 96: ...tor can be changed during operation Function The rotation speed can be changed with the multiplication designated with override 1 2 4 8 while the override enable signal remains turned on The speed can...

Page 97: ...de 1 2 4 8 settings are turned on the weight is 150 10 20 40 80 If the sum exceeds 150 the value immediately before is retained 3 Maximum rotation speed Use the setting of PA1_25 max rotation speed fo...

Page 98: ...t traveling unit amount The rotation speed after an interrupt input keeps the speed at the rising edge effective The override is enabled even after the rising edge To change the rotation speed in the...

Page 99: ...upt positioning accuracy is determined after synthesizing these factors and mechanical accuracy such as distortion backlash and expansion 3 Interrupt positioning detection The interrupt positioning de...

Page 100: ...red The feedback position does not change even if deviation clear is executed You can zero the accumulated deviation due to the mechanical stop or similar thereby avoiding the travel by the deviation...

Page 101: ...ameter Free run BX Sequence input signal Reference value 54 To put the servomotor forcibly into free run coast to stop Priority is given to this signal in all control modes Function While the free run...

Page 102: ...operation and test operation made at the keypad or PC Loader The following operation can be executed only while the edit permission remains turned on Parameter edit mode Positioning data edit mode Te...

Page 103: ...rotection is shown in the table below Edit permission PA2_74 Parameter change operation Edit permission response Not assigned 0 Write enable ON ON Possible OFF 0 Write enable OFF OFF Impossible ON 0 W...

Page 104: ...weight of the load Selection of the anti resonance frequency is shown in the table below Anti resonance frequency selection 1 Anti resonance frequency selection 0 Vibration suppressing resonance freq...

Page 105: ...value data operation Immediate value data operation 1 OFF OFF OFF ON Operation with positioning data 1 2 OFF OFF ON OFF Operation with positioning data 2 3 OFF OFF ON ON Operation with positioning dat...

Page 106: ...command using the broadcasting method via Modbus RTU communications is canceled Function The Modbus RTU protocol can issue queries from the host controller the master to all the slave stations at the...

Page 107: ...ed for the broadcast cancel 2 When switching the broadcast cancel status between ON and OFF by using the CONT signals CONT 1 to 5 by hard signals see the chart below Switch the ON and OFF of broadcast...

Page 108: ...control ready S RDY 28 ON This signal is turned on under speed control and torque control Parameter setting To assign ready for servo on RDY to a sequence output terminal specify the corresponding va...

Page 109: ...le shot can be set Parameter setting To assign in position INP to a sequence output terminal specify the corresponding value 2 to the output terminal function setting parameter Signal activation condi...

Page 110: ...Homing start positioning Level The signal is turned on if conditions A and B below are satisfied A The rpm of the servomotor is within the setting of PA1_30 zero speed range B The difference deviation...

Page 111: ...limit detection to a sequence output terminal specify the corresponding value 11 to the output terminal function setting parameter Over write completion Sequence output signal Reference value 13 This...

Page 112: ...sequence I O signals in parallel Be sure to prepare a separate power supply for the brake To apply or release the brake with the brake timing output turn the servo on S ON signal off first before tur...

Page 113: ...CHAPTER 2 WIRING Description of I O Signals 2 65 2 3 Upon main power supply OFF ON OFF ON ON ON OFF OFF OFF Main power suppy Base signal Ready for servo on RDY Brake timing output...

Page 114: ...ntroller recognizes the alarm detection It can be also checked when the servo on S ON is ON and ready for servo on RDY is OFF Precautions for using a normally closed contact for alarm detection The si...

Page 115: ...tection area detection 1 or PA2_33 point detection area detection 2 The signal is turned off below the setting 3 PA2_31 point detection area detection 2 ON for negative side The signal is turned on be...

Page 116: ...n rapid deceleration during pulse operation After stopped at the limiter detection position the limiter detection signal is output in the same condition as the In position signal output To return from...

Page 117: ...tection 39 A OT signal is detected during servomotor travel in the positive direction while a OT signal is detected during travel in the negative direction Use sequence output signals to notify the ho...

Page 118: ...t positioning signal The motion starts with the next positioning data 3 Step 2 is repeated until the positioning data including CEND is reached 4 After positioning motions are completed up to the posi...

Page 119: ...pping point after a homing motion is finished or a position at which position preset is executed It does not mean the 0 position Parameter setting To assign homing completion to a sequence output term...

Page 120: ...nal is turned on after the servomotor rotation speed has reached the command speed Function The signal is turned on if the servomotor rotation speed is within the reference value of PA1_29 speed coinc...

Page 121: ...6 output is enabled in all control modes Parameter setting To assign torque limit detection to a sequence output terminal specify the corresponding value 26 to the output terminal function setting par...

Page 122: ...OL2 Overload warning value 100 Overload warning value 80 Overload warning value 60 Overload warning value 40 Overload warning value 20 Overload warning time at 6000 r min 0 10 20 30 40 50 60 70 80 90...

Page 123: ...tput terminal function setting parameter Edit permission response Sequence output signal Reference value 29 The signal is output if the edit permission input signal for enabling editing operation for...

Page 124: ...is turned on while AD3 through AD0 are turned off with PA2_41 sequential start selection being 0 disable Start operation with a correct positioning data number to turn the signal off Parameter setting...

Page 125: ...1 1 1 07H oS 3 Overvoltage 1 0 0 0 08H Hv 5 Main Power Undervoltage 1 0 0 1 09H LvP 17 Encoder Trouble 1 1 0 1 0 0AH Et1 6 Encoder Trouble 2 1 0 1 0 0AH Et2 7 Initial Error 1 0 1 1 0BH IE 28 Circuit...

Page 126: ...ce output signal Reference value 39 The state of over travel OT is output Function The corresponding positive or negative OT detection sequence output is turned on while the OT or OT sequence input si...

Page 127: ...put signal remains turned on relay open Function Forced stop detection is turned on when the forced stop sequence input signal is turned on relay open For details refer to Forced stop Parameter settin...

Page 128: ...1 MD2 Sequence output signal Reference value 62 MD3 Sequence output signal Reference value 63 MD4 Sequence output signal Reference value 64 MD5 Sequence output signal Reference value 65 MD6 Sequence o...

Page 129: ...ter execution of positioning data output at completion Output at start in process output The signal is issued since the start of the positioning motion to the end After the positioning motion is finis...

Page 130: ...ion setting parameter Immediate value continuation permission Sequence output signal Reference value 79 The signal is turned on when the system is ready to accept an immediate value continuation comma...

Page 131: ...tarted with immediate value operation data For details refer to Immediate value continuation Parameter setting Enter the corresponding value 80 to the output terminal function setting parameter The re...

Page 132: ...eted Function The signal undergoes ON to OFF transition at the start of operation and OFF to ON transition upon elimination of the internal command during manual feed positioning homing or interrupt p...

Page 133: ...the corresponding value 82 to the output terminal function setting parameter Range 1 of position Sequence output signal Reference value 83 Range 2 of position Sequence output signal Reference value 8...

Page 134: ...same as setting 2 of range 1 of position PA2_93 range 1 of position is always turned off The same is true for range 2 of position Motor current position Range1 of position Range1 of position Setting1...

Page 135: ...from the interrupt positioning mode Example EMG emergency stop by turning to OFF alarm occurrence changed to speed control etc Interrupt input enable Interrupt input FWD REV In position Interrupt posi...

Page 136: ...he corresponding value 85 to the output terminal function setting parameter Relevant description If the temporary stop is turned on during interrupt positioning motion the mode is regarded as the inte...

Page 137: ...l to the OUT signal regardless of the function allocation of the corresponding CONT signal CONT signals respectively correspond to CONT a to e Corresponding CONT signals CONTa CONT20 CONTb CONT21 CONT...

Page 138: ...r 4 CN4 is unnecessary for the operation of the servomotor Use it to measure or monitor the speed waveform and torque waveform of the servomotor with a measuring instrument or similar Connect a batter...

Page 139: ...FFZ 23 FFZ 24 FZ 25 M5 26 1 COMIN 2 CONT1 5 CONT4 3 CONT2 4 CONT3 19 PPI 7 CA 8 CA 21 CB 20 CB 6 CONT5 FFA 9 FFA 10 FFB 11 FFB 12 OUT2 16 1 E Br 2 F Br 24 VDC 2 L3 N P RB1 RB2 U V W TB TB TB CN2 M5 2...

Page 140: ...SIG 1 T BAT 2 S BAT BAT 3 BAT 4 CN1 OUT1 15 OUT3 17 BAT 2 CN5 BAT 1 COMOUT 14 3 FG 24 VDC A8 Pulse output COM P24 M24 A9 B8 B9 Pulse output COM Reverse pulse output Forward rotation pulse output Feed...

Page 141: ...CN2 M5 2 SIG 5 SIG 6 8 G M5 5 C SIG 4 D SIG 1 T BAT 2 S M5 BAT 3 BAT 4 CN1 OUT1 15 OUT3 17 BAT 2 CN5 BAT 1 COMOUT 14 3 J FG 24 VDC 14a Forward rotation pulse Forward rotation pulse 13a 12a Reverse ro...

Page 142: ...2 CONT1 5 CONT4 3 CONT2 4 CONT3 19 PPI 7 CA 8 CA 21 CB 20 CB 6 CONT5 FFA 9 FFA 10 FFB 11 FFB 12 OUT2 16 1 E Br 2 F Br 24 VDC 2 L3 N P RB1 RB2 U V W TB TB TB CN2 M5 2 SIG 5 SIG 6 8 G M5 5 C SIG 4 D SI...

Page 143: ...3 4 If the Servomotor Fails to Start 3 6 3 3 5 Shutdown 3 6 3 4 Operation 3 7 3 4 1 Test Operation at Keypad 3 7 3 4 2 Position Control Pulse 3 8 3 4 3 Speed Control 3 10 3 4 4 Torque Control 3 11 3...

Page 144: ...or determining the home position Home position LS 6 OT 7 OT 8 Interrupt input 49 Position preset 16 07 Signal irrelevant to motor operation Alarm reset 11 Edit permission 55 The moving part of the mec...

Page 145: ...1 to PA2_40 internal positioning data selection Positioning operation for up to 15 points can be made according to internal data Enter 6 to PA1_01 control mode selection Operation in FALDIC series com...

Page 146: ...fier is in the factory shipment state the display on the amplifier shows the following If the charge LED does not light up 200 V is not supplied to the main power terminals L1 L2 and L3 Check the sour...

Page 147: ...s signal to turn the servomotor on and make it ready to turn If the signal is turned off in motor stoppage the motor immediately free run If the signal is turned off during motor rotation the motor de...

Page 148: ...cted If the duration exceeds one second the main power undervoltage is not detected Even if the main power undervoltage alarm is detected there is no effect on the servo amplifier However do not repea...

Page 149: ...in 100 0 Always Test operation at keypad Follow the procedure below to check that the output shaft of the servomotor rotates 1 Use the MODE ESC key to start the test operation mode Fn01 2 The servomot...

Page 150: ...t command pulse direction 11 Open collector input forward reverse pulse 12 Open collector input A B phase pulse 1 Power PA1_05 Number of command input pulses per revolution 0 Electronic gear PA1_06 07...

Page 151: ...wer on state is the position control mode CONT1 Turn on servo on S ON and supply a pulse to turn the motor 3 Confirmation of position control Confirm the position control mode The third character P fr...

Page 152: ...ollows the parameter setting The rotation speed follows the X1 51 X2 52 and X3 53 input signals or speed command voltage VREF In the below chart the operation is executed with the speed corresponding...

Page 153: ...rque is reduced to zero after the signal is turned off Use parameter PA1_60 to specify the torque setting filter The maximum motor rotation speed can be controlled No Name Setting Default value Change...

Page 154: ...1_01 speed control torque control is shown below The command is issued by the voltage input of VREF and TREF To forcibly push against the mechanical system as shown in the figure above torque limit sh...

Page 155: ...position control mode Zero deviation The difference between the command position pulse input and feedback position present motor position is the deviation The signal is turned on if the present devia...

Page 156: ...ective and active even during rotation Either edge or level can be selected with parameter PA3_36 to switch the input format of the deviation clear signal Because the deviation is forcibly zeroed the...

Page 157: ...homing motion can be interrupted with forced stop EMG The in position INP signal shown in the figure assumes the level output mode If positioning completion single shot output is selected at the para...

Page 158: ...ation with positioning data 1 Position control FWD REV operation 2 Positioning data operation Speed Time RDY INP ON FWD OFF ON OFF ON X3 X2 X1 ON OFF OFF Interrupt input enable Interrupt input ON OFF...

Page 159: ...nterrupt input to the CN1 terminal of CONT1 to 5 Generally the sequence input and output signals are recognized in about 1 to 2 ms by the software however the interrupt input detects the signals by th...

Page 160: ...que limit 1 Torque limit 0 Torque limit OFF OFF Value set at PA1_27 and PA1_28 OFF ON Smaller value between torque command voltage TREF and PA1_27 PA1_28 ON OFF Smaller value between PA1_27 PA1_28 and...

Page 161: ...AD0 to AD3 and turn start positioning START on activating edge to execute positioning The positioning data can be registered with the PC Loader or keypad front panel of amplifier or through teaching...

Page 162: ...mediate value data operation you can allocate 77 positioning data selection to a CONT signal and turn the signal off Use the Modbus RTU protocol Immediate value data operation is impossible with the P...

Page 163: ...lected deceleration is made at the torque specified in parameter PA2_60 third torque limit 1 If free run at deceleration is selected at parameter PA2_61 action sequence at servo on OFF the motor coast...

Page 164: ...ion deceleration follows the setting of parameter PA2_18 selection of operation at OT during homing 2 The in position INP signal shown in the figure indicates the state in the level output mode 3 If t...

Page 165: ...stop EMG is a normally closed contact signal if it is allocated to CONT 1 to 5 signals 2 The in position INP signal shown in the figure indicates the state in the level output mode 3 If the forward t...

Page 166: ...el If the positioning cancel signal is turned on during motor rotation operation is stopped and controlled stop is caused according to the deceleration time setting While the positioning cancel signal...

Page 167: ...s of the servo amplifier are turned off and the servomotor coasts to stop at zero torque The motor rotation is not controlled If the free run signal is turned on during motor rotation operation is sto...

