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Fuji Electric ALPHA7, User Manual

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CHAPTER 5    SERVO ADJUSTMENT 

5-14   

Fine Tuning 

5 

5.5  Fine Tuning 

5.5.1  What is Fine Tuning? 

If unsatisfied with operation using "easy tuning" or "auto tuning" adjustments, adjustments can be made 

using the "fine tuning" function. 

The status of the motor run with the servo amplifier is observed with PC Loader, and this function is 

used to set optimum control gain and filter setting values based on the operating status. 

* PC Loader is required to use this function. 

 

5.5.2  Adjusted Parameters 

No. 

Name 

PA1_13 

Tuning mode selection 

PA1_14 

Load inertia ratio 

PA1_51 

Moving average S-curve time 

PA1_54 

Position command response time constant 

PA1_55 

Position loop gain 1 

PA1_56 

Speed loop gain 1 

PA1_57 

Speed loop integration time constant 1 

PA1_59 

Torque filter time constant for position and speed control 

PA1_71 to PA1_76  Notch filter settings 

PA1_77 

Automatic vibration suppressing selection 

PA1_78 

Vibration suppressing anti resonance frequency 0 

PA1_79 

Vibration suppressing workpiece inertia ratio 0 

PA1_80 

Vibration suppressing anti resonance frequency 1 

PA1_81 

Vibration suppressing workpiece inertia ratio 1 

PA1_86 

Vibration suppressing damping coefficient 

PA1_87 

Model torque filter time constant 

PA1_92 

Speed range for friction compensation 

PA1_95 

Model torque calculation selection, speed observer selection 

PA4_51 

Notch filter 3 frequency 

PA4_52 

Notch filter 3 attenuation 

PA4_53 

Notch filter 3 width 

 

Summary of Contents for ALPHA7

Page 1: ......

Page 2: ...t 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 the servo amplifier or servomo...

Page 3: ...ii...

Page 4: ...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 SYSTEM 11 CHAPTER 12...

Page 5: ...2 Servo Amplifier 0 11 0 3 Model Nomenclature 0 12 0 3 1 Servomotor 0 12 0 3 2 Servo Amplifier 0 13 0 4 Combination between Servomotor and Servo Amplifier 0 14 0 4 1 VV Type 0 14 CHAPTER 1 INSTALLATIO...

Page 6: ...2 3 Servomotor 2 19 2 3 1 Motor Power Connectors 2 19 2 3 2 Brake Connector 2 20 2 4 Encoder 2 21 2 4 1 Encoder Wiring Cable 2 21 2 4 2 Encoder Cable Fabrication Method 2 23 2 4 2 1 Encoder cable fabr...

Page 7: ...equence input signal Reference value 26 2 52 Command pulse ratio 1 Sequence input signal Reference value 27 2 52 Command pulse ratio 2 Sequence input signal Reference value 28 2 52 Proportional contro...

Page 8: ...nal Reference value 2 2 74 Speed limit detection Sequence output signal Reference value 11 2 76 Over write completion Sequence output signal Reference value 13 2 76 Brake timing Sequence output signal...

Page 9: ...uence output signal Reference value 62 2 94 MD3 Sequence output signal Reference value 63 2 94 MD4 Sequence output signal Reference value 64 2 94 MD5 Sequence output signal Reference value 65 2 94 MD6...

Page 10: ...2 Usage Precautions 2 111 2 7 2 1 Terminal Wiring 2 111 2 7 2 2 Safety Stop Function STO Related Precautions 2 111 2 7 2 3 Safety Stop STO Test 2 112 2 7 3 Specifications 2 112 2 7 3 1 Function Block...

Page 11: ...ear 4 14 PA1_08 Number of output pulses per revolution 4 16 PA1_09 Numerator of electric gear for output pulses 4 16 PA1_10 Denominator of electric gear for output pulses 4 16 PA1_11 Output pulse phas...

Page 12: ...sition loop integration time constant PA1_89 Position loop integration limiter 4 39 PA1_90 Load torque observer 4 39 PA1_91 P PI automatic change selection 4 40 PA1_92 and 93 Friction compensation set...

Page 13: ...timer 4 81 PA2_43 Output selection at M code OFF 4 81 4 5 Extended Function Setting Parameters 4 82 4 5 1 List PA2_ 4 82 4 5 2 Description of Each Parameter 4 83 PA2_51 to 53 Electronic gear ratio nu...

Page 14: ...ue command scale and offset settings 4 104 PA3_35 Zero clamp level 4 104 PA3_36 Deviation clear input form 4 104 PA3_39 Speed command fine adjustment gain 4 105 PA3_40 Torque command fine adjustment g...

Page 15: ...tting Parameters 5 3 5 2 3 Operating Procedure 5 4 5 2 4 Disabled Functions and Parameters 5 4 5 3 Easy Tuning 5 5 5 3 1 What is Easy Tuning 5 5 5 3 2 Easy Tuning Operation Profile 5 5 5 3 3 Descripti...

Page 16: ...1 Display 6 2 6 1 1 Mode 6 2 6 1 2 Key 6 3 6 1 3 Flashing Display 6 3 6 1 4 Mode Selection 6 4 6 2 Function List 6 5 6 3 Sequence Mode 6 9 6 4 Monitor Mode 6 15 6 5 Station No Mode 6 26 6 6 Maintenanc...

Page 17: ...Type With a Brake 8 21 8 3 7 GYG Motor 2000 r min 8 22 8 3 8 GYG Motor 2000 r min With a Brake 8 22 8 3 9 GYG Motor 1500 r min 8 23 8 3 10 GYG Motor 1500 r min With a Brake 8 23 8 4 Dimensions of Ser...

Page 18: ...10 18 Sequence I O cable 10 18 Safety device connection cable 10 19 Encoder cable 1 10 20 Encoder cable 2 10 21 Encoder cable 3 10 22 Encoder cable 4 10 23 Encoder cable 5 10 24 Motor power cable 1 1...

Page 19: ...Procedures 11 3 11 2 1 Battery Installation Procedure Amplifier models RYT 7 VV2 11 3 11 3 Starting Up Procedure 11 5 11 4 Battery Warning 11 6 11 5 Calculation of Battery Life 11 7 CHAPTER 12 POSITI...

Page 20: ...s 13 33 13 5 1 Start of communications 13 33 13 5 2 Communications timings 13 33 13 5 3 Error processing 13 35 13 5 4 Communication time over 13 36 13 5 5 Communications example 13 37 1 Immediate valu...

Page 21: ...4 1 1 Application for Other Than Special Customers 15 9 15 4 1 2 Application for Guideline for Suppressing Harmonics by Customers Receiving High Voltage or Special High Voltage 15 9 15 4 2 Complying...

Page 22: ...0 1 CHAPTER 0 INTRODUCTION 0...

Page 23: ...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 24: ...failure Carry out wiring work properly and securely It might cause a failure Never use at places susceptible to water splashes in corrosive atmosphere in flammable gas atmosphere or near flammable ma...

Page 25: ...a load about once 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 carg...

Page 26: ...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 27: ...nnect the servo amplifier Do not connect encoder terminals in inappropriate order Otherwise the encoder and servo amplifier will be damaged In an adverse power supply environment insert a protective d...

Page 28: ...lure 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 incorpo...

Page 29: ...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 30: ...ystem optional devices that are compliant with the low voltage directive and that support compliant with the EMC directive as well as a relevant guideline are prepared Service life of EEPROM This prod...

Page 31: ...e With brake GYS motor Ultra low Inertia 3000r min 3000r min 200V series 7 types 0 05 to 1 5kW IP67 1 24 bit ABS GYS D7 E 2 B 24 bit INC GYS D7 N 2 B GYB motor Medium Inertia 3000r min 6000r min 3 typ...

Page 32: ...tion Speed Torque High speed serial bus VS type SX bus Single phase or 3 phase 200 to 240VAC 0 05 to 0 75kW RYT F7 VS2 GYS GYB GYG 3 phase 200 to 240VAC 1 0 to 1 5kW LS type Single phase or 3 phase 20...

Page 33: ...0 101 200W 201 40 101 400W 401 75 101 750W 751 85 101 850W 851 10 102 1 0kW 102 15 102 1 5kW 152 3 Series 3000r min series D 2000r min series C 1500r min series B 4 Development order 7 7 5 Encoder 24...

Page 34: ...pecification Code 1 Basic type ALPHA series RYT 2 Applicable motor output 50 10 0 50W 500 10 10 1 100W 101 20 10 1 200W 201 40 10 1 400W 401 75 10 1 750W 751 10 10 2 1 0kW 102 15 10 2 1 5kW 152 3 Seri...

Page 35: ...low inertia GYB motor medium inertia GYB motor medium inertia GYB motor medium inertia 3000 r min brake without with 3000 r min brake without with 2000 r min brake without with 1500 r min brake witho...

Page 36: ...1 1 CHAPTER 1 INSTALLATION 1...

Page 37: ...ondensation allowed 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 Observe the following when operating Install...

Page 38: ...in environments susceptible to much water oil or oil mist Do not operate with cables immersed in oil Some coolant types can provide on sealant cable case or similar To install the servomotor horizonta...

Page 39: ...se burnout Test run with commercial power also shall not be performed 1 1 6 Notes on Stress Given to Cable In applications where the servomotor and machine movable part move take measures to avoid str...

Page 40: ...mbling accuracy of the servomotor is shown below Unit mm Servomotor model Runout at shaft end Misalignment flange Perpendicularity of flange face GYS D7 Within 0 02 Within 0 06 Within 0 08 GYG 7 GYB D...

Page 41: ...The brake lining may issue chattering noise during operation of the motor equipped with a brake As it is caused by brake structure and is not abnormal the noise will not effect functional operation Ot...

Page 42: ...ate without power distribution Item Environmental condition Ambient temperature 20 C to 80 C no freezing allowed Ambient humidity 10 to 90 RH no condensation allowed Location Indoors at altitude 1000...

Page 43: ...lace free from rainwater and direct sunshine Do not operate in corrosive atmosphere including hydrogen sulfides sulfurous acid chlorine ammonia sulfur chlorine based gases acids alkalis or salts or ne...

Page 44: ...if the servo amplifier is installed inside the control panel Natural convection air tight structure totally enclosed type Air purge Forced ventilation Heat exchanger Servo amplifier Servo amplifier S...

Page 45: ...r 1 4 To suppress rises in servo amplifier temperature secure the interval shown in the following diagram between servo amplifiers and from peripheral equipment 50 mm or more 40 mm or more 10 mm or mo...

Page 46: ...er 1 11 1 1 2 4 Depth of Control Panel Reserve 80 mm or a wider space in front of the servo amplifier which is connected with sequence I O cables and encoder cable Main power connector Encoder cable S...

Page 47: ...CHAPTER 1 INSTALLATION 1 12 Servo Amplifier 1...

Page 48: ...2 1 CHAPTER 2 WIRING 2...

Page 49: ...on 0 75kW or less Servomotor GYS model 1kW or higher GYG model S E R N o R C US A V O IDS H A R P IM P A C TT OS H A F T T Y PE G Y B 401D 7 N B 2 G Y B 4 0 1 D 7 N B 2 C T Y P E A V O IDS H A R PIM P...

Page 50: ...wiring CN2 Linear encoder wiring for fully closed control CN5 Power supply TB1 Control power supply Motor power supply PN connection Regenerative resistor Analog monitor CN7 Monitors analog waveforms...

Page 51: ...ng CN2 Linear encoder wiring for fully closed control CN5 Power supply TB1 Control power supply Motor power supply PN connection Regenerative resistor Analog monitor CN7 Monitors analog waveforms L1C...

Page 52: ...ring of the servo amplifier or servomotor on or off with a contactor or you may not drive multiple servomotors selectively with a single servo amplifier Do not connect any of the following devices to...

Page 53: ...ins P1 P Motor power cable Electromagnetic contactor CN3A L1C L2C L1 L2 L3 USB Computer commercially available product Loader software can be downloaded free of charge Sequence I O cable Connect push...

Page 54: ...CONT4 22 CONT2 3 CONT5 1 CONT3 L1C L2C L1 L2 L3 CN3A IN P5 M5 SIG SIG P5 1 M5 2 SIG 5 SIG 6 FG BAT BAT 3 BAT BAT 4 CN7 CN3B OUT 8 N CN4 CN6 4 CONT6 23 CONT7 24 CONT8 11 P10 17 VREF 15 TREF 13 M5 OUT3...

Page 55: ...tromagnetic contactor External regenerative resistor Disconnect short circuit wire and connect to pins RB1 RB2 L1C L2C L1 L2 L3 USB Computer commercially available product Loader software can be downl...

Page 56: ...P10 17 VREF 15 TREF 13 M5 OUT3 26 OUT4 7 OUT5 8 MON1 1 MON2 2 M5 3 M5 4 MON1 16 MON2 14 M5 18 CN5 M5 1 P5 2 A 5 A 6 B 7 B 8 Z 9 Z 10 M PG 1 TB1 6 P1 7 P 9 RB1 10 RB2 DC24V TB1 TB2 11 RB3 RS 485 USB Mi...

Page 57: ...n forward reverse pulse A B phase pulse A B phase pulse are the frequency after multiplication by four 36 CA 33 CB 34 CB 31 FFA Pulse output Differential output The number of output pulses per motor r...

Page 58: ...isolated The reference potential is the COMOUT terminal 6 OUT2 26 OUT3 7 OUT4 8 OUT5 19 COMOUT 11 P10 Power supply for speed torque command voltage 10 V 30 mA Max 17 VREF Speed command voltage input 1...

Page 59: ...ng by four It is normally a multiple of four 1 Differential input Do not use the PPI terminal 2 Open collector 24 V DC Use the PPI terminal The wiring with the host should be 3 m or less 3 Open collec...

Page 60: ...r PA1_08 The output pulse frequency is proportionate to axis revolution speed Max output frequency 1 MHz The output pulse phase A or B phase advance to the motor revolution direction can be specified...

Page 61: ...VREF TREF P10 M5 The analog input is the terminal used for speed torque control by the analog command Input voltage 0 to 10 V DC Variable resistor 1 to 5 k 1 2 W Input impedance 20 k Servo amplifier...

Page 62: ...after turning OFF the power Max 10 V 0 5 mA Resolution 14 bit full scale 2 1 3 6 Sequence Input CONT1 CONT2 CONT3 COMIN These are input terminals for sequence control They are compatible with both sin...

Page 63: ...Sink output DC24V COMOU T OUTn Source output 2 1 4 RS 485 Communications CN3 Use the RS 485 communications by connecting other servo amplifiers host controller or PC Use a marketed straight cable RJ4...

Page 64: ...ety Function CN6 This is a safety stop function STO regulated by EN60204 1 Stop Category 0 The motor is slowly stopped free run stop by turning OFF EN1 and EN2 inputs If not using the safety stop func...