Page 168: ...s the settings of parameters PA1_38 and 40 and the state of input signal ACC0 or the setting of deceleration time data 2 During pulse operation the motor is stopped at the limiter detecting position w...

Page 169: ...4 Automatic Operation Setting Parameter 4 39 4 4 1 List PA2_ 4 39 4 4 2 Description of Each Parameter 4 40 4 5 Extended Function Setting Parameter 4 80 4 5 1 List PA2_ 4 80 4 5 2 Description of Each...

Page 170: ...hange the extended functions such as the torque limit 4 75 Input terminal function setting parameter No PA3_01 to 50 Use to enter or change input signals of the servo amplifier 4 89 Output terminal fu...

Page 171: ...n range In position range 100 33 In position output format 0 34 In position minimum OFF time Single shot ON time 20 35 In position judgment time 0 36 Acceleration deceleration selection at speed contr...

Page 172: ...Speed control 2 Torque control 3 Position control Speed control 4 Position control Torque control 5 Speed control Torque control 6 Extension mode 7 Positioning operation mode 1 If PA1_01 control mode...

Page 173: ...isting Series The power on state is the speed control mode see the figure below To perform homing and interrupt positioning select this mode Being stopped speed control Under speed control Torque cont...

Page 174: ...control 38 ON OFF Under torque control Speed control Torque control Forward command 2 Reverse command 3 Free run no driving force Servo 1 Forced stop 10 ON OFF Being stopped position control Position...

Page 175: ...at the host controller suitably Specify so that the ratio of PA1_06 to 07 2n 1 To establish an absolute position system set this parameter at 1 or 2 In addition install the optional absolute backup b...

Page 176: ...nput forward reverse pulse 2 Differential input A B phase pulse 10 Open collector input command pulse direction 11 Open collector input forward reverse pulse 12 Open collector input A B phase pulse 1...

Page 177: ...tes the rotation amount in the forward direction while the reverse rotation pulse CB CB indicates that in the reverse direction CA CB ON ON Lo 90 10 t1 t3 t2 t4 t1 0 2 sec t2 0 2 sec t3 2 sec t4 2 sec...

Page 178: ...phase and B phase signals corresponds to one pulse It is four fold frequency in the amplifier CA CB ON ON Lo 90 10 t1 t3 t2 t4 t5 t1 0 2 sec t2 0 2 sec t3 2 sec t4 2 sec t5 2 5 sec ON ON ON ON ON ON...

Page 179: ...f operation with pulse The direction of rotation caused upon an input of a forward rotation pulse and high level command sign or a B phase pulse lead pulse with A B phase pulse becomes the forward dir...

Page 180: ...ar No Name Setting range Default value Change 06 Numerator 0 of electronic gear 1 to 4194304 16 Always 07 Denominator of electronic gear 1 to 4194304 1 Always These parameters are enabled only under p...

Page 181: ...pproximate to 355 113 The number of output pulses is irrelevant to command pulse correction A B phase pulse in B phase advance are output according to the reference value of PA1_08 number of output pu...

Page 182: ...nge 09 Numerator of electric gear for output pulses 1 to 4194304 1 Power 10 Denominator of electric gear for output pulses 1 to 4194304 16 Power Specify the ratio of the output pulse per revolution of...

Page 183: ...urned on the output of first Z phase will happen within 1 rotation after the motor becomes over 12 degree as worst PA1_13 Tuning mode selection No Name Setting range Default value Change 13 Tuning mod...

Page 184: ...red according to the value of PA1_15 auto tuning gain 1 Trace operation mode Use this mode to adjust responses of each shaft to the command during trace control of two or more servomotor axes of an X...

Page 185: ...gain 1 56 Speed loop gain 1 57 Speed loop integration time constant 1 59 Torque filter time constant for position and speed control 87 Model torque filter time constant for position 88 Position loop i...

Page 186: ...the ratio of inertia of load 1 Entering the value monitored on display Use the monitor mode of the display to monitor Enter the monitored value If the value drifts enter an average value If fluctuati...

Page 187: ...tuning refer to CHAPTER 5 SERVO ADJUSTMENT PA1_16 Auto tuning gain 2 No Name Setting range Default value Change 16 Auto tuning gain 2 1 to 12 4 Always This parameter is enabled only under position co...

Page 188: ...tuning speed setting 10 00 to Max rotation speed r min 500 00 Always 22 Easy tuning timer setting 0 000 to 5 000 s 1 500 Always 23 Easy tuning direction selection 0 Forward reverse rotation 1 Forward...

Page 189: ...coincidence range No Name Setting range Default value Change 29 Speed coincidence range 10 to max rotation speed r min 50 Always Enter the range in which the speed coincidence output signal is turned...

Page 190: ...o Name Setting range Default value Change 32 Zero deviation range In position range 0 to 200000 pulses or units 100 Always Zero deviation range Enter the activation level of the zero deviation output...

Page 191: ...e in position signal is turned on if position deviation is within the reference value of zero deviation range and the motor rotation speed is within the reference value of zero speed range AND conditi...

Page 192: ...eration time are similarly changed ACC0 is assigned to an input signal CONT signal Selection follows the table below The deceleration time with a load in a carrier drive mechanism can be specified sep...

Page 193: ...peed limit 5 for torque control 100 00 Always 46 Manual feed speed 6 for position and speed control speed limit 6 for torque control 100 00 Always 47 Manual feed speed 7 for position and speed control...

Page 194: ...ual feed speed 2 42 Speed limit 1 for torque control 2 OFF ON ON 43 Manual feed speed 3 43 Speed limit 1 for torque control 3 ON OFF OFF 44 Manual feed speed 4 44 Speed limit 1 for torque control 4 ON...

Page 195: ...constant for torque control 0 00 61 Gain changing factor 1 62 Gain changing level 50 63 Gain changing time constant 1 64 Position loop gain 2 100 65 Speed loop gain 2 100 66 Speed loop integration tim...

Page 196: ...Disable 1 Enable 0 Always Filters can be added to commands for smoother follow up Moving average S curve time This parameter is enabled under position control Specify the moving average S curve filter...

Page 197: ...oves the response characteristics Speed loop gain 1 Speed disturbance setting A larger setting improves the response characteristics Speed loop integration time constant 1 Integration time constant se...

Page 198: ...ctric noise or one with fluctuation in the command voltage PA1_61 to 67 Second gain settings No Name Setting range Default value Change 61 Gain changing factor 0 Position deviation x10 1 Feedback spee...

Page 199: ...eristic to position commands Too much reference value may cause vibration or noise PA1_70 to 76 Notch filter settings No Name Setting range Default value Change 70 Automatic notch filter selection 0 D...

Page 200: ...ch filter 2 Using the servo analyze function of PC Loader determine the resonance point of the machine 3 Enter the resonance frequency of and attenuation of the resonance point of the machine into par...

Page 201: ...ion suppressing workpiece inertia ratio vibration suppressing resonance frequency 0 0 to 80 0 Always 80 Vibration suppressing anti resonance frequency 1 1 0 to 300 0 Hz 300 0 Always 81 Vibration suppr...

Page 202: ...y 0 to enter the ratio of a vibrating inertial body such as the arm to the inertia of the entire system The enabled parameter is selected through the CONT input signal as shown in the following table...

Page 203: ...loop integration limiter 0 to Max rotation speed r min 0 Always Use to improve interpolation accuracy of axes when interpolating two or more servomotor axes of an X Y table or similar PA1_88 position...

Page 204: ...evel or less PI control ON Pl control External signal switch CONT signal switch OFF P control To apply the brake from an external unit arrange the P control state PA1_92 and 93 Friction compensation s...

Page 205: ...nd speed control Select either to set PA1_59 torque filter time constant and PA1_87 model torque filter time constant automaticall or not in other than the manual tuning mode Select do not set automat...

Page 206: ...ing regular operation Speed compensation is made and stability is improved Parameters related to response of the control system are automatically adjusted according to the setting of auto tuning 1 or...

Page 207: ...oming Deceleration starting signal 0 13 Home position LS signal edge selection 0 14 Home position shift unit amount 1000 15 Deceleration operation for creep speed 0 16 Home position after homing compl...

Page 208: ...me Setting range Default value Change 06 Homing speed 0 01 to Max rotation speed r min 500 00 Always 07 Creep speed for homing 0 01 to Max rotation speed r min 50 00 Always 08 Starting direction for h...

Page 209: ...1 Starting direction for homing Specify the starting direction forward reverse rotation of homing The direction opposite to the homing direction after reference signal detection can be specified 2 Hom...

Page 210: ...ning the home position shift unit amount Home position shift amount standard signal Z phase PA2_11 Z phase Home position LS OT OT Enter the signal triggering deceleration to the homing creep speed For...

Page 211: ...is detected PA2_08 Starting direction for homing No Name Setting range Default value Change 08 Starting direction for homing 0 Forward rotation 1 Reverse rotation 2 Condition judgment start 0 Power S...

Page 212: ...e if the stopping position is in the direction opposite to the starting direction for homing and the maximum distance from the stopping position to the zero position is always known The unit amount de...

Page 213: ...ase 2 OT 3 OT 4 Interrupt input 5 Stopper 1 Power Specify the signal serving as a standard of the home position The position of a travel from the specified reference signal toward the homing direction...

Page 214: ...value Change 13 Home position LS signal edge selection 0 Rising edge 1 Trailing edge 0 Power Not a compulsory item Specify the enabling timing of the home position LS signal if the home position LS is...

Page 215: ...nal for shift operation without a reference signal for homing deceleration starting signal PA2_16 Home position after homing completion No Name Setting range Default value Change 16 Home position afte...

Page 216: ...en after OT or OT is detected during homing motion Specify the time taken to decelerate from 2000 to 0 r min Determine the setting under consideration of the homing speed and moving range after the OT...

Page 217: ...ing 0 Power Specify the motion taken upon first OT detection during homing motion Specify 0 to reverse the motion upon first OT detection Specify 1 to cancel homing and stop upon detection of OT Param...

Page 218: ...e time from 0 to 2000 r min For details refer to PA1_36 to 40 Acceleration time and deceleration time settings on page 4 23 PA2_60 third torque limit No Name Setting range Default value Change 60 Thir...

Page 219: ...election 6 Extension mode 0 Power PA2_ No Name Setting Default value Change 06 Homing speed 500 00 r min 500 00 Always 07 Creep speed for homing 50 00 r min 50 00 Always 08 Starting direction for homi...

Page 220: ...urs by the home position shift unit amount PA2_14 followed by stoppage The stopping point changes to the home position and homing completion is turned on and the homing process is finished Homing cree...

Page 221: ...ition LS 0 Power 13 Home position LS signal edge selection 0 Rising edge 0 Power 14 Home position shift unit amount 1000 units 1000 Always 15 Deceleration operation for creep speed 0 Reverse rotation...

Page 222: ...il to be sensed according to some scanning periods of the host controller Speed Time OFF ON OFF OFF ON OFF ON OFF OFF ON OFF ON OFF OFF ON OFF ON ON OFF ON ON OFF OFF ON ON OFF ON ON ON OFF ON OFF OFF...

Page 223: ...er 09 Reverse traveling unit amount for homing 20000 units 0 Always 10 Homing direction after reference signal detection 0 Forward rotation 0 Power 11 Reference signal for shift operation 1 Encoder Z...

Page 224: ...o the home position and homing completion is turned on and the homing process is finished At the direction of rotation switch rotation direction selection point with zero speed zero speed and in posit...

Page 225: ...he first encoder Z phase PA2_11 after detection of the home position LS PA2_12 during travel in the homing direction after reference signal detection a travel continues by the home position shift unit...

Page 226: ...e rising edge OFF ON of homing ORG in the direction opposite to the starting direction for homing PA2_08 at the homing speed PA2_06 2 If the home position LS PA2_12 is not found during travel by the r...

Page 227: ...Z phase Home position shift unit amount Home position LS Home position Homing speed PA2_06 Home position shift unit amount PA2_14 Starting direction for homing Homing direction after reference signal...

Page 228: ...d for homing 50 00 r min 50 00 Always 08 Starting direction for homing 0 Forward rotation 0 Power 09 Reverse traveling unit amount for homing 0 units 0 Always 10 Homing direction after reference signa...

Page 229: ...ing point changes to the home position and homing completion is turned on and the homing process is finished At the rotation direction selection point with zero speed zero speed and in position INP ar...

Page 230: ...s 10 Homing direction after reference signal detection 0 Forward rotation 0 Power 11 Reference signal for homing 1 Encoder Z phase 1 Power 12 Reference signal for homing 0 Home position LS 0 Power 13...

Page 231: ...o the home position and homing completion is turned on and the homing process is finished At the rotation direction selection point with zero speed zero speed and in position INP are momentarily turne...

Page 232: ...homing 50 00 r min 50 00 Always 08 Starting direction for homing 2 Condition judgment start 0 Power 09 Reverse traveling unit amount for homing 0 units 0 Always 10 Homing direction after reference sig...

Page 233: ...reep speed for homing PA2_07 3 The travel continues by the home position shift unit amount PA2_14 after the first encoder Z phase PA2_11 is detected since the home position LS PA_12 is detected follow...

Page 234: ...14 followed by stoppage Homing starting after LS deactivation 1 A travel in the forward direction starts at the homing speed PA2_06 2 Because the deceleration operation for creep speed PA2_15 is set a...

Page 235: ...otation 1 Reverse rotation PA2_11 Reference signal for shift operation 1 Encoder Z phase PA2_12 Reference signal for homing Deceleration starting signal 0 Home position LS PA2_13 Home position LS sign...

Page 236: ...or homing PA2_06 Homing speed Forward rotation Reverse rotation PA2_07 Creep speed for homing PA2_06 Homing speed Position Position Fig c LS ON active Start from the inside of LS Z phase PA2_14 Home p...

Page 237: ...4 Home position shift unit amount 1000 units 1000 Always Timing chart 1 When ORG signal is ON the motor rotates with Creep speed for homing according to Starting direction for homing 2 If first encode...

Page 238: ...s ON after homing completion 0 Always 22 Detection time for contact stopper 50 ms 0 Always 23 Torque limit for contact stopper 30 0 Always Select 5 stopper for the home position shift amount reference...

Page 239: ...he detection time for contact stopper PA2_22 is counted for the specified time then a return is caused by the home position shift amount PA2_14 and homing is finished If the home position shift amount...

Page 240: ...and format software OT detection position No Name Setting range Default value Change Software OT selection PA1_01 1 to 6 0 Disable 1 Enable 25 Position command format PA1_01 7 0 Normal 1 Positioning s...

Page 241: ...tions allocated to input signals are disabled PA2_28 to 29 Limiter detection position No Name Setting range Default value Change 28 Positive Iimiter detection position 2000000000 29 Negative Iimiter d...

Page 242: ...e point detection area detection signal that is output as an output signal OUT signal In case of point detection setting the signal is output if the servomotor is located nearly in the reference value...

Page 243: ..._31 point detection area detection is 2 The signal is turned on if the current position is exactly or less than the setting of the standard parameter It is turned off if the position exceeds the setti...

Page 244: ...lection No Name Setting range Default value Change 40 Internal positioning data selection 0 Disable 1 Enable 10 Power Select whether the internal positioning data is enabled or disabled Setting 0 Imme...

Page 245: ...sition of stand still timer 0 0 01 1 0 001 0 Always Select the least input increment of the stand still timer Selection can be made between 1 and 10 ms PA2_43 Output selection at M code OFF No Name Se...

Page 246: ...elow The current feedback position while continuous operation is carried out may not reach the target position due to delay of following behavior To approach the target position adjust the tuning sett...

Page 247: ...on to the target position after positioning is complete normally Conditions for in position is all of the following a b and c a Internal command completion b The position deviation is within the devia...

Page 248: ...election at torque limit 0 60 Third torque limit 300 61 Action sequence at servo on OFF 5 62 Action sequence at alarm 5 63 Action sequence at main power shutoff 5 64 Torque keeping time to holding bra...

Page 249: ...onic gear 53 Numerator 3 of electronic gear 1 to 4194304 1 Always Specify the electronic gear ratio using the input signal electronic gear numerator selection 0 1 assigned to CONT signal Electronic ge...

Page 250: ...OFF OFF VREF terminal voltage analog speed limit OFF OFF ON Speed limit 1 under torque control OFF ON OFF Speed limit 2 under torque control OFF ON ON Speed limit 3 under torque control ON OFF OFF Spe...

Page 251: ...on torque limit are followed 3 Torque limit for controlled stop action under position or speed control If PA2_57 is 0 CONT signal State of each limit Enabled torque limit Torque limit 1 Torque limit 0...

Page 252: ...viation holds selection at torque limit This parameter is enabled under position control Position deviation is held with this function after a contact stop Position deviation is held so that the posit...

Page 253: ...top 5 Power 63 Action sequence at main power shutoff 3 Free run at deceleration free run at stop 5 Emergency stop at deceleration free run at stop 5 Power Example Timing chart To hold deviation at TL...

Page 254: ...0 None 1 Internal resistor 2 External resistor 1 Power Select the regenerative resistor If the reference value is 1 the temperature of the regenerative resistor is calculated inside the amplifier and...

Page 255: ...etting range Default value Change 69 Deviation detection overflow value 0 1 to 100 0 rev 15 0 Always Specify the value for detecting an deviation overflow alarm Enter the parameter in a rotation amoun...

Page 256: ...ps 2 9600 bps 3 115200 bps 0 Power Specify the communication baud rate of the system combined over RS 485 PA2_74 Parameter write protection No Name Setting range Default value Change 74 Parameter writ...

Page 257: ...ue 23 Power W 24 Motor temperature 25 Overshoot unit amount 26 Settling time 27 Resonance frequency 1 28 Resonance frequency 2 40 Station number 41 Alarm at present 42 Alarm history 43 Warning at pres...

Page 258: ...arameters that can be stored in RAM are those marked Always in the Change field The parameter stored in RAM is in the default value when the amplifier is turned on Setting example 1 to 99 PA1_1 to 99...

Page 259: ...o the normal mode change PA2_89 to 0 and turn the power off then on again Specify the encoder bit according to the type of the servomotor RB2 at the end of servomotor 20 bit encoder HB2 18 bit encoder...

Page 260: ...ng range Default value Change 97 Communication protocol selection 0 PC Loader protocol 1 Modbus RTU 0 Always Select either the PC Loader protocol or Modbus RTU communications The factory shipment sett...

Page 261: ...d Function Setting Parameter 4 93 4 PA2_99 Encoder selection No Name Setting range Default value Change 99 Encoder selection 0 Automatic recognition 17 20bit 1 17bit FALDIC W 0 Power Set the encoder t...

Page 262: ...ignment 04 CONT4 signal assignment 05 CONT5 signal assignment 06 CONT6 signal assignment 07 CONT7 signal assignment 08 CONT8 signal assignment 09 CONT9 signal assignment 10 CONT10 signal assignment 11...

Page 263: ...djustment gain 1 0000 40 Torque command fine adjustment gain 1 0000 Paremeters marked in the table are enabled in the corresponding control mode 4 6 2 Description of Each Parameter PA3_01 to 05 CONT 1...

Page 264: ...errupt input enable 3 Reverse command REV 26 Command pulse inhibit 49 Interrupt input 4 Start positioning START 27 Command pulse ratio 1 50 Deviation clear 5 Homing ORG 28 Command pulse ratio 2 51 Mul...

Page 265: ...f each signal is shown in the figure below Assign desired functions to signals CONT1 through CONT5 CN1 PA3_26 to 30 CONT always effective 1 to 5 No Name Setting range Default value Change 26 CONT alwa...

Page 266: ...mand offset 3 0 Always 34 Torque command offset 200 10 to 200 10 mV Shipment setting Always Specify the scale gain and offset of the analog input signal PA3_35 Zero clamp level No Name Setting range D...

Page 267: ...V 5 x 1 0100 PA3_40 Torque command fine adjustment gain No Name Setting range Default value Change 40 Torque command fine adjustment gain 0 8000 to 1 2000 1 0000 Always The gain can be finely adjuste...

Page 268: ...ion Set at least one item of read and write data If less than this an exception code 03h is returned If function code FC 03H is used Set read data for parameters PA3_41 to PA3_44 corresponding address...

Page 269: ...ent 57 OUT7 signal assignment 58 OUT8 signal assignment 59 OUT9 signal assignment 60 OUT10 signal assignment 61 OUT11 signal assignment 62 OUT12 signal assignment 63 OUT13 signal assignment 64 OUT14 s...

Page 270: ...marked in the table are enabled in the corresponding control mode 4 7 2 Description of Each Parameter PA3_51 to 53 OUT 1 to 3 signal assignment turned on off by hardware OUT signal No Name Setting ran...

Page 271: ...detection normally closed contact 14 Brake timing 34 Alarm code 2 79 Immediate value continuation permission 16 Alarm detection normally open contact 35 Alarm code 3 80 Immediate value continuation c...

Page 272: ...Effective torque 11 DC link voltage 12 OL thermal value 13 Regenerative resistor thermal value 14 Power W 15 Motor temperature 16 Command speed filtered 3 Always 83 Monitor 1 scale 2 0 to 100 0 V 7 0...

Page 273: ...ed 9 Motor current Amperage supplied to servomotor Output voltage corresponding to maximum current 10 Effective torque Effective torque given to servomotor Output voltage corresponding to rated torque...

Page 274: ...olution is 14 bits 16384 at the full scale between 12 5 V and 12 5 V The resolution is 1 5 mV 12 5 to 12 5 V 214 While the maximum or minimum output voltage is 11 V 12 5 V is used for the calculation...

Page 275: ...its 0 Always 95 Range2 of position Setting2 2000000000 to 2000000000 units 0 Always The current servomotor position is detected and output in these signals The output signal can be turned on or off ac...

Page 276: ...CHAPTER 4 PARAMETER 4 108 Output Terminal Function Setting Parameter 4...

Page 277: ...e 5 17 5 5 5 Individual Adjustment 5 18 5 6 Interpolation Operation Mode 5 19 5 6 1 Conditions for Interpolation Operation Mode 5 19 5 6 2 Parameters Used for Interpolation Operation Mode 5 19 5 6 3 A...

Page 278: ...ration of two or more axes 5 6 Adjust in the interpolation operation mode Yes No END 5 2 Adjust through easy tuning Satisfactory motion 5 3 Adjust through auto tuning Satisfactory motion 5 4 Adjust th...

Page 279: ...Loader or keypad To install PC Loader refer to CHAPTER 14 PC LOADER Start operation after checking no collision exists in the moving parts of the machine To operate with PC Loader 1 Slow running For...

Page 280: ...starting conditions see the following pages NG2 Interrupted Check the conditions of interruption see the following pages NG3 Though tuning is finished adjustment is necessary Perform auto tuning or m...

Page 281: ...rt is kept as far as no resonance is observed Power supply to main circuit No alarm Neither OT nor EMG BX signal OFF Auto tuning 1 Parameter write enable 2 1 PA1_13 tuning mode selection other than 12...

Page 282: ...the one that will suppress resonance re adjustment is necessary Easy tuning Starting condition Conditions necessary to start easy tuning are indicated in the table below Easy tuning does not start if...

Page 283: ...etails of tuning Up to 50 easy tuning cycles are repeated while auto tuning gain 1 is automatically adjusted in the range from 5 to 30 Details of completion of action The action completion method incl...

Page 284: ...s are obtained there is no need to perform tuning described on following pages Notes on easy tuning With easy tuning automatic operation is performed according to functions of the servo amplifier Suff...

Page 285: ...ation speed is 100 r min or more There is no substantial load fluctuation during operation or acceleration deceleration The friction force is not large and does not apply pressure 5 3 2 Parameters Use...

Page 286: ...40 Supplement The parameters adjusted automatically by auto tuning The parameters automatically adjusted by auto tuning are shown in the table below The parameters to be adjusted automatically are dif...

Page 287: ...stimated load inertia ratio stable Adjust auto tuning gain 1 Satisfactory motion Yes No Yes Change to semi auto tuning and enter the ratio of moment of inertia of load Satisfactory motion No END Adjus...

Page 288: ...estimated value or average value PA1_15 Auto tuning gain 1 Refer to 5 3 3 Approximate Reference Value of Auto Tuning Gain 1 for adjustment PA1_16 Auto tuning gain 2 Enter when necessary PA1_59 Torque...

Page 289: ...in parameters 1 Resonance frequency PA1_71 notch filter 1 frequency 2 Depth PA1_72 notch filter 1 attenuation 3 Width PA1_73 notch filter 1 width Excessive attenuation might undermine control stabilit...

Page 290: ...reference value of 2 is recommended in general Use PA1_74 to 76 to add a notch filter to two resonance points simultaneously By setting the parameter PA1_70 to 2 the notch filter 1 can be used as the...

Page 291: ...s Re read out of the parameters obtained in auto tuning adjustment Satisfactory motion No Yes No END Follow the procedure described in 5 5 Manual Tuning Enter 0 to PA1_94 and adjust the torque filter...

Page 292: ...ble in the next section 5 5 3 Approximate Gain Reference Value If manual tuning is performed to change parameters without performing auto tuning the control system in the servo amplifier becomes imbal...

Page 293: ...justment 5 5 4 Manual Tuning Adjustment Procedure 1 Adjustment is unnecessary under speed control 1 1 1 START Select the manual tuning mode END Re read out of the parameters Enter the load inertia rat...

Page 294: ...1 moving average S curve time 2 Decrease PA1_54 position command response time constant 3 Increase PA1_58 feed forward gain 1 4 Decrease PA1_14 load inertia ratio Each change should be within 10 In ca...

Page 295: ...of the mechanical system is not large and the belt is free from deflection Commands sent from the host are common among axes 5 6 2 Parameters Used for Interpolation Operation Mode Parameters used for...

Page 296: ...ommand response time constant Yes Is vibration or noise generated Satisfactory motion after the adjustment Return the gain to the value when operated normally No Yes To 5 5 Manual tuning No Set the lo...

Page 297: ...rying weight travel amount per motor rotation etc The backlash of the mechanical system is not large and the belt is free from deflection 5 7 2 Parameters Used for Trace Operation Mode The parameters...

Page 298: ...the auto tuning gain 1 No Yes START Adjust the moving average S curve time Yes Is vibration or noise generated Satisfactory motion after the adjustment Return the gain to the value when operated norma...

Page 299: ...atively rigid The backlash of the mechanical system is not large 5 8 2 Parameters Used for Short cycle time Operation Mode The parameters used for gain adjustment are shown in the table below No Name...

Page 300: ...s No Yes Adjust the auto tuning gain 1 Return the gain to the value when operated normally Is vibration or noise generated Satisfactory motion after the adjustment No Yes To 5 5 Manual tuning Adjust t...

Page 301: ...to the specified operation pattern The motion continues until the user stops it Use this feature to check the load condition of the mechanical system effective torque etc During profile operation par...

Page 302: ...n is interrupted if any condition is dissatisfied during operation NG2 is indicated The gain reference value is left unchanged at the start level as far as resonance is not observed Power supply to ma...

Page 303: ...o stroke Return stroke P20 Continuous P37 P38 P21 P22 P23 How to stop profile operation Profile operation is stopped by the user or upon an error The error includes the following events OT EMG or exte...

Page 304: ...ration of the entire machine can be suppressed System without vibration suppression At motor acceleration deceleration torque tends to reach maximum value This acceleration deceleration shock could ca...

Page 305: ...f traveling stopping of a part of the machine The vibration frequency is about 1 to 300 Hz Inapplicable mechanical characteristics and conditions Vibration is observed continuously without relations t...

Page 306: ...timum value is automatically stored in PA1_78 vibration suppressing anti resonance frequency 0 5 Upon a fault if no effect is verified PA1_78 vibration suppressing anti resonance frequency 0 remains t...

Page 307: ...ration suppressing anti resonance frequency is set the vibration suppressing anti resonance frequency must be adjusted again Perform gain adjustment first Check the vibration suppressing anti resonanc...

Page 308: ...r for the resonance point What are the resonance point and vibration suppressing anti resonance point Vibration of the machine includes the resonance point and vibration suppressing anti resonance poi...