Page 65: ...examples Winding systems Take out robots Printing machines Restrictions apply to combinations of connected servo amplifier Please contact Fuji if using with a PN junction If employing a PN junction a...

Page 66: ...YG model servomotor side WSK M06P CA GYS model 1 0 kW or more servomotor with brake side WSK M06P CC GYG model servomotor with brake side Connector terminal symbol Application range GYS GYB GYG 0 75kW...

Page 67: ...ough the periphery of the brake becomes hot it is not a fault Use a relay or solid state relay SSR as the brake cannot be released directly in the sequence output terminal DC 30V 50mA The GYS model 1...

Page 68: ...pecification Lead wire specification Connector connection specification Lead wire specification Connector connection specification Connector connection specification P5 7 H 7 6 6 M5 8 G 8 3 7 BAT 1 T...

Page 69: ...WG 24 2P AWG 22 2C shielded cable or equivalent For wiring length of 10 m or shorter Please contact Fuji if using wiring of length 10 m to 50 m The relationship between AWG and mm is shown below Gauge...

Page 70: ...d SIG BAT and BAT See Connection diagram example in section 2 1 2 Wrong wiring may cause encoder or battery trouble please be careful Perform shield treatment at the encoder according to the procedure...

Page 71: ...Method GYS model 0 75kW or less GYB model lead wire specification GYB model connector connection specification 1 Peel off approximately 32 mm from the end of the shielded wire 2 Peel off approximatel...

Page 72: ...fety 9 Secure the plug housing body to the plug shell cover 10 Secure the cable clamp from the rear with screws 11 Fit the plug shell body while aligning the clips on both sides 12 Turn over the conne...

Page 73: ...NG 2 26 Encoder 2 16 Connect the battery to CN4 17 Store the battery in battery case A 18 Hook battery case B onto the shaft and secure by aligning the clips at 2 locations CN4 Battery case B Battery...

Page 74: ...e Servo amplifier side Connector No Motor side Connector No Lead wire diameter Wiring length 10 m or shorter Wiring length between 10 m and 50 m P5 1 See 2 4 1 Encoder Wiring Cable AWG23 AWG17 1 M5 2...

Page 75: ...CONT CB signal assignment should be specified when using the pulse input terminal CA CB as CONT signal function Sequence input signal No Function No Function No Function 1 Servo on S ON 26 Command pu...

Page 76: ...assignment 76 PA03_55 OUT5 signal assignment 26 PA03_98 OUT FZ signal assignment 0 PA03_48 OUT FZ signal assignment should be specified when using the pulse output terminal FZ as OUT signal function S...

Page 77: ...ng 86 Interference detection 23 Zero deviation 46 Life warning 89 Functional safety SS1 24 Zero speed 60 MD0 90 Functional safety SLS 25 Speed coincidence 61 MD1 91 CONTa Through 26 Torque limit detec...

Page 78: ...ot rotate At this time the servomotor in free run and all rotation commands are ignored If the signal is turned off during rotation controlled stop is caused according to the setting of PA2_61 action...

Page 79: ...trol ON level Deceleration stop Position control ON edge rising edge Behavior immediately before simultaneous ON is retained Torque control ON level Deceleration stop 1 Speed control The motor rotates...

Page 80: ...ignal starts to rotate at the ON level Even if both signals are turned on simultaneously no stoppage is caused To issue a reverse command after turning off a forward command FWD turn on the reverse co...

Page 81: ...g 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 of the in position signal level to turn the st...

Page 82: ...disable is set immediate value data operation with RS 485 Modbus communication will be performed No Name Setting range Default value Change PA2_40 Internal positioning data selection 0 Disable 1 Enabl...

Page 83: ...PA2_18 If parameters are factory shipment settings the following motion is executed 1 After checking that the in position signal is turned on turn on the homing command 2 Once the in position signal i...

Page 84: ...stop is caused according to deceleration time at OT during homing PA2_18 7 A reverse travel begins at the homing speed 8 Upon detection of the home position LS controlled stop is caused Then the proce...

Page 85: ...is detected Deceleration operation for creep speed PA2_15 Controlled stop is caused during homing upon detection of the home position LS or reference signal for shift operation followed by reverse rot...

Page 86: ...forcibly stopped and therefore difference may be caused between the command position and feedback position Take care of the reference value and sensor position so that the OT signal will not be detec...

Page 87: ...detection 39 OT detection or 20 OT detection in the output terminal function setting parameter 3 Software OT If set to PA2_25 Software OT selection 1 enable operation is enabled when the current posit...

Page 88: ...ed stop signal is assigned to a sequence input terminal the ready for servo on RDY signal is turned on with the servo on S ON signal and forced stop signal turned on so that the output shaft of the se...

Page 89: ...inal specify the corresponding value 11 to the input terminal function setting parameter This signal is handled to be always turned off if it is not assigned to the sequence input terminal Relevant de...

Page 90: ...e 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 below can be switched ACC0 Acceler...

Page 91: ...ed off to on As zero speed signal NZERO can be performed during ON it is recommended to conduct position preset while the servomotor is sustained After position preset homing is finished The following...

Page 92: ...the gain of the servo system between the going path and returning path in a reciprocal motion or similar Gain switch Control gain OFF PA1_55 Position loop gain 1 PA1_56 Speed loop gain 1 PA1_57 Speed...

Page 93: ...rol The following settings can be specified as a limitation set on the torque 1 TREF terminal voltage 2 Forward rotation torque limit PA1_27 reverse rotation torque limit PA1_28 3 Second torque limit...

Page 94: ...nal is not assigned to the sequence input terminal the settings of PA1_27 forward rotation torque limit and PA1_28 reverse rotation torque limit are always enabled Relevant description 1 Torque limit...

Page 95: ...arts with the first data supply desired data in an immediate value continuation command Operation continues with the next data following execution of the first data OFF Immediate value continuation Ti...

Page 96: ...ervo 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 afte...

Page 97: ...when the change command is accepted The command position and command speed change at the activating edge of the immediate value change command They can be changed at an arbitrary timing while the in...

Page 98: ...tor selection 0 Sequence input signal Reference value 24 Electronic gear numerator selection 1 Sequence input signal Reference value 25 To change the multiplication of the traveling amount of the mech...

Page 99: ...io 1 2 is tuned on pulse input is enabled To perform pulse operation be sure to assign the command pulse ratio 1 or command ratio 2 to a CONT input signal to turn it on Turn servo on on position contr...

Page 100: ...the corresponding value 29 to the input terminal function setting parameter This signal is handled to be always turned off if it is not assigned to the sequence input terminal Pause Sequence input si...

Page 101: ...p controlled stop will be conducted within the selected deceleration time Parameter setting To assign positioning cancel to a sequence input terminal specify the corresponding value 32 to the input te...

Page 102: ...is completed Teaching is executed generally according to the following procedure 1 Specify the positioning data address to which the current position is to be written in the AD0 to AD3 range 2 Using t...

Page 103: ...r to CHAPTER 4 PARAMETER Parameter setting To assign control mode selection to a sequence input terminal specify the corresponding value 36 to the input terminal function setting parameter This signal...

Page 104: ...urns the servomotor by 16 encoder pulses With an incremental encoder each revolution of the motor shaft corresponds to 16777216 pulses 24 bits Use the electronic gear to change the rotation amount of...

Page 105: ...se ratio 2 28 remains turned on Command pulse ratio 1 27 Command pulse ratio 2 28 Electronic gear ratio numerator selection 0 24 Electronic gear ratio numerator selection 1 25 Command pulse ratio 1 PA...

Page 106: ...tually output while the forward command FWD or reverse command REV signal remains turned on The torque command value depends on the input voltage applied to the TREF terminal Refer to the table below...

Page 107: ...filter A filter can be set to the input voltage applied to the torque command TREF terminal with the setting of PA1_60 torque setting filter 3 Torque command scale offset The scale and offset of the i...

Page 108: ...mber are shown below Parameter setting To assign the override enable to a sequence input terminal specify the corresponding value 43 to the input terminal function setting parameter Similarly specify...

Page 109: ...al is enabled only when parameter PA1_01 control mode selection is set to 6 extension mode or 7 positioning function Function If the interrupt input enable signal assigned to a CONT input signal is tu...

Page 110: ...dback position Therefore the target position will not vary depending on a rotation speed deviation amount during the interrupt input signal ON The interrupt input signal is subject to the variation of...

Page 111: ...be 2 ms or over Parameter setting To assign the deviation clear to a sequence input terminal specify the corresponding value 50 to the input terminal function setting parameter The signal is handled...

Page 112: ...speed is shown in the table below X3 X2 X1 Parameter No Rotation speed for enabling OFF OFF OFF Speed command terminal VREF voltage OFF OFF ON PA1_41 Manual feed speed 1 torque control speed limit 1...

Page 113: ...the load The free run signal is enabled in all control modes position control speed control and torque control modes In case it is used for vertical transportation purpose note that there is a risk of...

Page 114: ...ing parameter Relevant description 1 Parameter write protection Specify 1 write protection to PA2_74 parameter write protection to disable key operation at the keypad and parameter editing at the PC L...

Page 115: ...eight 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 freque...

Page 116: ...with positioning data 1 2 OFF OFF OFF ON OFF Operation with positioning data 2 3 OFF OFF OFF ON ON Operation with positioning data 3 4 OFF OFF ON OFF OFF Operation with positioning data 4 5 OFF OFF ON...

Page 117: ...data 21 22 ON OFF ON ON OFF Operation with positioning data 22 23 ON OFF ON ON ON Operation with positioning data 23 24 ON ON OFF OFF OFF Operation with positioning data 24 25 ON ON OFF OFF ON Operati...

Page 118: ...st cancel Sequence input signal Reference value 78 The command using the broadcasting method via Modbus RTU communications is canceled Function The Modbus RTU protocol can issue queries from the host...

Page 119: ...pared 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 broadc...

Page 120: ...e host sequence unit checks the ready for servo on RDY signal to check if the servomotor is ready to rotate Parameter setting To assign the ready for servo on RDY to a sequence output terminal specify...

Page 121: ...n be set Parameter setting To assign the in position INP to a sequence output terminal specify the corresponding value 2 to the output terminal function setting parameter Signal activation condition 1...

Page 122: ...4 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 deviati...

Page 123: ...torque control However if PA2_56 speed limit selection at torque control is 1 the limit value selected with multi stage speed selection X1 to X3 is valid Parameter setting To assign the speed limit d...

Page 124: ...e timing is issued at the specified OUT terminal This signal is handled to be always turned off if it is not assigned to the sequence output terminal Use a relay or solid state relay SSR as the brake...

Page 125: ...ls 2 2 Upon alarm 3 Upon main power supply OFF Alarm detection OFF ON Base signal ON OFF Ready for servo on RDY ON OFF Brake timing output ON OFF ON OFF ON ON ON OFF OFF OFF Main power suppy Base sign...

Page 126: ...so 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 contact remains turned off for about 4 5 seconds after...

Page 127: ...tion area detection 1 area detection OFF ON The signal is turned on at a position beyond the setting of PA2_32 or PA2_33 The signal is turned off below the setting 3 PA2_31 point detection area detect...

Page 128: ...leration time when the motor stops is based on the parameter and positioning data settings however the motor comes to a rapid deceleration stop if performing pulse train operation After stopping at th...

Page 129: ...gative direction Use sequence output signals to notify the host controller of detection of the OT or OT signal Connect to the host controller in general if the host controller is equipped with OT inpu...

Page 130: ...positioning signal to start the positioning motion 2 Turn all positioning data addresses off and issue the start positioning signal The motion starts with the next positioning data 3 Step 2 is repeat...

Page 131: ...ompletion Sequence output signal Reference value 22 This signal is turned on after the homing motion is finished Function This signal is turned on after the homing motion is normally finished It remai...

Page 132: ...servomotor rotation speed is within the reference value of PA1_30 zero speed range The signal can be used as a motor stopping condition signal Parameter setting To assign the zero speed NZERO to a seq...

Page 133: ...torque limit detection 26 output is enabled in all control modes Parameter setting To assign the torque limit detection to a sequence output terminal specify the corresponding value 26 to the output...

Page 134: ...alue 40 Overload forecast value 60 Overload forecast value 80 Overload forecast value 100 OL2 alarm OL1 alarm Overload forecast time s 0 100 200 300 400 500 600 0 100 200 300 400 s Load factor Overloa...

Page 135: ...ontrol ready to a sequence output terminal specify the corresponding value 28 to the output terminal function setting parameter Edit permission response Sequence output signal Reference value 29 The s...

Page 136: ...orrect outside specification values when performing teaching When the teaching signal is turned off the data error turns off Parameter settings If assigning data errors to the sequence output terminal...

Page 137: ...al Reference value 36 Upon alarm signal to output alarm details into code Function Alarm code 0 to 4 signals assigned to OUT output signals identifies the nature of the alarm Parameter setting To assi...

Page 138: ...rH4 Deviation overflow 1 0 1 05H oF Overcurrent 1 1 1 0 06H oc1 Overcurrent 2 1 1 0 06H oc2 Overspeed 1 1 1 07H oS Overvoltage 1 0 0 0 08H Hu Control power undervoltage 1 0 0 1 09H Luc Main power unde...

Page 139: ...e OT or OT sequence input signal terminal remains turned off Parameter setting To assign the positive or negative OT detection to a sequence output terminal specify the corresponding value 38 or 39 to...

Page 140: ...d off Function Forced stop detection is turned on when the forced stop sequence input signal is turned off For details refer to Forced stop EMG Sequence input signal Reference value 10 signal descript...

Page 141: ...signal Reference value 60 MD1 Sequence output signal Reference value 61 MD2 Sequence output signal Reference value 62 MD3 Sequence output signal Reference value 63 MD4 Sequence output signal Reference...

Page 142: ...he execution of positioning data output at completion Output at startup during startup M codes are output from the start to completion of positioning operation Output turns OFF when the positioning op...

Page 143: ...The default M code is FF FF 20 M code 20 Position preset completion Sequence output signal Reference value 75 The signal is output after position preset position change is executed and completed Func...

Page 144: ...on again after data continuation is made The signal is turned off 50ms after positioning based on the post continuation data For details refer to Immediate value continuation Sequence input signal Ref...

Page 145: ...nal 22 Immediate value continuation completion sequence output signal 80 Immediate value continuation permission sequence output signal 79 Immediate value change completion Sequence output signal Refe...

Page 146: ...of operation is disabled due to alarm detection emergency stop detection or OT detection this signal is immediately turned on If the command positioning completion signal is assigned to an output sig...

Page 147: ...ions position range 1 and 2 Range 1 of position Enter at PA3_92 and _93 Range 2 of position Enter at PA3_94 and _95 1 Setting value of PA3_92 Setting value of PA3_93 2 Setting value of PA3_92 Setting...