Page 309: ...gauge or similar adopt method 1 In other cases adopt method 2 1 Measure the vibration of the arm tip with a laser displacement gauge or similar 1 Vibration suppressing anti resonance frequency Ts Hz 2...

Page 310: ...selection 1 CONT input signals up to four points can be specified The vibration suppressing anti resonance point may vary according to the arm length and weight of the load In such a case assign this...

Page 311: ...onic gear PA1_07 denominator of electronic gear 1 2 Cannot be set during auto or semi auto tuning 5 Checking the effects There are three checking methods 1 Observe vibration of the arm tip with a lase...

Page 312: ...ntire load inertia 2 Entering with the PC Loader 1 Check the anti resonance frequency and resonance frequency by using the servo analyze function 2 Select Parameter Edit PA1 Control Gain Filter Settin...

Page 313: ...6 1 4 Displaying Upper middle lower Data 6 3 6 1 5 Mode Selection 6 4 6 2 Function List 6 5 6 3 Sequence Mode 6 9 6 4 Monitor Mode 6 13 6 5 Station Number Mode 6 27 6 6 Maintenance Mode 6 28 6 7 Para...

Page 314: ...ns in seven modes Sequence mode The control and operation statuses of the servo amplifier are displayed Monitor mode Various servomotor states I O signals and so on are monitored Station number mode T...

Page 315: ...ts Blinks three times middle digits Blinks three times lower digits With some items the middle digit display is not used MODE ESC The mode is switched MODE The mode is deselected ESC The sub mode is s...

Page 316: ...est operation mode Positioning data edit mode 6 1 5 Mode Selection Use the MODE ESC key to select each mode Mode selection Sub mode selection Indication example The power is turned on MODE ESC MODE ES...

Page 317: ...setting Motor setting Monitor mode Feedback speed Command speed Command torque Motor current Peak torque Effective torque Feedback position Command position Position deviation LS Z pulse Load inertia...

Page 318: ...ue Power w Motor temperature Overshoot unit amount Settling time Resonance frequency 1 Resonance frequency 2 Station number mode Station number display Maintenance mode Alarm at present Alarm history...

Page 319: ...er page 2 Parameter page 3 Positioning data edit mode Positioning status Target position Rotation speed Stand still timer M code Acceleration time Deceleration time Total time main power supply Total...

Page 320: ...on Alarm reset Parameter initialization Auto tuning gain Easy tuning Profile operation Sequence test mode Teaching Alarm history initialization Positioning data initialization Auto offset adjustment Z...

Page 321: ...on In this chapter keypad keys may be simply described as shown below MODE ESC key When using as a MODE key MODE When using as an ESC key ESC SET SHIFT key When using as a SET key SET for at least one...

Page 322: ...ge For details see the pages about undervoltage on page 7 10 Servo off The motor is not turned on The servomotor has no driving force Servo on The servomotor is ready to rotate Manual operation Manual...

Page 323: ...fective torque 25 Overshoot unit amount 7 Feedback position 26 Settling time 8 Command position 27 Resonance frequency 1 9 Position deviation 28 Resonance frequency 2 10 Command pulse frequency 40 Sta...

Page 324: ...standard u Speed control Indication Control Indication Interface 2nd digit 0 05 kW Indication Capacity 1 5 kW 500 152 1st digit ESC ESC SET 1 sec or over Blinks three times Blinks three times SHIFT S...

Page 325: ...tage TREF input voltage Input signals Output signals OL thermal value Regenerative resistor thermal value Power W Motor temperature Overshoot unit amount Settling time Resonance frequency 1 Resonance...

Page 326: ...to the most significant digit 4 Motor current displayed digits signed three digits Current flowing through the servomotor the current is displayed in percent to the rated current The range from 0 to t...

Page 327: ...displayed in the unit amount after correction with an electronic gear If the electronic gear is unused the data indicates the exact rotation amount of the motor shaft encoder 1048576 pulses rev for th...

Page 328: ...the operation command is turned off and the load mechanical system rotates the motor after the target position is reached the position is not correct on08 SET 1 sec or over 99 9999 99 SHIFT 9999 Blink...

Page 329: ...yed The unit of deviation amount follows the deviation unit selected in PA1_31 on09 SET 1 sec or over 99 9999 Blinks three times 99 9999 Blinks three times Blinks three times 9999 999 9999 999 ESC ESC...

Page 330: ...pplied to the pulse input terminal is displayed The value is displayed in 0 1 kHz The displaying range is from 1000 0 to 1000 0 kHz on10 SET 1 sec or over 1 000 0 Blinks three times 1 Blinks three tim...

Page 331: ...ven if the load mechanical system rotates the motor the correct value is displayed Press and hold the and keys simultaneously for at least one second to reset the feedback cumulative pulses on11 SET 1...

Page 332: ...B phase pulse each edge is counted multiple of four The count increases upon B phase advance Press and hold the and keys simultaneously for at least one second to reset the feedback cumulative pulses...

Page 333: ...o parameter PA1_13 tuning mode selection is displayed The value is displayed in a multiple in 0 1 increments to the inertia of the servomotor itself The displaying range is from 0 0 to 300 0 times Loa...

Page 334: ...alog input terminal VREF is displayed in 0 01 V The negative sign indicates a negative voltage 18 TREF input voltage displayed digits signed four digits The input voltage of the analog input terminal...

Page 335: ...put signals issued by the servo amplifier is displayed The corresponding LED lights up when the output signal is turned on While all the output signals are off the display shows nonE on19 SET 1 sec or...

Page 336: ...s value is 100 The regeneration load ratio is calculated for amplifier frame no 2 or above if PA2_65 regenerative resistor selection is set at 1 internal resistor The minimum increment is 1 The displa...

Page 337: ...The unit follows the deviation unit selected in PA1_31 on25 SET 1 sec or over 00 0000 Blinks three times 00 0009 Blinks three times Blinks three times 0000 000 0009 009 ESC ESC ESC SHIFT SHIFT The fi...

Page 338: ...ce frequency recognized by the servo amplifier is displayed The displaying range is from 50 to 2000 Hz If no resonance is detected 4000 is displayed 28 Resonance frequency 2 displayed digits unsigned...

Page 339: ...1 SET 1 sec or over 031 SET 1 sec or over 031 SHIFT 031 030 SHIFT 030 SET 1 sec or over ESC ESC ESC ESC ESC ESC Communication time over Displays the station number currently set in the parameter Enter...

Page 340: ...y is displayed in a code If the alarm reset is executed the display will automatically return to the initial one After an alarm is detected the following is displayed automatically Supplementary data...

Page 341: ...a Lost 1 11 Breaking Transistor Overheat 25 Absolute Data Lost 2 12 Encoder Communication Error 26 Absolute Data Lost 3 13 CONT Control signal Error 27 Multi turn Data Over Flow 14 Overload 1 28 Initi...

Page 342: ...1 sec or over no 01 SET 1 sec or over no 20 Refer to Alarm display on page 6 29 ESC 9999 SET 1 sec or over Detection history no 1 is latest 20 is oldest rc01 rc02 rc03 rc04 rc06 rc07 rc08 rc09 rc10 rc...

Page 343: ...al time main power supply The cumulative time of turning the main power L1 L2 and L3 on is displayed The displaying range is from 0 to 65535 h 5 Total time control power supply This function is unused...

Page 344: ...umulative time of turning the servomotor on is displayed The displaying range is from 0 to 32767 h En06 SET 1 sec or over 3 2767 ESC Blinks three times SHIFT 05 09 ESC 5 min 9sec 32 767 hours SET 1 se...

Page 345: ...ond to edit the data 1 Parameter page 1 On parameter page 1 relatively frequently used parameters are registered Changes in most parameters are reflected on the servo amplifier and servomotor operatio...

Page 346: ...ge 3 On parameter page 3 parameters related to system setting such as sequence I O terminals are registered Changes in parameters become enabled after the power is turned off then on again PA03 ESC SE...

Page 347: ...change the value Even if 9 changes to 0 no carry over occurs the higher order number does not change Similarly the higher order number does not change when 0 changes to 9 Press the SET SHIFT key to sh...

Page 348: ...eturn to the parameter number selection screen Value out of range Values out of the allowable setting range can be entered as far as the number of digits allows Example In case of parameter PA1_7 you...

Page 349: ...three times The set detail upper three digits of PA1_7 is displayed next The third digit of upper digit display blinks Shift to the desired editing digit Increase the value to 1 Shift the target to t...

Page 350: ...CHAPTER 6 KEYPAD 6 38 Parameter Edit Mode 6 Key operation Remarks Change the value to 0 Settle the new value After being settled the value remains 0000 SET 1 sec or over Blink 0000 0000...

Page 351: ...positioning data Pd_1 Pd_2 Pd_3 Pd_4 Pd_5 Pd_6 Pd_7 Pd_1 A 00 0 SET 1 sec or over ESC i INC Indication Command method A ABS 4th digit co Continuous Indication Step mode 00 No designation 2nd and 3rd d...

Page 352: ...ng value range is from 2000000000 to 2000000000 in increments of 1 Set the target position of the servomotor for ABS command method and set the incremental value for INC SET 1 sec or over Pd_2 _20 000...

Page 353: ...d still timer Set the stop time after the motor has reached the target position The setting value range is from 0 00 to 655 35 s in increments of 0 01 After the stop time has elapsed the sequence outp...

Page 354: ...999 9 ms in increments of 0 1 The setting value is the time until the motor rotation speed reaches 2000 r min 7 Deceleration time Set the motor deceleration time The setting value range is from 0 0 to...

Page 355: ...e the display indicates NG The signals of forced stop OT and free run are effective during test run Check these signals when NG is displayed Test run accompanying parameter writing Fn07 Fn09 Fn10 Fn11...

Page 356: ...he servomotor are reset to the value set in the preset position in PA2_19 _ JG Fn01 JG SET 1 sec or over ESC SET 1 sec or over ESC 0PJG 0nJG Under position control Under speed control During forward r...

Page 357: ...ow moves along a figure of eight ESC _End SET 1 sec or over nG2 ESC SET 1 sec or over Cause of NG2 indication A control mode other than the positioning control speed or torque is selected Homing is st...

Page 358: ...o 01 SET 1 sec or over ESC nG2 ESC Cause of NG2 indication An address error The initial address is set to 00 Cause of NG3 indication A control mode other than the positioning control speed or torque i...

Page 359: ...verheat Breaking Transistor Overheat Encoder Communication Error CONT Control signal Error Overload 1 Breaking Transistor Error Overload 2 Inrush Current Suppression Circuit Trouble Main Power Undervo...

Page 360: ...turned off 7 Parameter initialization Parameters are initialized After initializing parameters be sure to turn the power off then on again Go Fn06 AL in SET 1 sec or over ESC donE End of initializati...

Page 361: ...FWD REV signal the output shaft of the servomotor rotates according to the analog speed command voltage The output shaft of the servomotor may rotate at a small speed even if the speed command voltage...

Page 362: ...y become necessary However do not select if the host controller uses the speed command voltage and division output pulse feedback to control the servo amplifier 10 Z phase offset adjustment The curren...

Page 363: ...bles to the host control unit are not connected The operation pattern includes two variations slow running and easy tuning For details refer to CHAPTER 5 SERVO ADJUSTMENT Direction of rotation Operati...

Page 364: ...e to OT detection EMG detection and S ON signal OFF etc Cause of NG3 indication The motor is oscillating even when the auto tuning gain is set to 4 or lower Fn12 Esy SET 1 sec or over ESC SET 1 sec or...

Page 365: ...n frequency Acceleration time Deceleration time Rotation speed Timer Go path Return path Profile operation PA1_20 Endless PA1_37 PA1_38 PA1_21 PA1_22 PA1_23 Cause of NG1 indication Operation is disabl...

Page 366: ...ication is started To exit from the mode turn the main power off then on again If parameter PA2_89 is set at 1 change the reference value to 0 before turning the power off and on 15 Teaching After ope...

Page 367: ...es Blinks three times SHIFT ESC SET 1 sec or over Teaching execution Successful completion During teaching position check ESC Address selection 0000 Blinks three times ESC SHIFT 20 With a negative dat...

Page 368: ...CHAPTER 6 KEYPAD 6 56 Test Operation Mode 6...

Page 369: ...7 2 2 State at Alarm 7 3 7 2 3 Alarm Display List 7 4 7 3 Troubleshooting Method 7 6 7 4 Items to be Inquired upon Trouble 7 16 7 5 Maintenance and Discarding 7 17 7 5 1 Operating Environment 7 17 7...

Page 370: ...n of inspection Servomotor There is no deviation 1 in the linkage between the servomotor shaft and mechanical system The servomotor is free from direct splashes of water vapor or oil The servomotor it...

Page 371: ...keypad and the charge LED light up If nothing is displayed even though the power is supplied contact us Front view of servo amplifier 7 2 2 State at Alarm In case of alarm the servo amplifier will in...

Page 372: ...ower Undervoltage 18 rH1 Internal Breaking Resistor Overheat 19 rH2 External Breaking Resistor Overheat 20 rH3 Breaking Transistor Error 21 oF Deviation Overflow 22 AH Amplifier Overheat 23 EH Encoder...

Page 373: ...e Hu Overvoltage dE Memory Error tH Breaking Transistor Overheat Fb Fuse Blown Ec Encoder Communication Error cE Motor Combination Error oL1 Overload 1 ctE CONT Control signal Error oL2 Overload 2 rH3...

Page 374: ...rrent imbalance caused by an encoder fault Replace the servomotor Unconnected grounding cable Connect the grounding cable 2 Overspeed Display Description of detected alarm Cause and remedy Cause Remed...

Page 375: ...max value Approximately over 420 V overvoltage is detected 4 Encoder Trouble Display Description of detected alarm Cause and remedy Cause Remedy Fault in data sent from encoder Use shielded cables to...

Page 376: ...emedy The fuse is diconnected Replace the servo amplifier The main circuit fuse is used to prevent secondary disaster including fire Customers are not allowed to replace the fuse Contact us before tur...

Page 377: ...d correct faults Check for the broken wire in the encoder cable and correct if broken Insert ferrite cores The servo amplifier and encoder communicate through high speed serial communications The enco...

Page 378: ...the monitor mode of the keypad in both cases 13 Main Power Undervoltage Display Description of detected alarm Cause and remedy Cause Remedy The source voltage drops due to momentary power failure or...

Page 379: ...rative resistor is possibly to get hot so do not touch it 15 External Regenerative Resistor Overheat Display Description of detected alarm Cause and remedy Cause Remedy Excessive source voltage immedi...

Page 380: ...ption of detected alarm Cause and remedy Cause Remedy The servo amplifier is damaged Replace the servo amplifier Keep the ambient temperature 55 or lower 40 or below is recommended The ambient tempera...

Page 381: ...on time The default setting of PA2_69 deviation detection overflow value is 15 rev that is 20 bits x 15 pulses During regular servo system operation the deviation amount increases in proportion to the...

Page 382: ...ck for the broken wire or wrong wiring in the encoder cable and correct Replace the battery A warning is displayed on the amplifier if the battery voltage is low If PA2_78 is set at 1 dL2 alarm Perfor...

Page 383: ...tion 23 Initial Error Display Description of detected alarm Cause and remedy Cause Remedy The encoder is damaged Replace the servomotor The power is turned on while the servomotor rotates due to an ex...

Page 384: ...em Outline of configuration of mechanical system driven by motor Example Spring feed vertical reduction ratio 1 2 Details of trouble 1 Operation years whether the equipment has functioned correctly ev...

Page 385: ...down of the commercial power supply to start or stop the servomotor The service life of parts inside the servo amplifier may be affected 4 Radio noise The servomotor and servo amplifier are devices fo...

Page 386: ...regenerative Failure will be caused if the brake is used for regenerative resulting in substantial reduction of the service life Use it only for retention of a stopped servomotor 4 Capacitor built in...

Page 387: ...e Annual average 30 C Load factor Within 80 Operation rate Within 20 hours day Servomotor Part name Standard service life Method Bearing 20 000 to 30 000 hours Oil seal 5 000 hours Send the product ba...

Page 388: ...3 An alarm is raised 5 In the case of Modbus communications 2 In the case of multi step speed selection operation The servomotor does not operate Check Sn01 Check the cause by referring to section 6 3...

Page 389: ...PA1_15 auto tuning gain 1 value Not oscillating Abnormal The brake is released 1 Check the wiring of U V W 2 Check if the wiring is connected to a wrong motor or not Not abnormal 1 Check the brake po...

Page 390: ...ation pulse 1 Check the wiring for pulses 2 Check noise occurrence 3 Check PA1_03 command pulse form selection Select 1 semi auto in PA1_13 tuning mode selection and set the PA1_14 parameter appropria...

Page 391: ...set in PA2_74 Set 0 in PA2_74 PA2_74 0 Within setting range Checked Contact us Check if the setting value is within the setting range Did you cycle the power when the corresponding parameter becomes e...

Page 392: ...CHAPTER 7 MAINTENANCE AND INSPECTION 7 24 Troubleshooting 7...

Page 393: ...terface Specifications 8 13 8 3 Dimensions of Servomotor 8 14 8 3 1 GYB Motor 8 14 8 3 2 GYB Motor With a Brake 8 14 8 3 3 GYH Motor 8 15 8 3 4 GYH Motor With a Brake 8 15 8 3 5 GYG Motor 8 16 8 3 6 G...

Page 394: ...CHAPTER 8 SPECIFICATIONS 8 2 Specifications of Servomotor 8 8 1 Specifications of Servomotor 8 1 1 GYB Motor 200 V series Standard specifications Brake specification motor equipped with a brake...

Page 395: ...D5 2 0 2 kW GYB401D5 2 0 4 kW GYB751D5 2 0 75 kW These characteristics indicate typical values of each servomotor combined with the corresponding servo amplifier RYH series The rated torque indicates...

Page 396: ...CHAPTER 8 SPECIFICATIONS 8 4 Specifications of Servomotor 8 8 1 2 GYH Motor Standard specifications Brake specification motor equipped with a brake...

Page 397: ...02C6 T 2 3 0kW GYH402C6 T 2 4 0kW GYH552C6 T 2 5 5kW GYH702C6 T 2 7 0kW These characteristics indicate typical values of each servomotor combined with the corresponding servo amplifier RYH series The...

Page 398: ...CHAPTER 8 SPECIFICATIONS 8 6 Specifications of Servomotor 8 8 1 3 GYG Motor Standard specifications Brake specification motor equipped with a brake...

Page 399: ...01B5 2 0 5 kW GYG851B5 2 0 85 kW GYG132B5 2 1 3 kW These characteristics indicate typical values of each servomotor combined with the corresponding servo amplifier The rated torque indicates the value...

Page 400: ...CHAPTER 8 SPECIFICATIONS 8 8 Specifications of Servomotor 8 8 1 4 GYC Motor Standard specifications Brake specification motor equipped with a brake...

Page 401: ...0 75 kW GYC102D5 2 1 0 kW GYC152D5 2 1 5 kW GYC202D5 2 2 0 kW These characteristics indicate typical values of each servomotor combined with the corresponding servo amplifier The rated torque indicat...

Page 402: ...CHAPTER 8 SPECIFICATIONS 8 10 Specifications of Servomotor 8 8 1 5 GYS Motor 200 V series Standard specifications Brake specification motor equipped with a brake...

Page 403: ...D5 2 1 0 kW GYS152D5 2 1 5 kW GYS202D5 2 2 0 kW GYS302D5 2 3 0 kW These characteristics indicate typical values of each servomotor combined with the corresponding servo amplifier The rated torque indi...

Page 404: ...CHAPTER 8 SPECIFICATIONS 8 12 Specifications of Servo Amplifier 8 8 2 Specifications of Servo Amplifier 8 2 1 Common Specifications...

Page 405: ...CHAPTER 8 SPECIFICATIONS Specifications of Servo Amplifier 8 13 8 8 2 2 Interface Specifications...

Page 406: ...000 0 75 GYB751D5 B2 157 117 40 8 70 53 80 90 7 19 3 0 See page 8 20 for the shaft extension specification of the motor with a key 8 3 2 GYB Motor With a Brake Flange dimensions Rated speed r min Rate...

Page 407: ...35 74 60 10 8 5 M12 depth 24 26 2 2000 7 0 GYH702C6 TC2 B 409 4 296 4 113 206 75 42 108 90 12 8 5 M16 depth 32 30 0 8 3 4 GYH Motor With a Brake Flangedimensions Rated speed r min Rated output kW Mode...

Page 408: ...2B5 B2 228 170 58 97 5 22 40 9 8 See page 8 20 for the shaft extension specification of the motor with a key 8 3 6 GYG Motor With a Brake Flange dimensions Rated speed r min Rated output kW Model code...

Page 409: ...tion of the motor with a key 8 3 8 GYC Motor With a Brake Flange dimensions Rated speed r min Rated output kW Model codes Fig L LL LR LG LB KL1 LC LA LZ S MASS Kg 0 1 GYC101D5 B2 B C 108 5 83 5 25 6 5...

Page 410: ...otor with a key 8 3 10 GYS Motor With a Brake Flange dimensions Rated speed r min Rated output kW Model codes Fig L LL LR LG LE LB KL1 KL2 LC LA LZ S MASS Kg 0 05 GYS500D5 B2 B C 123 5 98 5 25 5 2 5 3...

Page 411: ...CHAPTER 8 SPECIFICATIONS Dimensions of Servo Amplifier 8 19 8 8 4 Dimensions of Servo Amplifier...

Page 412: ...ATIONS 8 20 Optional Specification of Shaft Extension With a Key Tapped 8 8 5 Optional Specification of Shaft Extension With a Key Tapped 1 The shaft extension of the GYC and GYS motors of 0 1 kW or l...

Page 413: ...Timing 9 3 9 1 3 Control Mode Selection Timing 9 4 9 1 4 Alarm Reset Timing 9 4 9 2 Overload Characteristic 9 5 9 2 1 GYB GYC GYS Motor 9 5 9 2 2 GYH Motor 9 7 9 2 3 GYG Motor 9 9 9 3 Power Supply Cap...

Page 414: ...plifier is finished 2 Completion of initialization is indicated by activation of servo control ready S RDY 3 After 2 is verified the servo on S ON signal is turned on 4 After ready for servo on RDY is...

Page 415: ...inside the servo amplifier is 2 ms Leave the sequence input signal turned on for at 1 ms or more Example Deviation clear signal Deviation clear 50 OFF ON Position deviation amount pulses 2 ms Zero de...

Page 416: ...ection output It takes about 1 5 ms or 80 ms after an alarm reset signal is issued until the alarm is actually removed Alarm Servo alarm detection normally open contact Servo alarm detection normally...

Page 417: ...case of operation at rated rotation speed 3000 r min Target capacity all capacities Other than 0 4 kW 2 In case of operation at maximum rotation speed 6000 r min Target capacity 0 05 kW to 0 75 kW Oth...

Page 418: ...15 r min or more The alarm time will be detected in shorter time 0 25sec 300 if the motor is stopped due to machine entanglement or other reasons resulting in overload 1 10 100 1000 0 50 100 150 200 2...

Page 419: ...00 250 300 OL s OL1 OL2 9 2 2 GYH Motor 1 In case of operation at rated rotation speed 2000 r min Target capacity 1 0 kW to 3 0 kW 2 In case of operation at max rotation speed 2500 r min Target capaci...

Page 420: ...00 150 200 250 300 OL s OL1 OL2 3 In case of operation at rated rotation speed 2000 r min Target capacity 4 0 kW to 7 0 kW 4 In case of operation at max rotation speed 2500 r min Target capacity 4 0 k...

Page 421: ...otation speed 1500 2000 r min 2 In case of operation at max rotation speed 3000 r min 1 10 100 1000 0 50 100 150 200 250 300 OL s OL1 OL2 1 10 100 1000 0 50 100 150 200 250 300 OL s OL1 OL2 OL alarm d...

Page 422: ...0 5 9 3 5 0 19 0 33 RYH402F5 VV2 GY 402D5 2 4 0 7 8 4 7 0 25 0 44 3000 r min RYH502F5 VV2 GY 502D5 2 5 0 9 8 5 9 0 31 0 56 GY 501C5 2 0 5 1 0 0 6 0 044 0 056 GY 751C5 2 0 75 1 5 0 89 0 059 0 083 RYH75...

Page 423: ...owable inrush current of the servo amplifier is specified below The inrush current indicates the maximum peak current Servo amplifier model Inrush current A RYH201F5 VV2 RYH401F5 VV2 RYH751F5 VV2 RYH1...

Page 424: ...lowing conditions Testing conditions 1 Use testing apparatus shown in the figure below to cause the cable to be bent in a traveling distance L of 300 mm 2 Count each reciprocal test cycle Count the be...

Page 425: ...How to Calculate the Servo Amplifier Input Current 10 7 10 2 4 Conditions for Selecting Peripheral Equipment of Servo Amplifier 10 8 10 3 MCCB ELCB Molded Case Circuit Breaker Earth Leakage Breaker 10...

Page 426: ...eactor if one is to be used Power filter Install to suppress harmonics in the power supply circuit and to protect the servo amplifier against surges and noises in the power supply AC reactor Install f...

Page 427: ...se features the cable is used for higher ambient temperatures 50 C etc reduced cable space improved actuation efficiency etc The maximum allowable temperature as an insulated cable is 90 C Example BOA...

Page 428: ...ecommended for parts 1 2 3 and 4 specified on page 10 2 Single phase 200 V Recommended cable size mm2 1 Power supply L1 L2 L3 3 Motor power U V W 4 Earthing E 2 Regenerative resistor RB1 RB2 RB3 Rated...

Page 429: ...Motor power U V W 4 Earthing E 2 Regenerative resistor RB1 RB2 RB3 Rated rotaion speed r min Capacity kW 75 HIV 90 CV 75 HIV 90 CV 0 05 to 1 0 1 25 1 5 2 0 0 75 3 0 2 0 1 25 4 0 2 0 3000 5 0 3 5 3 5 0...

Page 430: ...o Ltd RMCV SB AWG 25 2P AWG 23 2C or AWG 23 3P For 10 m or smaller wiring length RMCV SB AWG 25 2P AWG 17 2C or its equivalent For wiring lengths 10 m and 50 m The relationship between AWG and mm is s...

Page 431: ...7 3 Input current 3 phase 200 V Iin Po Pi Vac 1 35 amp mot 1 27 amp amplifier efficiency 0 95 and mot motor efficiency 0 90 are common among all models Single phase 200 V Rated rotation speed r min Ca...

Page 432: ...13 0 19 5 3 0 19 5 29 3 4 0 26 0 39 0 5 5 35 7 53 5 2000 7 0 45 4 68 1 0 5 3 3 5 0 0 85 5 6 8 4 1500 1 3 170 15 8 5 12 8 15 of 200 V 10 2 4 Conditions for Selecting Peripheral Equipment of Servo Ampl...

Page 433: ...plifier are described here Because the servo amplifier is provided with protective functions against output circuits such as the overcurrent protective devices such as the thermal relay are unnecessar...

Page 434: ...BW32AAG 3P 20 EW32AAG 3P 20 2 0 BW32AAG 3P 30 EW32AAG 3P 30 3 0 BW32AAG 3P 40 EW32AAG 3P 40 4 0 3000 5 0 BW50AAG 3P 50 EW50AAG 3P 50 0 5 0 75 BW32AAG 3P 10 EW32AAG 3P 10 1 0 BW32AAG 3P 15 EW32AAG 3P...

Page 435: ...m or less wiring length If the power supply capacity exceeds 500 kVA connect an AC reactor Models of electromagnetic contactor Single phase 200 V 3 phase 200 V Rated rotation speed r min Capacity kW M...

Page 436: ...protection from open close surge of peripheral equipment To install a surge absorber to peripheral equipment electromagnetic contactor solenoid electromagnetic brake etc of the servo amplifier use the...

Page 437: ...esistor are connected in series and filled in epoxy resin S1 B 0 200 1 2 W 0 1 F S2 A 0 500 1 2 W 0 2 F Protection in AC circuit Protection in DC circuit C R circuit Diode Protection of the DC circuit...

Page 438: ...es are affected install an obstruction wave preventive transformer TRAFY 3 Route cables between the servo amplifier and servomotor in a conductive duct and ground the duct multi point grounding allowe...