Page 148: ...pt input FWD REV In position Interrupt positioning detection Speed PA2_20 interrupt traveling unit amount ON ON ON OFF OFF OFF OFF OFF ON ON ON Time OFF ON The interrupt positioning detection will not...

Page 149: ...on detects interference until the motor has been retracted to a position where no interference will occur making it possible to verify whether the interference detection function has activated Paramet...

Page 150: ...arameter Relevant description Refer to the User s Manual of function safety module WSU ST1 for details on the SS1 function Function safety SLS Sequence output signal Reference value 90 This signal tur...

Page 151: ...status of the CONT signal is output as a through signal to the OUT signal regardless of the function allocation of the corresponding CONT signal CONT signals respectively correspond to CONT a to e Cor...

Page 152: ...supplied To edit parameters or perform similar operation without rotating the motor supply only the control power Prepare separate power supplies for 24 V DC sequence I O CN1 and 24 V DC brake This i...

Page 153: ...x 400mA Forced stop Home position LS S S Deviation zero C0 Y8 Y9 C6 Connect a short circuit connector for safety at CN6 which comes as an accessory with the servo amplifier U V W A U B V C W D E 3 L1...

Page 154: ...24VDC M5 9 FZ 10 6 EN2 7 EDM 8 EDM 5 EN2 4 EN1 3 EN1 CN6 Connect a short circuit connector for safety at CN6 which comes as an accessory with the servo amplifier CN4 USB miniB CN5 M5 1 A 5 A 6 B 7 P5...

Page 155: ...M5 11 P10 OUT5 8 1 L1C 2 L2C P1 P RB1 RB3 Connector kit on the motor side I F power source 24VDC M5 9 FZ 10 6 EN2 7 EDM 8 EDM 5 EN2 4 EN1 3 EN1 CN6 Connect a short circuit connector for safety at CN6...

Page 156: ...8 BAT 9 BAT 1 SIG P5 1 M5 2 SIG 5 SIG 6 BAT 3 BAT 4 OUT3 26 OUT4 7 23 CONT7 4 CONT6 24 CONT8 15 TREF 13 M5 MON1 16 MON2 14 M5 18 25 M5 11 P10 OUT5 8 1 L1C 2 L2C P1 P RB1 RB3 Connector kit on the moto...

Page 157: ...1 HFT Safe failure fraction 90 or higher SFF Probability of failure per hour Less than 1 5 x 10 8 PFH Probability of failure on demand average h 1 Less than 1 5 x 10 4 PFDavg Proof test interval 10 ye...

Page 158: ...ring comes into contact with other wiring 2 7 2 2 Safety Stop Function STO Related Precautions If constructing a product safety system with the safety stop function STO the machine manufacturer is res...

Page 159: ...The safety stop function STO is not designed to completely cut off the power supply and motor electrically Cut off the servo amplifier input power supply completely and begin wiring and maintenance w...

Page 160: ...Preparation for servo amplifier operation will be complete when EN1 and EN2 input turn ON EN1 EN2 input terminals ON Servo ON Servo amplifier status ON OFF Awaiting operation command Running OFF Safe...

Page 161: ...l interpret that logic is in disagreement and an Ecf alarm is output The alarm is cleared when the power is rebooted To correctly diagnose the safety stop function STO by turning the EN1 and EN2 termi...

Page 162: ...he servo amplifier will be in the safety stop STO condition when input is OFF Input voltage 24 VDC 10 Current when ON 10mA or less Turn ON OFF simultaneously with the EN1 terminal 7 EDM This signal ou...

Page 163: ...CHAPTER 2 WIRING 2 116 Safety Function 2...

Page 164: ...3 1 CHAPTER 3 OPERATION 3...

Page 165: ...Alarm reset 11 Edit permission 55 LS type only When the STO function is triggered the motor free runs to a stop If the PA2_61 Action sequence at servo on OFF setting value is other than free run the...

Page 166: ...o PA2_40 internal positioning data selection Positioning operation for up to 31 points can be made according to internal data Enter 6 to PA1_01 control mode selection Operation in FALDIC series compat...

Page 167: ...any time The main power L1 L2 and L3 and control power L1C and L2C are separated internally Be sure to supply power to both of them The following results indicate the correct state 1 The charge LED l...

Page 168: ...his case the display blinks AL 888 If the keypad shows those other than specified above the servo amplifier is not in the factory shipment state 3 3 2 Power On Servo Control Ready S RDY The servo cont...

Page 169: ...during motor rotation the motor decelerates to stop and after it is stopped the motor free run After servo on is turned on and the motor becomes ready to rotate the ready for servo on RDY signal is t...

Page 170: ...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 Fn_01 2 The servomotor rotates while th...

Page 171: ...ignal ON and then turned ON again a main circuit power supply low voltage alarm LVP is detected If the motor power supply is turned ON again after at least 1 second longer than the PA2_68 Main power s...

Page 172: ...ction 1 Forward reverse pulse 2 A B phase pulse 2nd upper digit Input frequency 0 1MHz or less 1 200kHz or less 2 4MHz or less 01 PA1_05 Number of command input pulses per revolution 0 Electronic gear...

Page 173: ...rol 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 from the left indicates position co...

Page 174: ...celeration time follows 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 spe...

Page 175: ...gnal is turned on while the torque 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 Nam...

Page 176: ...que control The operation pattern with 5 specified in PA1_01 speed control torque control is shown below To forcibly push against the mechanical system as shown in the figure above torque limit should...

Page 177: ...in the 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 presen...

Page 178: ...ys effective 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 zeroe...

Page 179: ...e 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 with basic...

Page 180: ...in the operation 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 in...

Page 181: ...the interrupt 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...

Page 182: ...t 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 PA2_58 ON ON Smaller v...

Page 183: ...address AD0 to AD4 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 te...

Page 184: ...tion to a CONT signal and turn the signal off Use the Modbus RTU protocol Immediate value data operation is impossible with the PC Loader protocol For details refer to CHAPTER 13 MODBUS RTU COMMUNICAT...

Page 185: ...however the operation when decelerating will be dynamic brake operation when the Deceleration speed is set 2 Servo on S ON If servo on S ON is turned OFF while the motor is running operation is stopp...

Page 186: ...ration time at OT during homing 2 The in position INP signal shown in the figure indicates the state in the level output mode 3 If the PA1_27 Forward rotation torque limit or PA1_28 Reverse rotation t...

Page 187: ...EMG is a normally closed contact signal if it is allocated to CONT 1 to 8 signals 2 The in position INP signal shown in the figure indicates the state in the level output mode 3 If the PA1_27 Forward...

Page 188: ...the state in the level output mode 6 Positioning cancel If the positioning cancel signal is turned on during motor rotation operation is stopped and controlled stop is caused according to the decelera...

Page 189: ...torque is assumed if parameter setting is selected with the default setting If 1 level signal is selected with PA3_36 Deviation clear input form the motor is stopped at zero speed and the current posi...

Page 190: ...inertia of the load In regular cases free run is not used for vertical traveling machines If the function is used for a vertical traveling machine examine adaptability with the brake carefully In addi...

Page 191: ...follows the settings of parameters PA1_38 and 40 and the state of input signal ACC0 or the setting of deceleration time data 4 During pulse operation the motor is stopped at the limiter detecting posi...

Page 192: ...4 1 CHAPTER 4 PARAMETER 4...

Page 193: ...99 Use to adjust the gain manually 4 3 Automatic operation setting parameters No PA2_01 to 50 Use to enter or change the positioning operation speed and homing function 4 4 Extension function 1 setti...

Page 194: ...f electric gear for output pulses 1 10 Denominator of electric gear for output pulses 16 11 Output pulse phase selection at CCW rotation 0 12 Z phase position offset 0 13 Tuning mode selection 0 14 Lo...

Page 195: ...mit 7 for torque control 100 00 Parameters marked in the table are enabled in the corresponding control mode 4 2 2 Description of Each Parameter PA1_01 Control mode selection No Name Setting range Def...

Page 196: ...ion For the transition of the control mode see the figure below Speed control Position control Torque control Analog speed command operation Manual operation Multi step speed operation If the referenc...

Page 197: ...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 198: ...ontrol Torque control Forward command 2 Reverse command 3 Free run no driving force Servo 1 Forced stop 10 Being stopped position control Position control Pulse positioning Command pulse ratio 1 27 Co...

Page 199: ...efer to Precautions when setting endless ABS for precaution relating to this setting value To establish an absolute position system set this parameter at 1 or 2 In addition install the optional absolu...

Page 200: ...tem position command format is selected is 40 bits 1 to 40 bits 1 electronic gear electronic gear electronic gear PA1_06 numerator of electronic gear PA1_07 denominator of electronic gear 3 Do not app...

Page 201: ...ter each signal so that the following conditions are satisfied the same signal conditions apply to CA CA CB and CB In case of A B phase pulse the rising or falling edge of the A phase signal or B phas...

Page 202: ...rotation amount in the forward direction while the reverse rotation pulse CB CB indicates that in the reverse direction Differential input CA CA CB CB Arrow marks in the figure above indicate the pul...

Page 203: ...put CA CA CB CB Arrow marks in the figure above indicate the pulse count timing t1 0 1 s t2 0 1 s t3 0 5 s t4 0 5 s t5 T 4 T 10 T 1 0 s Forward rotation command Reverse rotation command t1 t2 T t3 t5...

Page 204: ...used by a positive speed command voltage in a forward command FWD signal is the forward direction causing the servomotor to rotate forward Forward Reverse rotation The servomotor rotates forward if it...

Page 205: ...settings of these parameters are enabled The following equation is used to calculate Equation of numerator 0 of electronic gear and denominator of electronic gear Cancel down so that numerator 0 divi...

Page 206: ...imate 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 pulses...

Page 207: ...tput pulse value is deducted 2bit from encoder resolution are followed PA1_09 Numerator of electric gear for output pulses PA1_10 Denominator of electric gear for output pulses No Name Setting range D...

Page 208: ...pulse 0 Power The Z phase output position shifts The Z phase output position shifts in the CCW direction by the specified pulse amount This parameter is irrelevant to the rotation direction selection...

Page 209: ...atively large fluctuation or the load inertia ratio is not estimated correctly inside the amplifier The gain is automatically adjusted to the best one in relation to the setting of PA1_14 load inertia...

Page 210: ...automatically calculated inside the amplifier and the result is reflected on the parameter Entry can be made but the setting is ineffective For detail description of tuning refer to CHAPTER 5 SERVO A...

Page 211: ...the response of the servomotor of auto tuning semi auto tuning and interpolation control modes This parameter adjusts the disturbance response Increasing the parameter value shortens the command foll...

Page 212: ...settling time an overshoot is likely to be caused PA1_51 moving average S curve time and PA1_54 position command response time constant are automatically adjusted in relation to the reference value of...

Page 213: ...speed for position and speed control PA1_26 Max rotation speed for torque control No Name Setting range Default value Change 25 Max rotation speed for position and speed control GYS and GYB 750 W or...

Page 214: ...300 GYB 350 Other than GYB 300 Always 28 Reverse rotation torque limit Enter the limit to be set on the output torque of the servomotor If the input signal CONT signal torque limit 0 1 etc is turned...

Page 215: ...peed coincidence NARV 2 5 3 Signal Descriptions PA1_30 Zero speed range No Name Setting range Default value Change 30 Zero speed range 10 r min to max rotation speed r min 50 Always Enter the activati...

Page 216: ...vo amplifier when performing automatic operation homing or manual position control is also added as a condition The setting unit is the one specified with PA1_31 deviation unit selection PA1_33 to 35...

Page 217: ...and zero deviation The output timing of this signal substantially varies according to the setting of PA1_31 deviation unit selection Check the reference value to use Refer to the following timing cha...

Page 218: ...The acceleration deceleration time setting indicates the time from 0 zero r min to 2000 r min Acceleration time 2 and deceleration time 2 are enabled while the ACC0 selection signal remains turned on...

Page 219: ...CHAPTER 4 PARAMETER 4 28 Basic Parameters 4 Timing chart Time Rotation speed Forward command FWD OFF ON OFF PA1_37 Acceleration time 1 PA1_40 Deceleration time 2 ACC0 OFF ON 2000 r min...

Page 220: ...hen PA2_56 torque control speed limit selection is set to 1 the speed limit values in the following table will be valid The speed setting values speed limit values when performing torque control are a...

Page 221: ...er time 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 integra...

Page 222: ...0000 87 Model torque filter time constant 88 Position loop integration time constant 89 Position loop integration limiter 0 90 Load torque observer 0 91 P PI automatic change selection 0 92 Speed rang...

Page 223: ...e filter time constant in relation to position commands and speed commands Acceleration and deceleration are made so that an approximate S curve is drawn Command pulse smoothing function The parameter...

Page 224: ...eristic may cause vibration or noise When PA4_21 torque control speed limit method is set to 0 PI control the response characteristics with operations by speed limit at torque control are determined b...

Page 225: ...n and speed control This parameter is enabled under speed and position control Add a filter to internal torque commands The response of the servo system is improved and resonance is suppressed In part...

Page 226: ..._67 Noise and vibration during stoppage can be reduced through gain switching Select the gain changing factor with PA1_61 The unit of the reference value of the second gain PA1_64 to _67 is Specify th...

Page 227: ...otch filter 1 is auto 1 Always 71 Notch filter 1 frequency 10 Hz to 4000 Hz in increments of 1 4000 Always 72 Notch filter 1 attenuation 0 dB to 40 dB in increments of 1 0 Always 73 Notch filter 1 wid...

Page 228: ...of the machine into parameters a Resonance frequency PA1_71 Notch filter 1 frequency b Depth PA1_72 Notch filter 1 attenuation c Width PA1_73 Notch filter 1 width Too much attenuation may undermine s...

Page 229: ...ameters to specify the anti resonance frequency to suppress workpiece vibration vibration control Set at 300 0 Hz factory shipment setting to disable vibration suppressing control function Set PA1_77...

Page 230: ...e Setting range Default value Change 88 Position loop integration time constant 1 0 ms to 1000 0 ms Always 89 Position loop integration limiter 0 r min to Max rotation speed r min 0 Always Use to impr...

Page 231: ...lomb friction torque for friction compensation 0 to 50 0 Always Specify in a system with reversing speeds if smooth reversing motions are not obtained due to friction Specify the speed at which static...

Page 232: ...ation 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 2 However the fu...

Page 233: ...gnal for homing 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 ho...

Page 234: ...r min to Max rotation speed r min 500 00 Always 07 Creep speed for homing 0 01 r min to Max rotation speed r min 50 00 Always 08 Starting direction for homing 0 Forward rotation 1 Reserve rotation 2...