Page 439: ...frequency voltage fluctuation caused by the servo amplifier in the commercial power supply Because the filter effect is bi directional the servo amplifier is also protected against high frequency volt...

Page 440: ...ce is 3 or above Ratio of power supply imbalance 100 Insert an AC reactor to balance the input current among phases The AC reactor also provides protection against loss of source voltage or similar ha...

Page 441: ...2 A 0 5 ACR2 1 5 A 2000 0 75 ACR2 2 2 A 1500 0 5 ACR2 1 5 A Rated rotation speed r min Capacity kW AC reactor 0 05 0 1 0 2 ACR2 0 4 A 0 4 ACR2 0 75 A 0 75 ACR2 1 5 A 1 0 1 5 ACR2 2 2 A 2 0 ACR2 3 7 A...

Page 442: ...neral purpose products in January 2004 However JEMA prepares a JEMA technical document in the view point of educating general harmonics suppression measures It is recommended to take harmonics suppres...

Page 443: ...RYH401F5 VV2 WSR 401 17W 68 39 to 90 RYH751F5 VV2 20W 40 13 to 47 RYH152F5 VV2 20W 15 WSR 152 50W 15 8 2 to 27 RYH202F5 VV2 8 2 to 20 RYH302F5 VV2 45W 12 DB11 2 260W 10 8 2 to 13 RYH402F5 VV2 3 9 to 8...

Page 444: ...r wire across RB2 to RB3 when connecting the external regenerative resistor Use the external regenerative resistor in the designated set without fail There is a risk of fire Servomotor Servo amplifier...

Page 445: ...resistor overheat to PA3_01 to 05 allocation to the connected CONT signal Set PA2_65 regenerative resistor selection at 2 external resistor The external regenerative resistor will become excessively...

Page 446: ...or Mark type Mark color RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black 2 3 3 3 White 1 1 1 1 1 2 2 2 2 Yellow Pink Or...

Page 447: ...above is necessary The manufacturer of the connector is subject to change without notice Cable color Terminal layout Length 13 1 26 14 Mark tube Pin no 1 2 3 4 5 6 7 8 9 10 11 12 13 15 14 16 17 18 19...

Page 448: ...lor Mark type Mark color RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black RED Black Orange Gray White Yellow Pink Orange Gray Whi...

Page 449: ...500 0 Servo amplifier connector Main body of plug housing 54180 0619 Plug shell cover 58299 0626 Plug shell body 58300 0626 Plug mold cover A 54181 0615 Plug mold cover B 54182 0605 58303 0000 Cable c...

Page 450: ...servomotor side Connector on servomotor side Connector D MS3108B20 29S Cable clamp MS3057 12A Made by Daiichi Denshi Kogyo Connector on servo amplifier side Main body of plug housing 54180 0619 Plug s...

Page 451: ...is used Cable color Length Model and manufacturer L mm Model WSC M04P05 E WSC M04P10 E WSC M04P20 E 10000 1000 0 20000 2000 0 5000 500 0 Servomotor connector Cap housing 172159 9 Socket 170362 1 Made...

Page 452: ...tice The movable cable is used Cable color Length Model and manufacturer L mm Model WSC M02P05 E WSC M02P10 E WSC M02P20 E 10000 1000 0 20000 2000 0 5000 500 0 Servomotor connector Cap housing 172157...

Page 453: ...rom that of the optional cable The manufacturer of the connector is subject to change without notice Main body of plug housing 54180 0619 Plug shell cover 58299 0626 Plug shell body 58300 0626 Cable c...

Page 454: ...ector is subject to change without notice Recommended connector kit motor side for GYH type motor encoder wiring Applicable range GYH type 1 0 to 7 0 kW Model and manufacturer L shaped clamp MS3108B20...

Page 455: ...0 kW External Dimension Model and manufacturer Recommended RYH type frame 3 UL standard compatible power supply connector amplifier side Applicable range GYH type 3 0 kW 4 0 kW GYG type 1 3 kW 2 0 kW...

Page 456: ...lifier side Provided with amplifier Model WSK R05P F Applicable range GYB model 0 75 kW GYG model 0 5 to 2 0 kW GYC model 0 75 to 2 0 kW GYS model 0 75 to 3 0 kW External Dimension Model and manufactu...

Page 457: ...0 kW GYC model 2 0 kW GYS model 2 0 kW 3 0 kW Model and manufacturer Connector 03JFAT SAYGFS XL Open tool J FAT OT EXL J S T Mfg Co Ltd Motor power connector kit Motor side Model WSK M04P E Applicabl...

Page 458: ...acturer L shaped clamp MS3108B32 17S Cable clamp MS3057 20A Made by Daiichi Denshi Kogyo Motor power connector kit Motor side With brake Model WSK M06P CA Applicable range GYH model 1 0 to 3 0 kW with...

Page 459: ...0 5 to 2 0 kW GYS model 3 0 kW External Dimension Model and manufacturer Motor power connector kit Motor side With brake Model WSK M06P CB Applicable range GYC model 0 5 to 2 0 kW with brake GYS model...

Page 460: ...ttery Battery case Model WSB SC Applicable range All models 17 60 5 36 1 2 1 38 22 20 4 17 5 R 10 Battery Battery case Model and manufacturer Housing IL 2S S3L N Crimp terminal IL C2 1 10000 Japan Avi...

Page 461: ...172 1 1000 100 0 20 0 3 42 5 150 1 Connect the regenerative resistor to the servo amplifier with a 10 m or shorter cable The external regenerative resistor becomes hot Keep flammable matters away from...

Page 462: ...10 m or shorter cable The external regenerative resistor becomes hot Keep flammable matters away from the external regenerative resistor For connection of the external regenerative resistor refer to...

Page 463: ...er with a 10 m or shorter cable The external regenerative resistor becomes hot Keep flammable matters away from the external regenerative resistor For connection of the external regenerative resistor...

Page 464: ...o amplifier with a 10 m or shorter cable The external regenerative resistor becomes hot Keep flammable matters away from the external regenerative resistor For connection of the external regenerative...

Page 465: ...1 2 11 2 Battery Installation and Replacement Procedures 11 3 11 2 1 Battery Installation Procedure Frame 1 11 3 11 2 2 Battery Installation Procedure Frame 2 3 and 4 11 4 11 2 3 Battery Replacement P...

Page 466: ...transporting the batteries together with a control panel or the like instrumented with five or more servo amplifiers into which the batteries are mounted attach the label Fig 1 below and submit the t...

Page 467: ...tery case first Connect the lead wire connector of the battery to CN5 on the front panel of the servo amplifier Fit the four tabs of the battery case into the mounting holes on the servo amplifier fro...

Page 468: ...ting holes on the servo amplifier front face Fit the tabs on A side first and then B side or B side first and then A side to fit the case in readily way Check the condition if the case is fitted secur...

Page 469: ...et PA1_02 INC ABS system at 1 ABS or 2 endless non overflow ABS To make new parameters enabled turn the power off then on again An absolute data lost alarm dL1 is caused when the power is turned on fi...

Page 470: ...t off for a long time the battery life limit may be reached before the battery warning is issued There are the following three ways to check the battery warning 1 OUT signal assignment number 45 2 Mon...

Page 471: ...ut 104 days 365 days x 2 7 Assumption operation on Monday through Friday no operation on Saturday and Sunday Current consumption Current consumption in power on phase 0 0075 mA Current consumption in...

Page 472: ...CHAPTER 11 ABSOLUTE POSITION SYSTEM 11 8 Calculation of Battery Life 11...

Page 473: ...cations 12 6 12 2 1 1 Position data stop position 12 7 12 2 1 2 Speed data motor axis rotation speed 12 7 12 2 1 3 Stand still timer stop time 12 8 12 2 1 4 Acceleration time and deceleration time 12...

Page 474: ...he start positioning START to execute the positioning operation according to the preset data Interface Di Do signal or RS 485 communications Modbus RTU Up to 15 points can be registered as positioning...

Page 475: ...s made to all slaves through designation of station number 0 In the broadcasting method no response message is sent For this reason you can send the start positioning signal in a broadcasting message...

Page 476: ...NT signal Operation mode 1 Control mode selection PA1_01 Internal positioning data selection PA2_40 Sequential start selection PA2_41 AD3 AD2 AD1 AD0 Operation 0 Disable Address error 1 Enable Sequent...

Page 477: ...ection CONT signal 77 Sequential start selection PA2_41 AD3 AD2 AD1 AD0 Operation 0 Disable Address error 1 Enable Sequential start 2 Homing OFF OFF OFF OFF Homing 3 Immediate value data operation Imm...

Page 478: ...000000000 to 2000000000 units 0 Speed rotation speed 0 01 to max rotation speed r min 0 01 Stand still timer 0 00 to 655 35 s or 0 000 to 65 535 s Note 1 0 00 Acceleration time 0 0 to 99999 9 ms Howev...

Page 479: ...PA1_07 Denominator of electronic gear No Name Setting range Default value Change 06 Numerator 0 of electronic gear 1 4194304 16 Always 07 Denominator of electronic gear 1 4194304 1 Always PA2_01 Decim...

Page 480: ...leration time is a time setting before reaching 0 to 2000 r min However if the setting is 0 0 default value as shown in the table below the motor follows the acceleration deceleration time is set by p...

Page 481: ...NC When ABS specification is applied the current position of the motor moves up to the setting of the positioning data When positioning data is set to 0 and the motor is started up by the positioning...

Page 482: ...ntinued to data with a high speed acceleration is started from the specified position of the positioning data Data continuation is executed in the order of positioning data numbers addresses When the...

Page 483: ...to 0 afterward positioning operation is automatically continued up to the positioning data on which cycle end is specified M code By specifying an M code on positioning data it is able to output an ar...

Page 484: ...0 to 99999 9 ms However when 0 0 is set the amplifier follows the acceleration time 1 PA1_37 or 2 PA1_39 Note 1 selected by ACC0 0 0 Deceleration time 0 0 to 99999 9 ms However when 0 0 is set the amp...

Page 485: ...FF OFF 2 Homing Homing 3 Immediate value data operation Immediate value data operation 1 OFF OFF OFF ON Operation with positioning data 1 2 OFF OFF ON OFF Operation with positioning data 2 3 OFF OFF O...

Page 486: ...value change is usable For the function of the stand still timer adjust timing using the host controller For details refer to CHAPTER 13 RS 485 COMMUNICATIONS Stop method The servo motor is decelerate...

Page 487: ...g PA2_75 positioning data write protection Editing can be limited by the external control input signal using the editing permission signal assigned to the CONT signal After positioning data are set if...

Page 488: ...CHAPTER 12 POSITIONING DATA 12 16 Response Time 12...

Page 489: ...13 2 PC Loader Communications 13 39 13 2 1 Station Number 13 39 13 2 2 Communication Specifications 13 39 13 2 3 Transmission Protocol 13 40 13 2 4 Description of Transmission Data 13 41 13 2 5 Status...

Page 490: ...r protocol at factory shipment be sure to change it to 1 2 Station number communication baud rate No Parameter name Setting range Default value Change PA2_72 Station number 1 to 31 1 Power PA2_73 Comm...

Page 491: ...tart Data 8 bits Stop 2 bits 4 Response time and communication time over No Parameter name Setting range Default value Change PA2_94 Response time 0 00 to 1 00 s 0 00 Always PA2_95 Communication time...

Page 492: ...arity Even Odd None Stop bit 1 or 2 bits Set by parameter PA2_93 Communications protocol Compliant with Modbus RTU protocol Communications mode RTU mode The ASCII mode is not supported Station number...

Page 493: ...message is issued 1 31 Query for each station number Self station numbers 1 31 are responded in the response messages from the amplifiers FC function code 1 byte Master Specify an FC according to the...

Page 494: ...ious data 1 Query from the master Station No 1 byte FC 1 byte 03h H Address 2 bytes L Specify the data address For the addresses refer to the table 13 1 H Information No of registers 2 bytes L Specify...

Page 495: ...4 bytes A0 000186A0h 100000 units Data 1 will be FFFE7960h with 100000 units C9 CRC check 16 bits 2 bytes EB FC 10h Write of various data 1 Query from the master Station No 1 byte FC 1 byte 10h H Addr...

Page 496: ...message example to enter 200000 to a preset position Query example Station No 1 byte 01 When the amplifier station no is 1 FC 1 byte 10 41 Address 2 bytes 12 Specify 4112h as the address of PA2_19 00...

Page 497: ...y 8 pcs Allocated from LSB in order L CRC check 16 bits 2 bytes H 3 Message examples Shows a message example to read out ten pieces of coil data from OUT6 signal Query example Station No 1 byte 01 Whe...

Page 498: ...rmation Coil data 2 bytes L Specify 000h for OFF and FF00h for ON L CRC check 16 bits 2 bytes H 2 Response message form the amplifier Station No 1 byte FC 1 byte 05h H Address 2 bytes L Specified addr...

Page 499: ...coil data 2 bytes L Specify the number of coils n Up to 16 pcs No of data bytes 1 byte The value N obtained from n 8 and by rounding up decimal Data 1 1 byte 8 bits Information Data N 1 byte 8 bits n...

Page 500: ...003h as the number of coils No of data bytes 1 byte 01 The value obtained from 3 pcs 8 and by rounding up decimal Information Data 1 1 byte 06 See below 03 CRC check 16 bits 2 bytes 74 Data are alloca...

Page 501: ...H Write in start address 2 byte L Specify the data address Addresses from 6000H to 6007H can be set H No of registers 2 byte L Specify the number of sets of data n x 2 Up to setting range 1 to 8 for n...

Page 502: ...A3_43 00040500 PA3_44 Set 00000000 default Query example Station No 1 byte 01 When the amplifier station no is 1 FC 1 byte 17 60 Read out start address 2 bytes 08 Specify the read out first address 00...

Page 503: ...00 Information Data 3 4byte 50 19 CRC check 16 bits 2 bytes 5F FC 08h Echo back maintenance 1 Query from the master Station No 1 byte FC 1 byte 08h H Sub code 2 bytes L Specify 0000h as the sub code...

Page 504: ...s Command speed 1001 1h 1 r min Yes Command torque 1002 1h 1 Yes Peak current 1003 1h 1 Yes Motor current 1004 1h 1 Yes Effective torque 1005 1h 1 No Feedback position 1006 1h 1 unit Yes Command posit...