Page 235: ...meters 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 specifie...

Page 236: ...e standard signal for determining the home position shift unit amount Shift operation Z phase PA2_11 Z phase Home position LS OT OT Enter the signal triggering deceleration to the homing creep speed F...

Page 237: ...etected 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 Specif...

Page 238: ...Use 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...

Page 239: ...operation No Name Setting range Default value Change 11 Reference signal for shift operation 0 Home position LS 1 Encoder Z phase 2 OT 3 OT 4 Interrupt input 5 Stopper 1 Power Specify the signal serv...

Page 240: ...and the initial encoder Z phase after starting will be the home position shift amount starting point PA2_13 Home position LS signal edge selection No Name Setting range Default value Change 13 Home po...

Page 241: ...detection temporarily to the point ahead of the reference signal for shift operation and move at the creep speed for homing again in the homing direction after reference signal detection to the posit...

Page 242: ...0 Always ON after homing completion 1 to 2000000000 unit amount 0 Always Not a compulsory item Specify the range in which the homing completion signal is turned on If the current position is between...

Page 243: ...of operation at OT during homing stoppage occurs according to parameter PA2_60 third torque limit In this case the homing motion is stopped upon detection of OT PA2_22 Detection time for contact stopp...

Page 244: ...e signal for shift operation adjust the encoder Z phase position with this parameter after motor replacement so that homing can be made to the original position without changing the reference signal f...

Page 245: ...ther than GYB 300 Always Specify the deceleration torque for stopping upon detection of OT or OT during homing motion If 1 stop is selected as parameter PA2_24 selection of operation at OT during homi...

Page 246: ...ult 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 homing 0 Forward rotation 0 Power 09 Reverse traveling unit amo...

Page 247: ...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 248: ...sition LS signal edge selection 0 Rising edge timing 0 Power 14 Home position shift unit amount 1000 unit amount 1000 Always 15 Deceleration operation for creep speed 0 Reverse rotation is disabled 0...

Page 249: ...ange may fail 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...

Page 250: ...mount 0 Always 10 Homing direction after reference signal detection 0 Forward rotation 0 Power 11 Reference signal for shift operation 1 Encoder Z phase 1 Power 12 Reference signal for homing Decelera...

Page 251: ...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 positio...

Page 252: ...e 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 253: ...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 254: ...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 255: ...for homing 0 Forward rotation 0 Power 09 Reverse traveling unit amount for homing 0 unit amount 0 Always 10 Homing direction after reference signal detection 0 Forward rotation 0 Power 11 Reference s...

Page 256: ...g 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 are...

Page 257: ...on 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 Home position LS signal edge selection 0 Rising edge...

Page 258: ...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 are momentarily turn...

Page 259: ...oming 2 Condition judgment start 0 Power 09 Reverse traveling unit amount for homing 0 unit amount 0 Always 10 Homing direction after reference signal detection 0 Forward rotation 0 Power 11 Reference...

Page 260: ...e creep 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 fol...

Page 261: ...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 262: ...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 signal edge se...

Page 263: ...for 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...

Page 264: ...f using machines on which sensors such as limit switches cannot be installed Parameter setting examples PA2_ No Name Setting Default value Change 07 Creep speed for homing 50 00 r min 50 00 Always 08...

Page 265: ...dless of the PA2_11 Reference signal for shift operation setting If OT is detected when homing starts homing will not start regardless of the PA2_24 Selection of operation at OT during homing setting...

Page 266: ...ime 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 signal PA2_11 Be sure to enter the output torque ge...

Page 267: ...If the home position shift amount is zero homing is finished at the contact position If 1 Encoder Z phase is selected for reference signal for shift operation PA2_11 and 4 Stopper is selected for ref...

Page 268: ...OT detection position No Name Setting range Default value Change 25 Software OT selection PA1_01 1 to 6 0 Disable 1 Enable 0 Power Position operation type PA1_01 7 0 Normal 1 Positioning start with z...

Page 269: ...g of PA2_28 must not be smaller than the setting of PA2_29 For detail description of limiter detection refer to CHAPTER 2 WIRING PA2_31 to 34 Point detection area detection settings No Name Setting ra...

Page 270: ...etection area detection is 2 The signal is turned on if the current position is exactly or less than the setting of PA2_32 and PA2_33 It is turned off if the position exceeds the setting 10 0 10 0 190...

Page 271: ...ion No Name Setting range Default value Change 40 Internal positioning data selection 0 Disable 1 Enable 0 Power Select whether the internal positioning data is enabled or disabled For the immediate d...

Page 272: ...R 12 POSITIONING DATA PA2_42 Decimal point position of stand still timer No Name Setting range Default value Change 42 Decimal point position of stand still timer 0 0 01 1 0 001 0 Always Select the le...

Page 273: ...torque limit 350 GYB 300 other than GYB 59 Deviation hold selection at torque limit 0 60 Third torque limit 350 GYB 300 other than GYB 61 Action sequence at servo on OFF forced stop 2021 62 Action se...

Page 274: ...Change 51 Numerator 1 of electronic gear ratio 1 1 to 67108864 1 Always 52 Numerator 1 of electronic gear ratio 2 53 Numerator 1 of electronic gear ratio 3 Specify the electronic gear ratio using the...

Page 275: ...etting is 1 the speed limit value selected with input signal CONT signal multi step speed selection 1 X1 to 3 X3 combination is applied PA2_57 to 60 Torque limit settings No Name Setting range Default...

Page 276: ...Torque limit for controlled stop motion under position or speed control If PA2_57 is 0 If PA2_57 is 1 the torque limit is always the TL value CONT signal State of each limit Enabled torque limit Torq...

Page 277: ...election at torque limit This parameter is enabled under position control If a motion is stopped at a dead stop position deviation is held with this function Position deviation is held so that the pos...

Page 278: ...ward rotation torque limit Reverse rotation torque limit Torque limit TL Time Internal torque limit Time Deviation is held if the torque is limited Speed Position deviation Dead stop timing Position d...

Page 279: ...ure alarm 0 DB 1 Free run Deceleration sequence at main power shutoff 0 DB 1 Free run 2 Rapid deceleration Deceleration sequence at servo on OFF 0 DB 1 Free run 2 Rapid deceleration Not used No possib...

Page 280: ...Always Assign the brake timing function No 14 signal to the output signal The reference value of this parameter indicates the delay taken from shutoff of servo on function No 1 CONT input signal to f...

Page 281: ...whether or not to detect alarms when undervoltage is detected The detected alarms include control power undervoltage and main power undervoltage PA2_68 Main power shutoff detection time No Name Setti...

Page 282: ...f an overload OL alarm Characteristics of the overload warning are specified in CHAPTER 9 CHARACTERISTICS PA2_72 Station number for communications No Name Setting range Default value Change 72 Station...

Page 283: ...ates based on this parameter setting under the following conditions When performing a forced stop if deceleration operation set for deceleration time with PA2_61 When OT detected if deceleration opera...

Page 284: ...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 present 44 Total time main power supply 45 Total time co...

Page 285: ...AM 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 99 101 to 199 PA2_1 to 99 201 to 299...

Page 286: ...en on again Specify the encoder bit according to the type of the servomotor In sequence test mode the servo amplifier keypad flashes once every 2 seconds PA2_90 Specify the parameter according to the...

Page 287: ...the response time of the servo amplifier Enter the response time and communication time over time when necessary For details refer to CHAPTER 13 MODBUS RTU COMMUNICATION PA2_97 Communication protocol...

Page 288: ...of Each Parameter 02 CONT2 signal assignment 03 CONT3 signal assignment 04 CONT4 signal assignment 05 CONT5 signal assignment 06 CONT6 signal assignment 07 CONT7 signal assignment 08 CONT8 signal ass...

Page 289: ...0 34 Torque command offset Shipment setting 35 Zero clamp level 0 36 Deviation clear input form 0 41 Address free assignment 1 for Modbus 00000000 42 Address free assignment 2 for Modbus 00000000 43...

Page 290: ...assignment 0 06 CONT6 signal assignment 0 07 CONT7 signal assignment 0 08 CONT8 signal assignment 0 09 CONT9 signal assignment 0 10 CONT10 signal assignment 0 11 CONT11 signal assignment 0 12 CONT12...

Page 291: ...46 Override 4 10 Forced stop EMG 47 Override 8 11 Alarm reset RST 48 Interrupt input enable 14 ACC0 49 Interrupt input 16 Position preset 50 Deviation clear 17 Gain switch 51 Multi step speed selecti...

Page 292: ...signed are CONT1 to CONT8 It is possible to use pulse input terminals CA CA CB CB as CON signal function by assigning the function to PA3_48 CONT CA signal assignment and PA3_49 CONT CB signal assignm...

Page 293: ...t terminals CONT1 to CONT8 Set if wishing to invert the status ON OFF of signals input to PA3_50 sequence input terminals CONT CA C Digit 4 3 2 1 5 Contact1 signal inversion 0 Do not invert 1 Invert 6...

Page 294: ...r the power is turned on The normally open contact signal is always turned on The normally closed contact signal is always turned off Functions that may not be specified with a normally open signal in...

Page 295: ...5 Zero clamp level 0 r min to 500 r min 0 Always Rotation speeds less than the specified value are clamped fixed at 0 r min This is used in such cases as when wishing to avoid the influence of offsets...

Page 296: ...5 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 adjust...

Page 297: ...on 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 298: ...signal assignment 56 OUT6 signal assignment 57 OUT7 signal assignment 58 OUT8 signal assignment 59 OUT9 signal assignment 60 OUT10 signal assignment 61 OUT11 signal assignment 62 OUT12 signal assignme...

Page 299: ...4 92 Range1 of position Setting1 0 93 Range1 of position Setting2 0 94 Range2 of position Setting1 0 95 Range2 of position Setting2 0 98 OUT FZ signal assignment 0 99 OUT FZ signal inversion 0 Paremet...

Page 300: ...al assignment 0 62 OUT12 signal assignment 0 63 OUT13 signal assignment 0 64 OUT14 signal assignment 0 65 OUT15 signal assignment 0 66 OUT16 signal assignment 0 67 OUT17 signal assignment 0 68 OUT18 s...

Page 301: ...eviation 76 Alarm detection N C 24 Zero speed 79 Immediate value continuation permission 25 Speed coincidence 80 Immediate value continuation completion 26 Torque limit detection 81 Immediate value ch...

Page 302: ...FZ as OUT signal function by assigning the function to PA3_98 OUT FZ signal assignment then the FZ terminal cannot be used as Z phase signal output function in that case Connector kit type WSK D36P 35...

Page 303: ...wishing to invert the status ON OFF of signals output from sequence output terminal OUT1 to OUT5 OUT FZ Parameter PA3_72 OUT signal inversion selects functions for each digit for OUT1 to OUT5 By sett...

Page 304: ...C link voltage 12 OL thermal value 13 Regenerative resistor thermal value 14 Power W 15 Motor temperature 16 Command speed filtered 17 Forced output 2 Always 82 Monitor 2 signal assignment 3 Always 83...

Page 305: ...rvomotor Output voltage corresponding to maximum current 10 Effective torque Effective torque given to servomotor Output voltage corresponding to rated torque 11 DC link voltage DC voltage inside serv...

Page 306: ...ut The resolution 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 ca...

Page 307: ...ount 0 Always 94 Range2 of position Setting1 2000000000 to 2000000000 unit amount 0 Always 95 Range2 of position Setting2 2000000000 to 2000000000 unit amount 0 Always The current servomotor position...

Page 308: ...t 0 03 Interference detection return speed 500 00 04 Interference detection LPF time constant 20 0 05 Interference detection HPF time constant 100 0 06 Enable disable interference detection 0 10 Enabl...

Page 309: ...Record of reference value Position Speed Torque 61 Tuningless function Enable disable 0 62 Tuningless level 4 63 Tuningless load level 3 64 New vibration suppressing damping coefficient 0 65 New vibr...

Page 310: ...d or other axes and retracts the motor automatically in the direction of no interference This function is used if wishing to minimize damage to the machine caused by collisions PA4_01 Interference det...

Page 311: ...ON Speed control Restart the servo amplifier Servo ON signal OFF FWD signal REV signal OFF PA4_10 Enable disable SEMI F47 compatible function No Name Setting range Default value Change 10 Enable disa...

Page 312: ...unction with PA4_11 Function safety amplifier operation selection This parameter selects functions for each digit and by setting 1 for each digit the function is enabled The function is disabled when...

Page 313: ...r will move as follows if the speed limit is exceeded 1 A position deviation will occur if a command exceeding the speed limit value is issued and will continue to build up while the command is applie...

Page 314: ...00 Hz 4000 Always 52 Notch filter 3 attenuation 0 to 40 dB 0 Always 53 Notch filter 3 width 0 to 3 2 Always 54 Notch filter 4 frequency 10 to 4000 Hz 4000 Always 55 Notch filter 4 attenuation 0 to 40...

Page 315: ...rning If the following conditions are not satisfied it may not be possible to perform learning correctly 1 Run the servomotor on its own before installing it on the machine 2 When performing learning...

Page 316: ...the tip of workpieces If vibrations persist despite adjusting vibration suppression PA1_78 to PA1_86 suppression is possible using these parameters By increasing the PA4_64 New vibration suppressing...

Page 317: ...CHAPTER 4 PARAMETER 4 126 Extension Function 2 Setting Parameters 4...

Page 318: ...5 1 CHAPTER 5 SERVO ADJUSTMENT 5...

Page 319: ...and mode selection START Synchronous or interpolation operation of two or more axes Adjust in the interpolation control mode END Operation with tuningless function Satisfactory motion Adjust through...

Page 320: ...lmost the same response based on the machine model or load fluctuations eliminating the need to make manual adjustments 5 2 2 Setting Parameters The tuningless function is disabled by default To enabl...

Page 321: ...response If vibrations or oscillations occur with the default value setting value 4 adjust this setting to a smaller value PA4_63 The tuningless load level parameter selects the size of the load iner...

Page 322: ...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 323: ...ion and stroke checks Easy tuning for automatic tuning Slow travel at 10 r min Automatic tuning SET 1 sec or longer SET 1 sec or longer SET 1 sec or longer Test operation name Select 1 Slow runing and...

Page 324: ...served Power supply to main circuit No alarm Neither OT nor EMG BX signal OFF Auto tuning 1 Parameter write enable 2 Tuningless function disable 3 1 PA1_13 tuning mode selection other than 2 manual tu...

Page 325: ...ne 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 the f...

Page 326: ...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 327: ...time constant 88 Position loop integration time constant Notes on easy tuning With easy tuning automatic operation is performed according to functions of the servo amplifier Sufficient care should be...

Page 328: ...ion deceleration The friction force is not large and does not apply pressure 5 4 2 Parameters Used for Auto Tuning Parameters used for gain adjustment are listed in the table below No Name Approximate...