Page 505: ...quence mode 2101 Refer to 5 1 Alarm at present 2200 Sequence monitor Alarm history 1 20 2201 2214 Refer to 5 2 Anti resonance frequency 3002 1h 0 1 Hz No 0 0 1 0 300 0 0 0 The vibration suppressing co...

Page 506: ...Rotation speed 52E3 1h 0 01 r min No 0 01 Max rotation speed 0 01 Acceleration time 52E4 Positioning data divided Data 15 Deceleration time 52E5 1h 0 1 ms No 0 0 99999 9 0 0 Positioning data Batch Pos...

Page 507: ...mand speed 02 Command torque 03 Peak current 04 Motor current 05 Effective torque 06 Feedback position 07 Command position 08 Position deviation 09 Command pulse frequency 10 Feedback cumulative pulse...

Page 508: ...Hardware CONT signal 41 Hardware OUT signal 42 Control mode 43 Sequence mode 50 Alarm at present Sequence monitor 51 70 Alarm history 1 20 82 Anti resonance frequency Various commands 83 Workpiece ine...

Page 509: ...3 CONT21 signal 0214 CONT22 signal 0215 CONT23 signal 0216 Communication CONT signal CONT24 signal 0217 OUT6 signal 0305 OUT7 signal 0306 OUT8 signal 0307 OUT9 signal 0308 OUT10 signal 0309 OUT11 sign...

Page 510: ...g bit 1 and off with bit 0 a Communication CONT signal CONT9 24 00h 00h CONT24 CONT23CONT22CONT21CONT20CONT19CONT18 CONT17 Data 4bytes CONT16 CONT15CONT14CONT13CONT12CONT11CONT10 CONT9 b Communication...

Page 511: ...e mode alarm at present and alarm history is the code data of 1 byte 00h 00h 00h DATA 4bytes Code The content of the code varies depending on the data For the detail refer to the corresponding tables...

Page 512: ...rflow oF 06h Encoder Trouble 1 Et1 26h Amplifier Overheat AH 07h Encoder Trouble 2 Et2 27h Encoder Overheat EH 08h Circuit Trouble ct 28h Absolute Data Lost 1 dL1 09h Memory Error dE 29h Absolute Data...

Page 513: ...uration Format setting range default value Positioning status 1 byte Refer to Table 13 6 M code 1 byte 0 FFh FFh H Stop timer 2 bytes L 1h 0 01 ms 0 00 655 35 0 00 HH HL LH Stop position 4 bytes LL 1h...

Page 514: ...e 00h 00h Stop timer H DATA 4bytes Stop timer L 5 Exceptional responses The amplifier returns an exceptional response if it has not succeed the process specified by a query The message frame is as fol...

Page 515: ...ecified with FC 03h or 10h The read data address specified with FC 03h is other than 6000h to 600Fh The write data address specified with FC 10h is other than 6000h to 6007h 03h Incorrect data An abno...

Page 516: ...al 2 CRC 16 calculation algorithm The algorism for calculating CRC 16 on the data N bytes from the station number field to the information field is as follows CRC Calculated value of CRC 16 POLY Gener...

Page 517: ...CRC by 1 bit to the right 0 1 0 0 0 0 0 0 0 0 1 1 1 1 1 0 1 16 CRC No 15 XOR No 2 1 1 1 0 0 0 0 0 0 0 1 1 1 1 1 1 17 Shift CRC by 1 bit to the right 0 1 1 1 0 0 0 0 0 0 0 1 1 1 1 1 1 18 CRC No 17 XOR...

Page 518: ...XOR No 2 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 1 45 Shift CRC by 1 bit to the right 0 1 0 1 0 0 1 0 1 0 0 0 0 0 0 0 1 46 CRC No 45 XOR No 2 1 1 1 1 0 0 1 0 1 0 0 0 0 0 0 1 47 Shift CRC by 1 bit to the right...

Page 519: ...4 5 6 Broadcasting method A transmission message is sent to slaves simultaneously in this method No response message is sent back Host controller master 1 Transmission message 2 Response message 3 Tra...

Page 520: ...isplay host controller MONITOUCH MJ1 MJ2 Smart CN3A Signal name Pin NO Pin NO Signal name RD SD 2 8 P5 RD SD 1 7 M5 0 V SG 5 6 TXD 5 RXD 4 RXD 3 TXD 2 M5 0 V FG Shell 1 P5 Connect between Smart and Sm...

Page 521: ...master until the amplifier starts sending a response message When communication timeout is monitored by the master time around T1 100 ms is recommended 2 Sending receiving switching time T2 This is t...

Page 522: ...onse time becomes time for 3 characters time for executing processing T0 or longer Although T0 varies depending on communications baud rate FC and so on the shortest time is 2 5 ms for 38 400 bps If a...

Page 523: ...tected if any time other than 0 00 s is set on PA2_95 communication time over If an amplifier has been in the state of waiting for receiving a message over the time specified by PA2_95 a communication...

Page 524: ...5 ms 5 ms 5 ms 5 ms 5 ms 5 ms 5 ms 5 ms Query Response START INP Speed OFF ON Immediate value data setting 1 Immediate value data setting 2 Immediate value data operation 1 Immediate value data operat...

Page 525: ...is turned off immediate value data operation 1 is in progress 5 is repeated until INP is turned on Query 01 03 0100 0002 C5F7 8 bytes Response 01 03 04 0000 0000 FA33 9 bytes If 1 INP is turned on Bec...

Page 526: ...state The example assumes a communications baud rate of 38400 bps and 11 bit characters 5 ms 5 ms 5 ms 3 7 ms 2 3 ms 2 3 ms 3 7 ms 3 7 ms 2 3 ms 5 ms 5 ms 5 ms Cycle Amplifier Master Communication CON...

Page 527: ...to n communication 1 n 31 The servo amplifier functions as a slave and responds to master commands No communication is made between slaves Master General purpose PC General purpose communication Slav...

Page 528: ...t to amplifier 5A No of pieces of data 00 FF 7A 00 Fixed Station number of target amplifier 11 00 FF FF FF FF As per command 00 00 01 No of pieces of data of data section 00 Calculated BCC Memory type...

Page 529: ...amplifier 1 to 31 Enter the value specified in the transmission format table Enter the number of bytes of data section Max 108 bytes Check sum 0x00 sum of number of bytes from data number count to dat...

Page 530: ...h 51h 13 08 21h 00h 01h Quantity 1 to 15 No 1 to 99 09 10 PA2 parameter read PA2 parameter write 22h 00h 01h Quantity 1 to 15 No 1 to 99 14 Alarm reset 17h Alarm history Initialization 23h 01h 01h Dat...

Page 531: ...l or character level detected by amplifier If a transmission error at the physical or character level such as a parity error is caused during reception of a transmission message sent from the host the...

Page 532: ...pplication software Debug the protocol according to the error data The data error is caused if there is an error in the transmission message data header BCC setting range of parameter data etc Correct...

Page 533: ...he input of the servo amplifier Connect between a servo amplifier slave and another servo amplifier slave with a straight cable The connector is RJ 45 8 pins No termination is necessary Up to 31 servo...

Page 534: ...COMOUT 14 4 CONT3 1 2 3 M5 4 M5 3 MON2 2 MON1 1 CN4 BAT M5 1 BAT 2 CN5 1 4 22 VREF 13 M5 Connect the external braking resistor across RB1 and RB2 Remove the jumper wire from RB2 and RB3 RB2 RB1 P N TB...

Page 535: ...h 06h 07h 08h 09h 10h 11h 12h 13h Monitor name No designation Feedback speed Command speed Command torque Peak torque Motor current Effective torque Feedback position Command position Position deviati...

Page 536: ...300 times 15 DC link voltage max 16 DC link voltage min 550 V 3FFh 550 V 17 VREF input voltage 10 6765 V 7080h 12 V 18 TREF input voltage 10 6765 V 1FFFh 19 OL thermal value 20 Regenerative resistor...

Page 537: ...e Address L Address M Address H 02h 01h Number of loaded bytes Dummy 00h 00h 00h 05h See the table below STR1 STR2 Control mode Sequence mode Sub mode 00h See the table below Status data Control mode...

Page 538: ...Motor voltage V Code Motor type Amplifier related data Motor related data 750 850 1000 1300 1500 Motor amplifier capacity W GYG 00h 500 07h 08h 09h 0Ah 0Bh 1500 2000 3000 4000 5000 2000 2900 06h 1000...

Page 539: ...Trouble Memory Error Breaking Transistor Overheat Initial Error CONT Control signal Error Fuse broken Deviation Overflow Amplifier Overheat 01h 02h 03h 04h 05h 06h 0Ah 0Bh 0Ch 0Dh 0Eh 0Fh 10h 21h Name...

Page 540: ...y type Address L Address M Address H Number of loaded bytes L Number of loaded bytes H Status data Dummy 00h 00h Cumulative excitation time of control circuit L H Motor running time Feedback speed 01h...

Page 541: ...DATA n 50h CMND 7 0 02h 00h 00h 12h 0Ah 00h STR1 STR2 See the figure on the left Input signal 00h See the figure on the left Dummy Output signal Not used Not used Not used Not used Dummy Dummy Dummy...

Page 542: ...igit Decimal point position 0 0 The data is a 10 digit BCD 7 0 See the table on the left 00h Designated No x 6 2 STR1 STR2 Parameter of designated No No 01h to 99h Quantity 01h to 4h Parameter of desi...

Page 543: ...igit 1st digit Decimal point position 0 0 The data is a 10 digit BCD 0 7 0 01h Designated No x 6 00h Designate addresses L and M in a BCD Example 49 49h 50 50h Parameter of designated No Parameter of...

Page 544: ...f written bytes Dummy Sent from host controller Sent from servo amplifier Memory type Address L Address M Address H No of written bytes Dummy Status data 7 0 08h 00h 01h 17h 00h 00h STR1 STR2 7 0 08h...

Page 545: ...Trace 14 19 14 6 2 Historical Trace 14 21 14 6 3 Monitor 14 24 14 6 4 Parameter Editing 14 25 14 6 5 Positioning Data Editing 14 27 14 6 6 Test Running 14 28 14 6 7 Servo Analyze 14 35 14 6 8 Diagnosi...

Page 546: ...P Professional Windows XP Home Edition Pentium 800 MHz or faster 32 bits Windows Vista Pentium 1GHz or faster 32 bits Windows 7 Memory environment 64 MB or more Windows 2000 Professional 128 MB or mor...

Page 547: ...accept the terms in the license agreement then Next 4 Enter user information Enter the user name and the division you belong to Designate the user of the PC Loader After entering and selecting click N...

Page 548: ...s PC Loader 1 ALPHA5 2 ALPHA5 Smart 3 Servo operator Conversion tool 1 Parameter file conversion tool FALDIC ALPHA5 2 Positioning data file conversion tool FALDIC ALPHA5 3 Parameter file conversion to...

Page 549: ...r is launched first the PC Loader in the following list can be used Applicable device Applicable model Name and model of loader SX Programmer Expert D300winVer2 NP4H SEDBV2 SX Programmer Expert D300wi...

Page 550: ...tting method 1 Select Comm Setup from Wizard Menu 2 Select It communicates directly with the amplifier COM in the Connection method item and then click the OK button Notes Set the same value between P...

Page 551: ...ween PA2_73 communications baud rate on the amplifier side and the communications baud rate setting on the servo operator side The initial value is 38400 bps for both No Parameter name Setting range D...

Page 552: ...s 7 1 Select Browse my computer for driver software advanced R 2 Select the USB driver file Click the Browse button 3 Select the folder containing the driver file The USB driver is copied in the folde...

Page 553: ...folder is designated Click Next 5 Install the driver The driver installation is started by clicking Install this driver software anyway 6 The file is copied and the completion screen is displayed Cli...

Page 554: ...ing 14 For Windows Vista 1 Using a USB cable Connect the PC with the servo operator Install the USB driver Select Install by searching the driver software recommended L 2 Select Continue 3 Select Brow...

Page 555: ...Click the Browse button 5 Select the folder containing the driver file The USB driver is copied in the folder where PC Loader is installed Example of ALPHA5 Series PC Loader C Program Files ALPHA5 Se...

Page 556: ...ons Setting 14 7 Install the driver The driver installation is started by clicking Install this driver software anyway 8 The file is copied and the completion screen is displayed Click the Close butto...

Page 557: ...on Advanced and click Next 2 Select the USB driver file Select Search for the best driver in these locations and place a check mark at Include this location in the search Click the Browse button and s...

Page 558: ...ton to open the browse screen The SxUsb sys file is found in the following folder in the default state C Program Files ALPHA5 Series Driver Win2000 6 Select the SxUsb sys file and click the Open butto...

Page 559: ...indows 2000 1 Using a USB cable connect the PC with the servo operator Install the USB driver 2 Select Search for a suitable driver for my device recommended and click Next 3 Designate the location of...

Page 560: ...driver is copied in the folder where the PC Loader is installed Example of ALPHA5 Series Loader C Program Files ALPHA5 Series Driver 5 Select the SxUsb inf file and click OK 6 Click Next to start to...

Page 561: ...Forecast monitor Automatic vibration suppressing monitor or System configuration Edit Parameters Parameters can be edited transferred compared or initialized Edit positioning data Positioning data can...

Page 562: ...og Perform I O check If necessary perform forced OUT signal output and forced pulse output Perform I O monitor in the monitor mode to check 2 Connect with the host controller and perform motion to che...

Page 563: ...rm and press the START STOP button to acquire the waveform Example of real time trace screen You can show the interval between two points overlap waveforms perform FFT analysis copy the screen show pa...

Page 564: ...P button to stop tracing Waveform that can be acquired Up to eight channels of analog or digital signals can be acquired Waveforms that can be acquired are shown below All digital I O signals can be t...

Page 565: ...e observed Historical trace screen You can show the interval between two points overlap waveforms perform FFT analysis re load the waveform copy the screen show parameter data of the acquired waveform...

Page 566: ...er position 5 Press the START STOP button to start to trace If trigger conditions are satisfied the waveform is acquired and the procedure is automatically stopped Waveform that can be acquired Same a...