Page 329: ...at intervals of about 2 points If resonance with the mechanical system or abnormal noises are not caused auto tuning gain 1 can be increased and the settling time can be decreased Machine configuratio...

Page 330: ...TART Is the estimated 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...

Page 331: ...nd response time constant PA1_55 Position loop gain 1 PA1_56 Speed loop gain 1 PA1_57 Speed loop integration time constant 1 PA1_59 Torque filter time constant for position and speed control PA1_71 to...

Page 332: ...ment will not result in any danger Step 1 Characteristic analysis Acquire data required for machine frequency analysis 1 Set the vibration torque required for the servo amplifier to analyze characteri...

Page 333: ...e the greater the margin stability however the response will drop 7 Set the operation profile Forward reverse rotation is repeated based on the set gain 8 Press the adjustment START button to begin op...

Page 334: ...ay the frequency characteristics and control gain filter settings 4 5 Yes Satisfied with operation No END Start the vibration motion 3 Select the adjustment indicator 6 Select the operation profile an...

Page 335: ...parameters after auto tuning and conduct adjustment based on those parameters No Name Approximate reference value Position control Speed control PA1_13 Tuning mode selection 2 Manual tuning PA1_14 Loa...

Page 336: ...ncrease speed loop gain 1 to the maximum as far as vibration or abnormal noises are not caused Adjust the torque filter time constant for position and speed control Increase position loop gain 1 Decre...

Page 337: ...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 338: ...th etc The backlash of the mechanical system is not large and the belt is free from deflection Commands sent from the host are common among axes 5 7 2 Parameters Used for Interpolation Control Mode Pa...

Page 339: ...ical system reset the gain and set that value as the upper limit 5 Select the interpolation control mode with PA1_13 6 Set PA1_51 moving average S curve time at 0 7 Gradually decrease PA1_54 position...

Page 340: ...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 341: ...rming reciprocal operation operation is continued until the return operation is complete If performing one direction operation operation is continued until the current operation is complete If NG disp...

Page 342: ...rm state BX signal turned off Neither OT nor EMG Operation pattern The operation pattern is shown below P in the table indicates the number of the basic setting parameter PA1_ Moving distance Operatio...

Page 343: ...ation 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 cau...

Page 344: ...ar The machine itself vibrates due to the shock of traveling stopping of a part of the machine The vibration frequency is about 1 Hz to 300 Hz Inapplicable mechanical characteristics and conditions Vi...

Page 345: ...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 346: ...ibration suppressing anti resonance frequency parameters PA1_78 _80 _82 and _84 Check the effects Finely adjust the vibration suppressing anti resonance frequency parameters PA1_78 _80 _82 and _84 2 3...

Page 347: ...be observed with the servo analyze function in the following machine configuration Machine with large friction Machine with relatively large mechanical loss such as reduction gear and ball screw Note...

Page 348: ...auge 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 Vibration suppressing anti resonance frequency 1 Hz Ts 2...

Page 349: ...resonance frequency 0 is always enabled To disable the vibration suppressing anti resonance frequency set the vibration suppressing anti resonance frequency at 300 0 Hz Be sure to switch while the mo...

Page 350: ...nator 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 laser displacement gauge or...

Page 351: ...Entire 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 Setti...

Page 352: ...value in increments of 0 1 while checking vibration to adjust to the most effective adjustment value Adjust using the following guideline as a reference The greater the value the more effective the ad...

Page 353: ...CHAPTER 5 SERVO ADJUSTMENT 5 36 Special Adjustment Vibration Suppression 5...

Page 354: ...6 1 CHAPTER 6 KEYPAD 6...

Page 355: ...models of the servo amplifier 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...

Page 356: ...s and meanings are shown in the following table Flashing interval Duration Status Recovery method 1 second cycle Continuous Alarm occurring Restart the servo amplifier or reset the alarm 0 5 second cy...

Page 357: ...r is turned on MODE ESC MODE ESC MODE ESC MODE ESC MODE ESC MODE ESC MODE ESC Monitor mode Maintenance mode Parameter edit mode Positioning data edit mode Test operation mode Mode selection Sub mode s...

Page 358: ...le Sequence mode Sequence mode Sn_01 PSoF Amplifier setting Sn_02 ud 201 Motor setting Sn_03 S 201 c Option information Sn_04 St1 Monitor mode Feedback speed on_01 6000 Command speed on_02 6000 Comman...

Page 359: ...oad inertia ratio on_14 300 0 DC link voltage max on_15 300 DC link voltage min on_16 300 VREF input voltage on_17 10 00 TREF input voltage on_18 10 00 Input signal on_19 L juu Output signal on_20 L u...

Page 360: ...En_02 AL oL1 Warning at present En_03 Er 010 Total time main power supply En_04 10000 Total time control power supply En_05 10000 Motor running time En_06 05 30 Parameter edit mode Parameter page 1 PA...

Page 361: ...G Automatic operation Fn_04 AUto Alarm reset Fn_05 AL rSt Alarm history initialization Fn_06 AL ini Parameter initialization Fn_07 PA ini Positioning data initialization Fn_08 Po ini Auto offset adjus...

Page 362: ...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 second When using as a SHIFT key...

Page 363: ...l signal is being detected P_n0 Zero speed stop Stopped at zero speed due to forced stop signal P_Lu In LV Refer to 7 3 3 Control Power Undervoltage and 7 3 13 Main Power Undervoltage for details PSto...

Page 364: ...s ready to rotate Manual operation Manual feed rotation state In LV Refer to 7 3 3 Control Power Undervoltage and 7 3 13 Main Power Undervoltage for details During STO A safety stop STO is occurring B...

Page 365: ...erature 7 on_07 Feedback position 25 on_25 Overshoot unit amount 8 on_08 Command position 26 on_26 Settling time 9 on_09 Position deviation 27 on_27 Resonance frequency 1 10 on_10 Command pulse freque...

Page 366: ...ndard d 3 Motor setting The type of servomotor connected to the servo amplifier capacity and encode type are displayed S 201 d Sn_03 24bit ABS GYB GYS GYG b s G 201 202 0 2kW 20 101 20kW 20 102 c d 24...

Page 367: ...HAPTER 6 KEYPAD 6 14 Sequence Mode 6 4 4 Option information Displays the option type connected to the servo amplifier SET 1 ESC Sn_04 nonE Indication Option type nonE None St1 WSU ST1 SET 1 sec or ove...

Page 368: ...on_20 Feedback cumulative pulse Command cumulative pulse LS Z pulse Load inertia ratio DC link voltage max DC link voltage min VREF input voltage TREF input voltage Input signal Output signal on_21 o...

Page 369: ...rvo amplifier to the servomotor the torque is displayed in percent to the rated torque The range from 0 to the maximum torque is displayed in increments of 1 In case of a negative average torque a neg...

Page 370: ...que The range from 0 to the maximum torque is displayed in increments of 1 300 on_06 SET 1 ESC 7 Feedback position displayed digits signed 10 digits The rotation amount of the servomotor is displayed...

Page 371: ...IFT H C L SIFT 9 Position deviation displayed digits signed 10 digits The difference between the command position and feedback position is displayed The unit for the deviation amount is based on the d...

Page 372: ...n decreases the cumulative value Even if the load mechanical system rotates the motor the correct value is displayed L7890 C3456 12 H 12 on_11 SHIFT H C L SET 1 ESC SIFT SIFT H C L SIFT Press and hold...

Page 373: ...n a homing counted since the home position LS signal is turned off until the Z phase of the encoder of the servomotor is detected is displayed The indication is updated every time homing is performed...

Page 374: ...gits The DC link voltage max of the servo amplifier at every two seconds is displayed The displaying range is from 0 V to 500 V 300 on_15 SET 1 ESC 16 DC link voltage min displayed digits unsigned thr...

Page 375: ...negative voltage 10 00 on_18 SET 1 sec or over ESC 19 Input signals The ON OFF status of sequence input signals supplied to the servo amplifier is displayed The corresponding LED lights up when the in...

Page 376: ...ermal value displayed digits unsigned three digits The load ratio to the load alarm level is displayed in percent An overload alarm is caused if this value reaches 100 The minimum increment is 1 The d...

Page 377: ...is displayed in increments of 1 C 100 on_24 SET 1 ESC 25 Overshoot unit amount displayed digits signed 10 digits The overshoot unit amount under position control is displayed The unit for the oversho...

Page 378: ...signed four digits The resonance frequency recognized by the servo amplifier is displayed The displaying range is from 100 Hz to 2000 Hz If no resonance is detected 4000 Hz is displayed 1000 on_27 SET...

Page 379: ...olding down the SET SHIFT key for one second or longer while the station No is displayed the station No parameter PA2_72 can be edited Refer to 6 7 Parameter Edit Mode for details on the editing metho...

Page 380: ...r longer while the current alarm is displayed supplementary alarm information can be checked AL 10000 rc_14 rc_01 AL oL1 En_01 SET 1 ESC SET 1 ESC SET 1 ESC The alarm is automatically displayed upon d...

Page 381: ...See item on_01 rc_06 Command speed 6000 See item on_02 rc_07 Command torque 300 See item on_03 rc_08 Motor current 300 See item on_04 rc_09 Effective torque 300 See item on_06 rc_10 DC link voltage 30...

Page 382: ...uit capacitors and cooling fan are displayed 0 indicates no warning and 1 indicates a warning SET 1 ESC En_03 Er 011 SET 1 sec or over SET 1 sec or over SET 1 sec or over SET 1 sec or over Detection h...

Page 383: ...1C and L2C on is displayed The displaying range is from 0 h to 99999 h The display range of supplementary alarm information is from 0 h to 65535 h 10000 En_05 SET 1 ESC 6 Motor running time The time o...

Page 384: ...rameter page 4 There are parameters that are reflected in operation when settings are changed and parameters that are enabled following changes after turning the power off then on again If parameters...

Page 385: ...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 SET 1 ESC SET 1...

Page 386: ...ol 0050 In order to clarify the number of digits 0 is displayed even for high order digits with no value The example on the left illustrates that the value that can be set has 4 digits Parameters with...

Page 387: ...g character high order Identifying character middle order Identifying character low order Editing values The screen with highest order digit appears first on the parameter editing screen and the highe...

Page 388: ...5 second cycles Press the MODE ESC key to return to the parameter No selection screen Values outside the range Edited values are not written if they lie outside the parameter range Example The paramet...

Page 389: ...his is a sequence mode display example Returns to mode selection Selects parameter edit mode Displays the parameter No Selects parameter PA1_7 Shifts to the digit to be edited Increases the value to 1...

Page 390: ...cceleration time Po nn 7 Deceleration time nn is the positioning data No address 1 Positioning status Set data relevant to the positioning data SET 1 ESC SET 1 ESC SET 1 ESC Po_01 Po 01 Po 31 Po 01 1...

Page 391: ...00 C0000 Editing screen Refer to Display and editing in 6 7 Parameter Edit Mode 3 Rotation speed Set the travel speed to the motor target position Use the motor shaft rotation speed for the setting va...

Page 392: ...Edit Mode 5 M code The M code output by executing positioning data can be edited The setting range is from 00 to FF in hexadecimal The minimum increment is 1 The default value is FF SET 1 ESC Po 01 5...

Page 393: ...The setting value can be specified in the 0 0 ms to 99999 9 ms range in 0 1 ms increments The setting value is the time taken for the motor rotation speed to go from 2000 to 0 r min SET 1 sec or over...

Page 394: ...rm position preset after stopping the motor Fn_03 Homing is not possible in other than position control mode Perform homing in position control mode Fn_05 It was not possible to reset by resetting the...

Page 395: ...5 Positioning data write protection is set to 1 Write protect An edit permission signal is assigned to sequence input signal CONTn and the signal is OFF editing prohibited Write parameters and positio...

Page 396: ...indication example The motor rotates while the keys are pressed When performing position control When performing speed control While the key is pressed the motor rotates with FWD forward command and t...

Page 397: ...d feedback current position to the parameter PA2_19 preset position setting value SET 1 ESC SET 1 ESC NG NG NG ESC Fn_02 PrSEt nG1 _G_o_ donE SET 1 sec or over SET 1 sec or over Test operation name Du...

Page 398: ...Fn_03 orG 8 orG nG5 _ orG _donE _StoP 8StoP SET 1 sec or over SET 1 sec or over SET 1 sec or over Test operation name If NG displayed refer to NG indication NG indication example Changes to offline mo...

Page 399: ...P _AUto _Ad 01 _Ad 31 8Ad 01 _Ed 01 SET 1 sec or over SET 1 sec or over SET 1 sec or over SET 1 sec or over Test operation name Changes to offline mode If NG displayed refer to NG indication NG indica...

Page 400: ...The history of detected alarms recorded in the servo amplifier is deleted The alarm detection history alarm history can be monitored with En_02 in the sequence mode SET 1 ESC SET 1 ESC NG NG NG ESC Fn...

Page 401: ...zing turn the power off then on again SET 1 ESC SET 1 ESC NG NG NG ESC Fn_08 Po ini _G_o_ donE nG1 9 Auto offset adjustment The input voltage at the input terminals by analog command voltage VREF TREF...

Page 402: ...d TREF terminals The operation command is not necessary 2 Select at the keypad and press the SET SHIFT key to automatically adjust the offset 3 Turn the operation command S ON signal on and check that...

Page 403: ...the SET SHIFT key to register parameter PA1_15 SET 1 ESC SET 1 ESC NG NG NG ESC SET 1 ESC 6 0 5 3 Fn_11 At tUn nG4 At G 12 At G 12 At G 12 At G 40 SET 1 sec or over SET 1 sec or over Test operation na...

Page 404: ...ath Slow running PA1_20 Once PA1_37 PA1_38 10r min PA1_22 PA1_23 Easy tuning PA1_20 Max 50 times Automati cally calculated Automati cally calculated PA1_21 PA1_22 PA1_23 SET 1 ESC SET 1 ESC NG NG NG E...

Page 405: ...ile operation PA1_20 Endless PA1_37 PA1_38 PA1_21 PA1_22 PA1_23 SET 1 ESC NG NG NG ESC SET 1 1 8 ESC SET 1 ESC ESC Fn_13 Ptn nG5 8StoP _StoP __Ptn 8 Ptn SET 1 sec or over SET 1 sec or over SET 1 sec o...

Page 406: ...gment LED flash every two seconds while in sequence test mode Digits do not flash when performing key operation while values are being edited Sequence test mode cannot be exited even by changing to an...

Page 407: ...he initial positioning data is selected for teaching the command method of positioning status is set to ABS SET 1 ESC NG NG NG ESC SET 1 SET 1 ESC SIFT 6 0 5 3 SIFT SIFT SET 1 ESC on_07 Fn_15 tEACH nG...

Page 408: ...7 1 CHAPTER 7 MAINTENANCE AND INSPECTION 7...

Page 409: ...the servomotor shaft and mechanical system The servomotor is free from direct splashes of water vapor or oil The servomotor itself does not vibrate excessively Servo amplifier Screws of the terminal b...

Page 410: ...d even though the power is supplied or either 1 or 2 is not arranged perform 14 5 8 Diagnosis to be Made if the Servomotor Fails to Start or contact us 7 2 2 State at Alarm If an alarm is alerted disp...

Page 411: ...oS Over Speed 3 AL Luc Circuit Low voltage 4 AL Hu High voltage 5 AL Et1 Encoder trouble1 AL Et2 Encoder trouble2 6 AL dE Data Error 7 AL cE Combination Error 8 AL Ec Encoder Communication error 9 AL...

Page 412: ...r 24 AL oL3 Over Load 3 To reset the alarm perform one of the following methods Turn alarm reset RST sequence input signal on temporarily and then turn it off From the keypad select the test operation...

Page 413: ...AL oL3 Overload 3 AL LuP Main circuit undervoltage AL rH1 Internal regenerative resistor overheat AL rH2 External regenerative resistor overheat AL oF Deviation overflow AL AH Amplifier overheat AL EH...

Page 414: ...PECTION Status Display 7 7 7 Alarm reset at keypad The alarm currently detected at the servo amplifier is reset SET 1 ESC SET 1 ESC ESC Fn_05 AL rSt _G_o_ donE SET 1 sec or more SET 1 sec or more Duri...

Page 415: ...t wiring Correct the wiring of power cables U V and W Check cables visually or through continuity check and replace the defective cable Short circuit or grounding fault in servomotor output wiring Ser...

Page 416: ...ase PA1_52 S curve time constant Increase PA1_56 speed loop gain 1 3 Control Power Undervoltage Display Description of detected alarm AL Luc The voltage of the control power supplied to the servo ampl...

Page 417: ...stor Unconnected external regenerative resistor or wrong wiring Connect the external regenerative resistor Correct the wiring of the external regenerative resistor Broken braking transistor Replace th...

Page 418: ...he servo amplifier The parameter overwriting frequency has exceeded 100 000 cycles Replace the servo amplifier The servo on is turned on without turning the power off and then on after the parameter w...

Page 419: ...vo amplifier and encoder communicate through high speed serial communications The encoder cable has a voltage amplitude of about 5 V Do not route the encoder cable in a strong magnetic or electric fie...

Page 420: ...ke is active The mechanical system is too heavy against the servomotor capacity Examine the servomotor capacity based on the load factor If the rotation speed can be reduced add a reduction gear Apply...

Page 421: ...emedy The servo amplifier is damaged Replace the servo amplifier The ambient temperature exceeds 55 C Keep the ambient temperature 55 C or lower 40 C or below is recommended Move heat generating bodie...

Page 422: ...wiring Reduce the EN1 EN2 terminal input mismatch time to 50 ms or less The function safety module WSU ST1 output an alarm If function safety module LED indicator ERR is ON Refer to the function safet...

Page 423: ...n at undervoltage can be applied to ignore undervoltage detection In this case operation can be continued with the setting of PA2_66 flying start at speed control in the event of momentary power failu...

Page 424: ...rease the servomotor rotation speed Increase the cycle time and decrease the operation frequency Connect an external regenerative resistor Install a counterweight Wrong wiring of external regenerative...

Page 425: ...low value The amplifier is in the P control mode Turn off the P motion signal Low gain Perform gain adjustment Acceleration deceleration of pulse train frequency is too acute Increase the acceleration...

Page 426: ...play Description of detected alarm AL dL1 AL dL2 AL dL3 The absolute data of the encoder is lost dL1 Battery voltage drop broken encoder cable loss of multi rotation data dL2 Multi turn data fault in...

Page 427: ...servomotor revolutions Use the PC Loader or take similar measures to check the current position 22 Initial Error Display Description of detected alarm AL iE The initial position inside the encoder is...

Page 428: ...lifier Cause and remedy Cause Remedy The command pulse frequency is high Reduce the command pulse frequency The pulse reference value such as the input electronic gear setting is high Change the pulse...

Page 429: ...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 430: ...wn 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 for...

Page 431: ...LOADER 3 Brake built in servomotor The brake built in the servomotor is a non exciting type retention only brake Do not use it for braking Failure will be caused if the brake is used for braking resu...

Page 432: ...a suitable recycling company Waste Management and Public Cleansing Law It is recommended that products that are no longer required be recycled in accordance with the previous item Law for the Promoti...

Page 433: ...ct us Operating conditions Ambient temperature 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 h...

Page 434: ...8 1 CHAPTER 8 SPECIFICATIONS 8...

Page 435: ...ecuring motor flange IMB5 L51 IMV1 L52 IMV3 L53 Encoder 24 bit serial encoder absolute incremental Vibration level 1 V5 or below Installation place environment For indoor use free from direct sunlight...

Page 436: ...otation speed V10 or below Over rated rotation speed and up to 5000r min V15 or below Installation place environment For indoor use free from direct sunlight locations without corrosive and flammable...

Page 437: ...7 2 0 2 kW GYS401D7 2 0 4 kW Acceleration deceleration zone Continuous operation zone Torque N m Rotation speed r min Acceleration deceleration zone Continuous operation zone Torque N m Rotation speed...

Page 438: ...s of each servomotor combined with the corresponding servo amplifier The rated torque indicates the value obtained when the servo amplifier is installed to the following aluminum heat sink Model GYS50...

Page 439: ...level 2 V5 or below Installation place environment For indoor use locations not exposed to direct sunlight there should be no corrosive or flammable gases oil mist or dust Altitude Altitude 1000m Amb...

Page 440: ...deceleration zone Continuous operation zone Torque N m Rotation speed r min GYB751D7 2 0 75 kW Acceleration deceleration zone Continuous operation zone Torque N m Rotation speed r min These characteri...

Page 441: ...level 2 V10 or below Installation place environment For indoor use locations not exposed to direct sunlight there should be no corrosive or flammable gases oil mist or dust Altitude Altitude 1000m Amb...

Page 442: ...uous operation zone Torque N m Rotation speed r min Acceleration deceleration zone Continuous operation zone Torque N m Rotation speed r min These characteristics indicate typical values of each servo...

Page 443: ...speed adjuster acceleration deceleration time setting manual feed speed max speed speed command zero clamp etc No of positioning data points 31 points position speed acceleration time deceleration ti...

Page 444: ...mode manual tuning Auto adjustment features Tuningless features easy tuning fine tuning Notch filter 5 step Vibration suppression control 2 step number of steps that can be configured at the same time...

Page 445: ...4VDC 10 Pulse output shared with OUT signal FFA FFA FFB FFB Differential output Max output frequency 500kHz Two signals at 90 degree phase difference Pulse output count setting n pulses rev 16 n 26214...

Page 446: ...input at speed control Input range 10V to 0 to 10V input impedance 20k Resolution 16 bit full scale TREF Torque command input at torque control Input range 10V to 0 to 10V input impedance 20k Resoluti...

Page 447: ...Mass kg L LL 200V series 3000r min 0 05kW GYS500D7 B2 Figure A 89 64 0 45 0 1kW GYS101D7 B2 Figure B 107 82 0 55 Unit mm Encoder wire Power wire Power supply Rated speed Rated output Type Overall leng...

Page 448: ...Unit mm Encoder connector Power supply connector Power supply Rated speed Rated output Type Overall length Dimensions Flange Terminal portion Mass kg L LL KB1 200V series 3000r min 1 0kW GYS102D7 B2...

Page 449: ...3000r min 0 05kW GYS500D7 B2 B Figure A 123 5 98 5 0 62 0 1kW GYS101D7 B2 B Figure B 141 5 116 5 0 72 Unit mm Encoder wire Power wire Power supply Rated speed Rated output Type Overall length Dimensi...

Page 450: ...nit mm Encoder connector Power supply connector Power supply Rated speed Rated output Type Overall length Dimensions Flange Terminal portion Mass kg L LL KB1 200V series 3000r min 1 0kW GYS102D7 B2 B...

Page 451: ...nge Terminal portion Mass kg L LL KB1 200V series 3000r min 0 2kW GYB201D7 2 C 96 2 66 2 35 7 0 9 0 4kW GYB401D7 2 C 114 84 53 5 1 2 Unit mm Encoder connector Power supply connector Power supply Rated...

Page 452: ...lange Terminal portion Mass kg L LL KB1 200V series 3000r min 0 2kW GYB201D7 2 D 136 25 106 25 35 7 1 3 0 4kW GYB401D7 2 D 154 1 124 1 53 5 1 8 Unit mm Encoder connector Brake connector Power supply c...

Page 453: ...gth Dimensions Flange Mass kg L LL 200V series 3000r min 0 2kW GYB201D7 2 96 2 66 2 0 9 0 4kW GYB401D7 2 114 84 1 2 Unit mm Encoder wire Power wire Power supply Rated speed Rated output Type Mass kg 2...

Page 454: ...th Dimensions Flange Mass kg L LL 200V series 3000r min 0 2kW GYB201D7 2 B 136 25 106 25 1 3 0 4kW GYB401D7 2 B 154 1 124 1 1 8 Unit mm Encoder wire Brake wire Power wire Power supply Rated speed Rate...

Page 455: ...tional Specification of Shaft Extension With a Key Tapped for the shaft extension specifications of the motor with a key 8 3 8 GYG Motor 2000 r min With a Brake Unit mm Encoder connector Power supply...

Page 456: ...tional Specification of Shaft Extension With a Key Tapped for the shaft extension specifications of the motor with a key 8 3 10 GYG Motor 1500 r min With a Brake Unit mm Encoder connector Power supply...

Page 457: ...SPECIFICATIONS 8 24 Dimensions of Servo Amplifier 8 8 4 Dimensions of Servo Amplifier Frame 1 Power supply Type Mass kg 200V series RYT500F7 S2 0 9 RYT101F7 S2 RYT201F7 S2 RYT401F7 S2 Mounting hole d...

Page 458: ...mensions of Servo Amplifier 8 25 8 Frame 2 Power supply Type Mass kg 200V series RYT751F7 S2 1 5 RYT102F7 S2 RYT152F7 S2 RYT102F7 S2 RYT102F7 S2 Mounting hole dimension M4 for switching from ALPHA5 M4...

Page 459: ...depth 8 GYS401D7 C2 30 20 14 5 3 5 M5 depth 8 GYS751D7 C2 40 30 16 5 3 5 M5 depth 8 GYS102D7 C2 45 40 32 24 7 4 8 M8 depth 16 GYS152D7 C2 45 40 32 24 7 4 8 M8 depth 16 GYB motor 3000r min GYB201D7 C2...

Page 460: ...9 1 CHAPTER 9 CHARACTERISTICS 9...

Page 461: ...nds or longer if using an option module Refer to the option module manual 2 Completion of initialization is indicated by activation of servo control ready S RDY 3 After 2 is verified the servo on S ON...

Page 462: ...by activation of the servo control ready S RDY signal after power on 3 After 2 is verified the motor power is turned on and the servo on S ON signal is turned on 4 After ready for servo on RDY is turn...

Page 463: ...on 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 2ms Zero d...

Page 464: ...tually removed The time varies according to the setting of PA2_62 Action sequence at alarm If the action at stop is free run reference value 1 3 or 5 1 5 ms If the action at stop is DB dynamic brake r...

Page 465: ...ion speed 9 2 1 GYS Motor 1 In case of operation at rated rotation speed 3000 r min 2 In case of operation at maximum rotation speed 6000 r min OL at 6000r min 1 10 100 1000 0 50 100 150 200 250 300 O...

Page 466: ...load Characteristic 9 7 9 3 In case of operation at max rotation speed 5000 r min Target capacity 1 0 kW OL at 3000r min 1 10 100 1000 0 50 100 150 200 250 300 OL s OL2 OL1 OL alarm detection time s O...

Page 467: ...2000 r min 2 In case of operation at max rotation speed 3000 r min OL at 5000r min 1 10 100 1000 0 50 100 150 200 250 300 OL s OL2 OL1 OL at 2000 1500r min 1 10 100 1000 0 50 100 150 200 250 300 OL s...

Page 468: ...1 3000 r min or less 2 6000 r min or less 1 10 100 1000 0 50 100 150 200 250 300 350 OL s OL2 OL1 1 10 100 1000 0 50 100 150 200 250 300 350 OL s OL2 OL1 OL alarm detection time s OL2 alarm OL1 alarm...

Page 469: ...0D7 2 0 05 0 1 0 074 0 018 0 006 RYT101F7 2 GY 101D7 2 0 1 0 2 0 13 0 021 0 011 RYT201F7 2 GY 201D7 2 0 2 0 4 0 25 0 027 0 022 RYT401F7 2 GY 401D7 2 0 4 0 8 0 48 0 038 0 044 RYT751F7 2 GY 751D7 2 0 75...

Page 470: ...The allowable inrush current of the servo amplifier is specified below Input voltage 200 V AC The inrush current indicates the maximum peak current Servo amplifier model Inrush current A RYT500F7 2 5...

Page 471: ...eater under the following test conditions Testing conditions 1 Use testing apparatus shown in the figure below to cause the cable to be bent in a traveling distance L 300 mm 2 Count each reciprocal te...

Page 472: ...10 1 CHAPTER 10 PERIPHERAL EQUIPMENT 10...

Page 473: ...short circuiting current Sequence I O cable Power filter Install to suppress harmonics at the power supply side and to protect the servo amplifier from surges and noise from the power supply AC react...

Page 474: ...r ambient temperatures 50 C etc reduced cable space improved actuation efficiency etc The maximum allowable temperature as an insulated cable is 90 C Example BOARDLEX made by FURUKAWA ELECTRIC Control...

Page 475: ...Control power L1C L2C 75 HIV 90 CV 75 HIV 90 CV Common 50 to 750 1 25 0 75 1 25 1 25 0 75 3 phase 200V Servo amplifier capacity W Recommended cable size mm2 1 Power supply L1 L2 L3 3 Motor power U V W...

Page 476: ...17 2C shielded cable or equivalent For wiring length 10 m 50 m GYB model connector connection specification GYG model 30V 80 C UL VW 1 AWG 24 2P AWG 22 2C shielded cable or equivalent For wiring leng...

Page 477: ...cy 0 90 are common among all models In case of single phase 200V Servo amplifier capacity Po W Input voltage Vac V Internal power consumption Pi W Input current Iin A Input current for selection of pe...

Page 478: ...ifier Obtain 1 5 times the input current Iin obtained above To select peripheral equipment for two or more servo amplifiers Multiply 1 5 times the sum of the input currents Iin of all servo amplifiers...