Page 567: ...nd torque 1 digital waveform in position INP 2 Select Use at edge as a digital trigger signal of the digital waveform in position INP 3 Set the sampling time at 1ms 4 Set the trace count from the trig...

Page 568: ...t saved Data that can be monitored in the monitor mode of the keypad Alarm history monitor The history incl accompanying data of past 20 alarms is displayed Feedback speed at alarm torque command DC l...

Page 569: ...nected servo amplifier or those having been saved in a file 5 Initialization Currently edited parameters or those of the connected servo amplifier are reset to default values This function can be exec...

Page 570: ...uppressing resonance frequency at PA1 Control gain and filter setting and enter the anti resonance frequency and resonance frequency to automatically calculate the workpiece inertia ratio The resonanc...

Page 571: ...mplifier 3 Send all All positioning data are sent to the connected servo amplifier 4 Comparison Currently edited positioning data are compared with those of the connected servo amplifier or those havi...

Page 572: ...he servomotor from the main body of the servo amplifier Use this function if the servomotor does not operate correctly according to host commands if the motor fails to start or to check the direction...

Page 573: ...ange the current position to the one specified in parameter PA2_19 preset position Press the Set button to output the Z phase at the current position and automatically change parameter PA1_12 Z phase...

Page 574: ...rt one of motions a Press the START STOP button during the motion to stop immediately Slow running A motion starts according to parameter settings b The speed is fixed at 10 r min The function is for...

Page 575: ...ng Test running Positioning start The following window appears with launching The positioning data edit screen can be launched at the same time for checking the positioning data Profile operation faul...

Page 576: ...ecuted positioning data address and feedback current position are monitored Pressing this button starts automatic operation with selected positioning data Positioning operation is canceled and stops i...

Page 577: ...this mode turn the power off a b Select the pulse signal to be output at a A B phase Enter the frequency and press the Forced pulse output button to issue pulses Frequency setting range 0 to 1000 kHz...

Page 578: ...circuit do not turn on or off The motor current effective torque OL thermal value and regenerative resistor thermal value do not change The overload warning does not function Under torque control sim...

Page 579: ...at the motor may turn substantially according to some vibration torque settings Enter a suitable allowable stroke setting to set a limit Each setting 1 Mode In case of horizontally driven equipment se...

Page 580: ...e is shown launch Immobility diagnosis to analyze probable causes at real time Starting method Select Diagnosis Diagnosis Menu from the menu or click the icon to start Reference screen Operation metho...

Page 581: ...pports following languages Japanese English Chinese both simplified and traditional and Korean Selecting procedure Select the desired language by selecting Setup Languages in the menu bar Exit the PC...

Page 582: ...servo operator 14 7 2 PC Loader for Servo Operator The series selection screen shown below appears when the PC loader for the ALPHA5 series is started Select the servo operator among selection items...

Page 583: ...vo operator memory can be checked and edited In addition new parameters can be registered to the servo operator memory Edit positioning data Two pieces of positioning data stored in the servo operator...

Page 584: ...conditions after loading the parameter file for FALDIC and W series the files can be converted into and saved as the parameter file for ALPHA5 and ALPHA5 Smart series In addition the standard paramet...

Page 585: ...ay the window below Select the file to be converted and click Open 2 The file path name of the loaded parameter file is displayed In addition the information regarding the file appears in the Detailed...

Page 586: ...lly In this case select the motor model before conversion When the parameter file with which the motor type information can be obtained is loaded The motor model is automatically set and the data cann...

Page 587: ...1CC2 T2 GYG Rated rotation speed 2000r min GYG751CC2 T2 GYG102CC2 T2 GYG152CC2 T2 GYG202CC2 T2 GYG501BC2 T2 GYG Rated rotation speed 1500r min GYG851BC2 T2 GYG132BC2 T2 GYG182BC2 T2 GYG182BC2 T2 Encod...

Page 588: ...is selected at gain system parameter conversion the motor model after conversion can be selected When Yes at gain system parameter conversion and Use the motor different from that before conversion a...

Page 589: ...plete click the conversion execution When an error message appears If the conversion conditions are insufficient an error message appears Error item Selection is not made in motor model before convers...

Page 590: ...not included in conversion work default Characters in blue Converted parameters Characters in red Parameters not included in the range as the result of conversion default Yellow Parameters that need t...

Page 591: ...0 6000 Rated rotation speed 3000 3000 Max torque 300 300 Conversion result None Parameter for none object conversion Initial Value 1 Converted parameter 2 It is a parameter outside the range according...

Page 592: ...CHAPTER 14 PC LOADER 14 48 Parameter Conversion Tool 14 1 2 3 4 6 7 8 9 10 11...

Page 593: ...on Calculation 15 16 15 5 3 Capacity Selection Calculation Example 15 24 15 6 Replacement from FALDIC W 15 30 15 6 1 Overview 15 30 15 6 2 Combination with FALDIC W Motor 15 30 15 6 3 Wiring between M...

Page 594: ...ic gear Current control Torque filter Speed adjuster DC link voltage Feedback speed Feedback position Command torque Motor current Command pulse frequency Command cumulative pulse Filter command speed...

Page 595: ...CHAPTER 15 APPENDIXES Main Circuit Block Diagram 15 3 15 15 2 Main Circuit Block Diagram Applicable model Frame1...

Page 596: ...CHAPTER 15 APPENDIXES 15 4 Main Circuit Block Diagram 15 Applicable model Frame2 Frame3 Frame4 The 1Ph can be applied only to the frame 2a...

Page 597: ...culation 1 PA1_14 Load inertia ratio dv dt Inertia model calculation vibration control PA1_78 Vibration suppressing anti resonance frequency 0 PA1_79 Vibration suppressing workpiece inertia ratio 0 PA...

Page 598: ...minator of electric gear for output pulses 11 Output pulse phase selection at CCW rotation 12 Z phase position offset 13 Tuning mode selection 14 Load inertia ratio 15 Auto tuning gain 1 16 Auto tunin...

Page 599: ...rol speed limit 5 for torque control 46 Manual feed speed 6 for position and speed control speed limit 6 for torque control 47 Manual feed speed 7 for position and speed control speed limit 7 for torq...

Page 600: ...nce frequency 0 80 Vibration suppressing anti resonance frequency 1 81 Vibration suppressing workpiece inertia ratio vibration suppressing resonance frequency 1 82 Vibration suppressing anti resonance...

Page 601: ...ignal edge selection 14 Home position shift unit amount 15 Deceleration operation for creep speed 16 Home position after homing completion 17 Home position detection range 18 Deceleration time at OT d...

Page 602: ...of electronic gear 54 Command pulse ratio 1 55 Command pulse ratio 2 56 Speed limit selection at torque control 57 Torque limit selection 58 Second torque limit 59 Deviation hold selection at torque l...

Page 603: ...ocol selection 98 GY 2 T2 Motor type setting 99 Encoder selection Parameters marked in the table are enabled in the corresponding control mode PA3_ Input terminal function setting parameters Control m...

Page 604: ...ON 1 27 CONT always ON 2 28 CONT always ON 3 29 CONT always ON 4 30 CONT always ON 5 31 Speed command scale 32 Speed command offset 33 Torque command scale 34 Torque command offset 35 Zero clamp level...

Page 605: ...gnal assignment 65 OUT15 signal assignment 66 OUT16 signal assignment 67 OUT17 signal assignment 68 OUT18 signal assignment 69 OUT19 signal assignment 70 OUT20 signal assignment 71 OUT21 signal assign...

Page 606: ...mpensation measures are necessary Timing belt conveyor Has a relatively large degree of freedom when compared with chain Mainly for small loads Because a value is included in the traveling distance of...

Page 607: ...wire material results in a larger moment of inertia a sufficiently large reduction ratio is necessary To achieve a constant surface speed examination must be made including peripheral equipment Chain...

Page 608: ...nt of inertia of mechanical system Load torque torque necessary to move the machine Acceleration Deceleration time Operation profile In general there is no way to measure the inertia of the mechanical...

Page 609: ...late the motor speed according to the configuration of the machine and the line speed 2 Calculate the load inertia according to the configuration of the machine 3 Calculate the load torque according t...

Page 610: ...2 3 2 3 3 3 3 3 3 3 2 3 2 3 2 3 2 3 2 3 2 3 2 3 2 3 3 1 3 1 2 3 2 3 2 3 1 3 1 3 1 3 2 2 3 2 3 2 x 1 1 3 2 3 2 2 2 3 2 3 2 y 1 1 3 2 3 2 2 2 3 2 2 3 2 z 1 1 3 2 1 3 2 3 3 2 1 3 2 3 2 1 3 2 3 3 4 1 3 4...

Page 611: ...t mm GL Reduction ratio no unit W Total mass of moving parts kg D Roll diameter mm GL Reduction ratio no unit J Inertia around the center of gravity of body W Mass of body kg L Distance between body a...

Page 612: ...rack pinion Friction coefficient D Diameter mm W W1 Mass of moving parts kg W2 Mass of counterweight kg GL Reduction ratio no unit Hoisting vertically Descending vertically At a stop vertically Calcu...

Page 613: ...ximate measure Starting and stopping at every 0 5 seconds or more frequently Values in parentheses indicate operation with the GYG motor Load torque TL TR 0 9 0 9 indicates a typical margin of safety...

Page 614: ...f each of the product of the squared output torque multiplied by the output time and divide the sum by the cycle time and obtain the square root of the result 8 Trms TR If the effective torque is equa...

Page 615: ...ry Calculate the average regenerative power P of each cycle of the operation pattern1 to check if P is within the regenerative resistor capacity If it is not an external regenerative resistor is neces...

Page 616: ...profile Capacity selection software 11 Friction factor 0 1 N 12 Screw lead BP 10 mm 13 Screw length L 500 mm 14 Screw dia D 20 mm 15 Transfer weight W 20 kg 16 Deceleration ratio GL 1 1 17 Mechanical...

Page 617: ...onverted to motor axis TL Suppose a transfer mass of 20 kg friction coefficient of 0 1 and machine efficiency of 0 9 0 6 10 4 kg m2 32 4 GL2 J1 L 1000 7 85 103 D1 1000 32 500 1000 20 1000 4 1 1 2 0 5...

Page 618: ...C Acceleration Deceleration torque at an acceleration Deceleration time of 0 05 seconds Mechanical efficiency assuming 100 Acceleration torque Deceleration torque TAC JM JL 2 N 60 TAC TL 0 135 10 4 1...

Page 619: ...ous operation can be made in the designated profile 8 Result of selection Servomotor GYS201D5 HB2 0 2 kW 0 812 0 05 0 032 0 05 0 752 0 05 TAC 2 tAC TL 2 tL TDC 2 tDC tcyc Trms 0 5 0 35 Nm 0 81 Nm 0 75...

Page 620: ...C F V2 1 2 440 10 6 3902 200 2 2 15 8 J Regenerative energy P The capacitor for the servo amplifier of 0 2 kW or less has a capacity of 440 F P W E1 E2 tcyc 5 9 15 8 0 5 19 8 J As P is equal to or le...

Page 621: ...60 3 0 17 92 1800 4 0 39 99 2400 5 5 51 44 GYH 7 0 63 52 4000 0 5 7 96 0 75 11 55 1 0 15 14 1 5 22 33 1360 GYG 2000 r min 2 0 29 51 1800 0 5 11 55 0 85 15 15 1360 GYG 1500 r min 1 3 22 33 1800 0 1 0 0...

Page 622: ...e ALPHA5 Smart amplifier ALPHA5 Smart series FALDIC W series motor type Amplifier type Frame no Encoder cable Motor power cable GYS500DC2 T2 GYS101DC2 T2 GYS201DC2 T2 RYH201F5 VV2 1a GYS401DC2 T2 RYH4...

Page 623: ...e WSC M04P B M1 Provided WSC M06P B Shared with the power supply connector None WSC M04P B M2 Provided WSC M06P B WSK M03P F None WSK M04P CA M3 Provided WSK M06P CA Prepared by the user WSK M03P F Wi...

Page 624: ...ier side and then connect it to the motor output side of the power supply connector for ALPHA5 Smart 2 Power supply cable Cut the power supply cable connector part for FALDIC W and then connect it to...

Page 625: ...side and then connect it to the motor power connector for ALPHA5 Smart 2 Power supply cable Cut the power supply cable connector part for FALDIC W and then connect it to the power supply connector fo...

Page 626: ...6 DC circuit connector Supplied with the amplifier WSK R05P F cable length Cable processing molex Connection with a GYG motor 1 Motor power cable Cut the amplifier side connector part or the crimping...

Page 627: ...f the CN1 terminal between the FALDIC W amplifier and the ALPHA5 Smart amplifier The terminal symbol differs only at the pin no 18 Thus wiring must be changed there If the amplifier is used without ch...

Page 628: ...file conversion tool Parameters to be set When used in combination with a W motor set the Smart parameter PA2_99 encoder selection to 1 17 bits In addition set the motor model with Smart parameter PA2...

Page 629: ...nput A B phase pulse Parameter related to adjustment Because the control block has been improved with ALPHA5 Smart there are cases where uses are required to adjust the control parameters For the adju...

Page 630: ...MON2 Touch panel Motor temperature display in the monitor mode on_24 PC loader Motor temperature display in the digital monitor Z phase with W series motor When using the homing function immediately a...

Page 631: ...45 160 165 40 160 165 0 1 45 160 165 40 160 165 0 2 45 160 165 40 160 165 0 4 45 160 165 40 160 165 3000 r min 0 75 85 160 165 70 160 165 0 5 85 160 165 70 160 165 0 75 85 160 165 70 160 165 1 85 160...

Page 632: ...None A B 24C7 E 0016 24C7 E 0016a 24C7 E 0016b 24C7 E 0016c First version The command pulse connection method detail The dimensions of the frame 2 servo amplifier The company name Capacity expanded u...

Page 633: ...CHAPTER 15 APPENDIXES Product Warranty 15 41 15 15 9 Product Warranty...

Page 634: ...CHAPTER 15 APPENDIXES 15 42 Service Network 15 15 10 Service Network...

Page 635: ......

Page 636: ...oducts for special purposes such as atomic energy control aerospace medical application or traffic control please consult our sales office 3 If you use our product with equipment that is expected to c...

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