Page 479: ...lifier is provided with protective functions against output circuits such as the overcurrent protective devices such as the thermal relay are unnecessary Model of molded case circuit breaker and earth...

Page 480: ...n panel The model is to turn the primary circuit of a single servo amplifier of 500 kVA or less power capacities with the designated cable size and 20 m or less wiring length If the power supply capac...

Page 481: ...tection 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 fo...

Page 482: ...ctive resistor 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...

Page 483: ...rent power supplies 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...

Page 484: ...0 0 75 RNFTD20 20 The purpose of the power filter is suppression of high frequency voltage fluctuation caused by the servo amplifier in the commercial power supply Because the filter effect is bi dire...

Page 485: ...mong phases The AC reactor also provides protection against loss of source voltage or similar hazards 3 Suppression of harmonics The servo amplifier generates harmonics currents because it is a capaci...

Page 486: ...2 0 75A DCR2 0 75 0 75 ACR2 1 5A DCR2 1 5 1 0 ACR2 2 2A DCR2 2 2 1 5 Purpose of AC reactor 1 Improvement of input power factor 2 Protection against imbalance in voltage or similar 3 Harmonics suppress...

Page 487: ...elevating load is large and the operation frequency is high The allowable wattage of the built in regenerative resistor varies according to the ambient temperature Servo amplifier model Capacity kW Bu...

Page 488: ...main power Allocate external regenerative resistor overheat 34 to a CONT input terminal Parameter setting Set PA2_65 regenerative resistor selection at 2 external resistor The external regenerative r...

Page 489: ...12 13 15 14 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 Wire color Color Orange Gray White Yellow Pink Orange Gray White Yellow Pink Orange Gray White Yellow Pink Orange Gray White...

Page 490: ...INDUSTRIAL MINI I O D SHAPE TYPE 1 2013595 1 TE Connectivity Corporation Cable CM 2464 1061 II A SB LF 3P 26AWG Taiyo Cabletec Corporation Wire color Pin No 1 2 3 4 5 6 7 8 Case shield Insulator color...

Page 491: ...old cover B 54182 0605 Nut x 2 M2 6 Cable clamp 58303 0000 TE Connectivity Corporation Clamp screw 59832 0009 Molex Japan LLC Wire color Servo amplifier side 1 2 3 4 5 6 Shell Servomotor side 7 8 1 2...

Page 492: ...0605 Cable clamp 58303 0000 Clamp screw 59832 0009 Molex Japan LLC Wire color Servo amplifier side 1 2 3 4 5 6 Shell Servomotor side 6 3 5 2 4 7 Wire color Red Black Orange Orange white Blue white Bl...

Page 493: ...mold cover B 54182 0605 Cable clamp 58303 0000 Clamp screw 59832 0009 Molex Japan LLC Wire color Servomotor side H G T S C D Servo amplifier side 1 2 3 4 5 6 The wire color will be either 1 or 2 Wire...

Page 494: ...Plug shell body 58300 0626 Plug mold cover A 54181 0615 Plug mold cover B 54182 0605 Cable clamp 58303 0000 Clamp screw 59832 0009 Molex Japan LLC Wire color Servomotor side 6 7 8 9 2 1 Servo amplifi...

Page 495: ...crew 59832 0009 Molex Japan LLC Wire color Pin No 1 2 3 4 5 6 Case The wire color will be either 1 or 2 Wire color 1 Red Black Orange Orange white Blue Blue white Protective tube 2 White Black Yellow...

Page 496: ...re size AWG 19x4 Model manufacturer Servomotor side connector Cap housing 172159 9 Socket 170362 1 TE Connectivity Corporation Wire color Servo amplifier side U V W E Servomotor side 1 2 3 4 Wire colo...

Page 497: ...Contact ST JN5 S C1B 2500 Japan Aviation Electronics Industry Limited Wire color Servo amplifier side U V W E Servomotor side 4 3 2 1 Wire color Red White Black Green yellow Signal name U V W E Lengt...

Page 498: ...side connector Cap housing 172157 9 Socket 170362 1 TE Connectivity Corporation Wire color Servo amplifier side Servomotor side 1 2 Wire color Red Black Signal name B B Length Model L mm WSC M02P02 E...

Page 499: ...or Plug JN6FR02SM1 Contact LY10 C1 A1 10000 Japan Aviation Electronics Industry Limited Wire color Servo amplifier side Servomotor side 1 2 Wire color White Black Signal name B B Length Model L mm WSC...

Page 500: ...nector manufacturer may be changed without prior notice Encoder connector kit amplifier side Model WSK P06P M Application range Common to all models External dimensions mm 12 7 8 42 5 37 4 18 8 18 4 m...

Page 501: ...ity Corporation Terminal layout 6 3 9 4 1 7 8 2 5 The connector model differs from the optional cable The connector manufacturer may be changed without prior notice Encoder connector kit motor side 2...

Page 502: ...BAT The connector model differs from the optional cable The connector manufacturer may be changed without prior notice Motor power connector kit motor side 1 Model WSK M04P E Applicable range GYS GYB...

Page 503: ...minal layout A U B V C W D The connector manufacturer may be changed without prior notice Connector kit for motor power motor side 3 Model WSK M04P CC Application range GYG model 0 85 to 1 0 kW Extern...

Page 504: ...W D E Br F Br G The connector manufacturer may be changed without prior notice Connector kit for motor power motor side with brake 2 Model WSK M06P CC Application range GYG model 0 85 to 1 0 kW Exter...

Page 505: ...02P E Applicable range GYS GYB lead wire specification model 0 75 kW or less with brake External dimensions Unit mm 11 8 23 7 5 6 Model manufacturer Cap housing 172157 9 Socket 170362 1 TE Connectivit...

Page 506: ...54182 0605 Cable clamp 58303 0000 Cable clamp 58303 0000 Clamp screw 59832 0009 Clamp screw 59832 0009 Molex Japan LLC Molex Japan LLC Wire color Servo amplifier side 1 2 3 4 5 6 Shell Servomotor side...

Page 507: ...9 Molex Japan LLC Wire color Servo amplifier side 1 2 3 4 5 6 Shell Servomotor side 7 8 1 2 5 4 3 The wire color will be either 1 or 2 Wire color 1 Red Black Orange Orange white Blue white Blue Shield...

Page 508: ...le clamp 58303 0000 Clamp screw 59832 0009 Molex Japan LLC Wire color Servo amplifier side 1 2 3 4 5 6 Shell Servomotor side 6 3 5 2 4 7 Wire color Red Black Orange Orange white Blue white Blue Shield...

Page 509: ...re color Servo amplifier side 1 2 3 4 5 6 Servomotor side H G T S C D The wire color will be either 1 or 2 Wire color 1 Red Black Orange Orange white Blue Blue white 2 White Black Yellow Brown Red Blu...

Page 510: ...ble clamp 58303 0000 Clamp screw 59832 0009 Molex Japan LLC Wire color Servo amplifier side 1 2 3 4 5 6 Servomotor side 6 7 8 9 2 1 Wire color Red Black Orange Orange white Blue white Blue Signal name...

Page 511: ...4 5 6 Case Wire color 1 Red Black Orange Orange white Blue Blue white Protective tube The wire color will be either 1 or 2 2 White Black Yellow Brown Red Blue Signal name P5 M5 BAT BAT SIG SIG Length...

Page 512: ...tube 3 Copper foil tape 4 Nylon clip 5 Screw 6 Nut The connector manufacturer may be changed without prior notice Refer to 2 4 2 2 Encoder Cable With Battery Fabrication Method for details on the wir...

Page 513: ...ctivity Corporation The cable is not provided 33 8 11 Monitor CN7 Connect a measuring instrument etc to servo amplifier connector 7 CN7 This is an analog output voltage signal for measuring instrument...

Page 514: ...odel WSR 401 Resistor Resistance 68 Allowable power 17W cont Thermostat Operating temperature Open at 135 10 C Dielectric strength 1 minute at 1 5 kVAC Contact capacity 30 VDC 3A Connect the external...

Page 515: ...Item Specification Model WSR 152 Resistor Resistance 15 Allowable power 50W cont Thermostat Operating temperature Open at 150 10 C Dielectric strength 1 minute at 2 5 kVAC Contact capacity 30 VDC 3A C...

Page 516: ...11 1 CHAPTER 11 ABSOLUTE POSITION SYSTEM 11...

Page 517: ...recautions Marine or air transport of battery lithium metal battery If transporting lithium metal batteries on their own packaged together with devices or installed in devices it may be necessary to f...

Page 518: ...y Installation Procedure Amplifier models RYT 7 VV2 Install the battery using the following procedure 1 Prepare an unused battery 2 Open the battery case of the encoder cable and remove the old batter...

Page 519: ...ry case of the encoder cable Check if the catches are engaged at both two positions Battery installation is finished An encoder cable with battery option is required to install the battery The battery...

Page 520: ..._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 first af...

Page 521: ...f for a long time the battery life limit may be reached before the battery warning is issued There are the following four ways to check the battery warning 1 OUT signal assignment number 45 2 Monitor...

Page 522: ...out 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 523: ...CHAPTER 11 ABSOLUTE POSITION SYSTEM 11 8 Calculation of Battery Life 11...

Page 524: ...12 1 CHAPTER 12 POSITIONING DATA 12...

Page 525: ...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 31 points can be registered as positioning...

Page 526: ...umber of the slave and then a response message is sent To start two or more axes simultaneously you can use the broadcasting method where transmission is made to all slaves through designation of stat...

Page 527: ...nal The setting in operation mode 1 is enabled if 77 positioning data selection is not specified with the CONT signal Operation mode 1 Control mode selection PA1_01 Internal positioning data selection...

Page 528: ...signal 77 Sequential start selection PA2_41 AD4 AD3 AD2 AD1 AD0 Operation 7 Positioning operation ON 0 Disable OFF OFF OFF OFF OFF Address error 1 Enable Sequential start 2 Homing Homing 3 Operation...

Page 529: ...nit amount in increments of 1 0 Speed rotation speed 0 01 to max rotation speed r min in increments of 0 01 0 01 Stand still timer 0 00 655 35 sec by 0 01s or 0 000 65 535 sec by 0 001s Note 1 0 00 Ac...

Page 530: ...of electronic gear No Name Setting range Default value Change 06 Numerator 0 of electronic gear 1 4194304 in increments of 1 16 Always 07 Denominator of electronic gear 1 4194304 in increments of 1 1...

Page 531: ...e 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 parameters by turning O...

Page 532: ...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 533: ...speed is continued 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 address...

Page 534: ...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 arbitrary numerical value outside while p...

Page 535: ...ime 0 0 99999 9 ms in increments of 0 1 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 99999 9 ms in increme...

Page 536: ...ion with immediate value data Operation with immediate value data 1 OFF OFF OFF OFF ON Operation with positioning data 1 2 OFF OFF OFF ON OFF Operation with positioning data 2 3 OFF OFF OFF ON ON Oper...

Page 537: ...tion with positioning data 27 28 ON ON ON OFF OFF Operation with positioning data 28 29 ON ON ON OFF ON Operation with positioning data 29 30 ON ON ON ON OFF Operation with positioning data 30 31 ON O...

Page 538: ...has started is as follows Turn off the operation command RUN Turn off the forced stop EMG Turn on the positioning cancel Turn off the external error input Turn on the pause By turning it off the remai...

Page 539: ...oning 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 PA2_01 decimal...

Page 540: ...13 1 CHAPTER 13 MODBUS RTU COMMUNICATION 13...

Page 541: ...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 Communication baud...

Page 542: ...Data 8 bits Stop 3 4 Start Data 8 bits Parity Stop 2 bits 5 Start Data 8 bits Stop 2 bits 4 Response time and communication time over No Parameter name Setting range Default value Change PA2_94 Respo...

Page 543: ...01 Command 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...

Page 544: ...equence monitor 40 Hardware CONT signal 41 Hardware OUT signal 42 Control mode 43 Sequence mode 50 Alarm at present 51 70 Alarm history 1 20 Various commands 82 Anti resonance frequency 83 Workpiece i...

Page 545: ...ts Parity Even Odd None Stop bit 1 or 2 bits Set by parameter PA2_93 Protocol Communications protocol Compliant with Modbus RTU protocol Communications mode RTU mode The ASCII mode is not supported St...

Page 546: ...se 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 t...

Page 547: ...t of various data 1 Query from the master Station No 1 byte FC 1 byte 03h Information Address 2 bytes H Specify the data address For the addresses refer to the table 13 1 L No of registers 2 bytes H S...

Page 548: ...0 000186A0h 100000 units Data 1 will be FFFE7960h with 100000 units 01 86 A0 CRC check 16 bits 2 bytes C9 EB FC 10h Write of various data 1 Query from the master Station No 1 byte FC 1 byte 10h Inform...

Page 549: ...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 Information Address 2 bytes 41 Specify 4112h as the address of...

Page 550: ...m LSB in order Data N 1 byte 8 bits CRC check 16 bits 2 bytes L 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 551: ...2 L Coil data 2 bytes H Specify 000h for OFF and FF00h for ON L CRC check 16 bits 2 bytes L H 2 Response message form the amplifier Station No 1 byte FC 1 byte 05h Information Address 2 bytes H Speci...

Page 552: ...2 L No of coil data 2 bytes H Specify the number of coils n Up to 16 pcs L No of data bytes 1 byte The value N obtained from n 8 and by rounding up decimal Data 1 1 byte 8 bits n pcs of data read out...

Page 553: ...ecify 3 0003h as the number of coils 03 No of data bytes 1 byte 01 The value obtained from 3 pcs 8 and by rounding up decimal Data 1 1 byte 06 See below CRC check 16 bits 2 bytes 03 74 Data are alloca...

Page 554: ...data n x 2 Up to setting range 1 to 16 for number of sets of data n L Write in start address 2 byte H Specify the data address Addresses from 6000H to 6007H can be set L No of registers 2 byte H Speci...

Page 555: ...3_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 Information Read out start address 2 bytes 60 Specify the read out first ad...

Page 556: ...Motor current 80 50h 00 00 50 CRC check 16 bits 2 bytes 19 5F FC 08h Echo back maintenance 1 Query from the master Station No 1 byte FC 1 byte 08h Information Sub code 2 bytes H Specify 0000h as the...

Page 557: ...1h 1 r min Yes 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...

Page 558: ...00 Sequence mode 2101 Alarm at present 2200 Alarm history 1 20 2201 2214 Various commands Anti resonance frequency 3002 1h 0 1 Hz No 0 0 1 0 300 0 0 0 The vibration suppressing control function is dis...

Page 559: ...0 1 ms No 0 0 99999 9 0 0 Deceleration time 5205 D a t a 1 5 Positioning status M code 52E0 Positioning status Refer to Table 13 4 Yes M code 0 FFh FFh Stop timer 52E1 1h 0 01 s 2 No 0 00 655 35 0 00...

Page 560: ...14 CONT22 signal 0215 CONT23 signal 0216 CONT24 signal 0217 Communication OUT signal OUT6 signal 0305 OUT7 signal 0306 OUT8 signal 0307 OUT9 signal 0308 OUT10 signal 0309 OUT11 signal 030A OUT12 signa...

Page 561: ...arrangement in the data The signal turns on with the corresponding bit 1 and off with bit 0 a Communication CONT signal CONT9 24 Data 4bytes 00h 00h CONT24 CONT23CONT22CONT21CONT20CONT19CONT18 CONT17...

Page 562: ...ode Alarm at present Alarm history Each piece of data in the control mode sequence mode alarm at present and alarm history is the code data of 1 byte DATA 4bytes 00h 00h 00h Code The content of the co...

Page 563: ...h Overcurrent 1 oc1 0Dh Encoder Communication Error Ec 02h Overcurrent 2 oc2 0Eh CONT Control signal Error ctE 03h Overspeed oS 0Fh Overload 1 oL1 04h Undervoltage of Control power Lvc 10h Overload 2...

Page 564: ...LH LL By setting PA2_42 stop timer decimal point position 0 and 1 indicate 0 01 s and 0 001 s respectively Table 13 4 Positioning status Bit Item Description Default value 5 M code output timing 0 Out...

Page 565: ...s L H 1 Function code FC field Exceptional responses from slaves are returned as one is set on the MSB of the FC specified by the query Query Exceptional response 01h 81h 03h 83h 05h 85h 08h 88h 0Fh 8...

Page 566: ...000h to 6007h 03h Incorrect data An abnormal value is specified in the information field When FC 03h or 10h is specified The following value is specified as the no of registers zero odd number or a va...

Page 567: ...mial 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 Gen...

Page 568: ...RC 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 N...

Page 569: ...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 0...

Page 570: ...1 2 3 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 Host controller master 1 Transmission mes...

Page 571: ...on display host controller MONITOUCH MJ1 MJ2 ALPHA7 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 FG Shell 5 RXD 4 RXD 3 TXD 2 M5 0 V 1 P5 Connect between ALPHA7...

Page 572: ...ommunications timings Communications timings are as follows 1 Amplifier s response time T1 This is the time passing after a query is sent from the master until the amplifier starts sending a response...

Page 573: ...in 10 ms 9600 bps within 10 ms 115200 bps within 1 7 ms 38400 bps within 5 ms 19200 bps within 10 ms 9600 bps within 10 ms Same as T1 100 ms 10h Other than below Specify that n sets of parameters or p...

Page 574: ...b is detected The amplifier discards the data which have been received up to that time and returns to the reception waiting state No response message is returned It is recommended that the master moni...

Page 575: ...ation number 01 Normal display of station number Communication time over Even if communication time over has occurred communications can be performed as usual When the amplifier receives a query from...

Page 576: ...ms 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 ope...

Page 577: ...P 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 B...

Page 578: ...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 CO...

Page 579: ...CHAPTER 13 MODBUS RTU COMMUNICATION 13 40 Communications Procedures 13...

Page 580: ...14 1 CHAPTER 14 PC LOADER 14...

Page 581: ...g environment is required to use PC Loader Operating system Windows 10 Windows 8 1 Windows 7 CPU 1 GHz or higher Memory environment 2 GB or more 1 GB or more for 32 bit system Display Windows compatib...

Page 582: ...k Next 3 The license agreement for the ALPHA7 Series PC Loader software is displayed Read the content of the license agreement carefully If there are no problems click I accept the terms of the licens...

Page 583: ...ation folder Select the folder in which PC Loader is to be installed and click Next 6 The installation preparation start screen is displayed Click Install File copying is started 7 The installation co...

Page 584: ...is one of the following start ALPHA7 Series PC Loader after exiting MM The versions of MM for PC Loader versions in the following list are old and therefore it will not be possible to run ALPHA7 Seri...

Page 585: ...ssage Manager is displayed 2 By aligning the mouse cursor with Exit Message Manager and left clicking an exit confirmation screen is displayed Align the mouse cursor with Yes and left click 3 MM is ex...

Page 586: ...ware 4 Select the USB driver file Click Browse 5 Select Browse my computer for driver software 6 Select the USB driver file Click Browse The USB driver is copied to the folder on which PC Loader is in...

Page 587: ...evice and a message is displayed 2 The wizard used to install the USB driver does not start automatically and therefore the following procedure should be used to install the driver Click the Start but...

Page 588: ...wse 7 Select the folder which contains the driver file The USB driver is copied to the folder on which PC Loader is installed ALPHA Series PC Loader example Select the C Program Files ALPHA Series 7 D...

Page 589: ...CHAPTER 14 PC LOADER 14 10 Installation Method 14 10 The file is copied and the completion screen is displayed Click Close to complete the driver installation...

Page 590: ...arameter Edit Parameters can be edited transferred compared and initialized Positioning Data Edit Positioning data can be edited transferred compared and initialized Communication Settings Sets commun...

Page 591: ...g 2 Connect to the host controller and perform an operation check to ensure that the sequence program is normal Perform an I O check Perform OUT forced output forced pulse output if required Check the...

Page 592: ...usly The trace ends automatically when 60 000 points are exceeded The waveform can be acquired by setting the waveform to be acquired and then pressing the START STOP button Real time Trace screen exa...

Page 593: ...T STOP button to stop the trace Waveforms that can be acquired Analog signal and digital signals can be acquired for a total of 10 channels Waveforms that can be acquired are as follows all digital in...

Page 594: ...g between two cursors superimposing waveforms FFT analysis re reading waveforms copying screens acquired waveform parameter information and waveform saving CSV format supported are available at this s...

Page 595: ...he trace When trigger conditions are met the waveform is acquired and acquisition then automatically stops Waveforms that can be acquired The waveforms that can be acquired are the same as those for r...

Page 596: ...al waveform x 1 positioning complete INP 2 Set the digital trigger signal for the digital waveform positioning complete INP to Use with edge 3 Set the sampling time to 1 ms 4 Set the trigger position...

Page 597: ...gnals turn ON and OFF Lamps light up to indicate that signals are ON and turn OFF to indicate that signals are OFF Digital monitor Monitors all kinds of operating condition data data cannot be saved D...

Page 598: ...servo amplifier Displays such information as battery warnings remaining main circuit capacitor time and remaining cooling fin time Automatic vibration suppression monitor Displays the automatic vibrat...

Page 599: ...with already saved files 5 Initialize Returns all of the parameters in the currently connected servo amplifier or parameters currently being edited to their default values This can only be performed...

Page 600: ...Settings Set Vibration Suppressing Anti Resonance Frequency workpiece inertia ratio can also be automatically calculated by entering the anti resonance frequency and resonance frequency Resonance freq...

Page 601: ...fier 3 Send All Sends all positioning data to the connected servo amplifier 4 Compare Compares the parameters currently being edited with those in the connected servo amplifier or with already saved f...

Page 602: ...tion at such times as when the servomotor does not function normally with commands from the host if the motor does not move or if wishing to check the rotation direction 1 The servo turns on automatic...

Page 603: ...tion is rewritten to the PA2_19 preset position parameter value By pressing the Set Z phase Position button the Z phase is output at the current position the PA1_12 Z phase position offset parameter i...

Page 604: ...t to 0 By pressing the START STOP button the operation selected at a starts Furthermore by pressing the START STOP button during operation the operation stops at that location Slow run Operation is pe...

Page 605: ...based on the conditions set at a Step 2 The analysis result is drawn and the recommended setting values are displayed Step 3 By pressing the Adjust Start button reciprocal operation is started based...

Page 606: ...ttern operation NG screen By pressing the START STOP button pattern operation starts Furthermore by pressing the START STOP button during operation the cycle stops Select the OUT signal to be operated...

Page 607: ...must be set Current does not flow to the servomotor furthermore the main circuit transistor does not turn on and off The motor current effective torque OL thermal value and regenerative resistor therm...

Page 608: ...unction Description 14 29 14 Sequence test mode status check When the servo amplifier is in sequence test mode all digits on the 7 segment LED flash every two seconds they do not flash when performing...

Page 609: ...ing starts A positioning data editing screen can be started at the same time in order to check positioning data Selects the data for which positioning is to be started Monitors the positioning data ad...

Page 610: ...ow is displayed when teaching starts A positioning data editing screen can be started at the same time in order to check positioning data Selects the positioning data to be written Performs teaching W...

Page 611: ...tor may rotate greatly and so caution is advised can be limited by setting the permissible stroke Settings 1 Vibration mode Set to Normal for horizontal drive machines and to Vertical for vertical dri...

Page 612: ...e of the problem can be analyzed in real time by running Failure Diagnosis Startup method Select Diagnosis Failure Diagnosis from the menu or run using the icon Reference screen Operation method Selec...

Page 613: ...CHAPTER 14 PC LOADER 14 34 Detailed Function Description 14 14 5 9 Changing the Language This PC Loader supports Japanese only...

Page 614: ...STANDARDS COMPLIANCE CHAPTER 15 15...

Page 615: ...al Emissions Category C2 when equipped with recommended filter Low Voltage Directive EN 61800 5 1 Machine Directives EN ISO 13849 1 Cat 3 PL e EN 60204 1 Stop Category 0 EN 61508 SIL3 EN 61800 5 2 SIL...

Page 616: ...cation please install noise filters using the following recommended installation method It is recommended that noise filters be installed inside metal cabinets to ensure more reliable compatibility wi...

Page 617: ...E and do not attempt to provide electric shock protection simply with an earth leakage circuit breaker RCD Residual current operated protective or ELCB Earth Leakage Circuit Breaker Always ground gro...

Page 618: ...ELCB with overcurrent protection function frame size and model will differ based on the power transformer capacity Refer to the related technical material for details on the selection method 6 Use the...

Page 619: ...sured by installing servo amplifiers with UL cUL marking in accordance with the following UL Standards and Canadian Standards cUL certification compatibility Integral solid state short circuit protect...

Page 620: ...erheat protection described in UL Standards UL 8 Short circuit rating Suitable For Use On A Circuit Of Delivering Not More Than 5 000 rms Symmetrical Amperes 240 Volts Maximum when protected by Class...

Page 621: ...lowing when using the product in south korea The product is for business use Class A and meets the electromagnetic compatibility requirement The seller and the user must note the above point and use t...

Page 622: ...supply and which generate harmonic current however the following explanation applies only to servo amplifiers 15 4 1 Servo Amplifier Application 15 4 1 1 Application for Other Than Special Customers F...

Page 623: ...ng High Voltage or Special High Voltage Table 15 4 1 Harmonic outflow current upper limit per 1kW of contracted demand mA kW Receiving voltage 5th 7th 11th 13th 17th 19th 23rd 25th and above 6 6 kV 3...

Page 624: ...l material for information on peripheral equipment capacity selection Table15 4 2 Servo amplifier input rated capacity and fundamental harmonic input current Motor rated capacity kW Input rated capaci...

Page 625: ...ed on the operation pattern in Fig 15 4 1 and therefore servo amplifier operation rate A is calculated with the following equation M o c c c a a 1 1 60 2 2 P T N T T A A Operation rate To Time for 1 s...

Page 626: ...th 7th 11th 13th 17th 19th 23rd 25rd No reactor used 65 41 8 5 7 7 4 3 3 1 2 6 1 8 Reactor used AC side 38 14 5 7 4 3 4 3 2 1 9 1 7 1 3 Reactor used DC side 30 13 8 4 5 0 4 7 3 2 3 0 2 2 Reactor used...

Page 627: ...CHAPTER 15 STANDARDS COMPLIANCE 15 14 Complying with Guideline for Suppressing Harmonics by Customers Receiving High Voltage or Special High Voltage 15...

Page 628: ...CHAPTER 16 APPENDIXES 16...

Page 629: ...rent control Torque filter Speed adjuster DC link voltage Feedback speed Feedback position Command torque Motor current Position deviation Command pulse frequency Command cumulative pulse Filter comma...

Page 630: ...s RYT500F7 RYT401F7 N P L3 L2 L1 P1 W V U RY R PT C M 1PH 3PH AC200 240V 50 60Hz RB2 RB1 RB3 CHARGE LED Gate drive Current detection Overcurrent detection Voltage detection Braking transistor failure...

Page 631: ...L3 L2 L1 P1 W V U RY R PT Fan C M 1PH 3PH AC200 240V 50 60Hz RB2 RB1 RB3 CHARGE LED Gate drive Current detection Overcurrent detection Voltage detection Braking transistor failure detection Fan drive...

Page 632: ...del calculation 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 rat...

Page 633: ...08 Number of output pulses per revolution 09 Numerator of electric gear for output pulses 10 Denominator of electric gear for output pulses 11 Output pulse phase selection at CCW rotation 12 Z phase...

Page 634: ...feed speed 1 speed limit 1 at torque control 42 Manual feed speed 2 speed limit 2 at torque control 43 Manual feed speed 3 speed limit 3 at torque control 44 Manual feed speed 4 speed limit 4 at torqu...

Page 635: ...e constant 2 67 Feed forward gain 2 70 Automatic notch selection 71 Notch filter 1 frequency 72 Notch filter 1 attenuation 73 Notch filter 1 width 74 Notch filter 2 frequency 75 Notch filter 2 attenua...

Page 636: ...87 Model torque filter time constant 88 Position loop integration time constant 89 Position loop integration limiter 90 Load torque observer 91 P PI automatic change selection 92 Speed range for frict...

Page 637: ...speed 16 Home position after homing completion 17 Home position detection range 18 Selection of operation at OT during homing 19 Preset position 20 Interrupt traveling unit amount 22 Detection time fo...

Page 638: ...ectronic gear ratio 52 Numerator 2 of electronic gear ratio 53 Numerator 3 of electronic gear ratio 54 Command pulse ratio 1 55 Command pulse ratio 2 56 Speed limit selection at torque control 57 Torq...

Page 639: ...ime 77 Initial display of the keypad 78 Display transition at warning detection 80 Parameter in RAM 1 81 Parameter in RAM 2 82 Parameter in RAM 3 83 Parameter in RAM 4 84 Parameter in RAM 5 85 Paramet...

Page 640: ...9 signal assignment 10 CONT10 signal assignment 11 CONT11 signal assignment 12 CONT12 signal assignment 13 CONT13 signal assignment 14 CONT14 signal assignment 15 CONT15 signal assignment 16 CONT16 si...

Page 641: ...ddress free assignment 3 for Modbus 44 Address free assignment 4 for Modbus 48 CONT CA signal assignment 49 CONT CB signal assignment 50 CONTCA CB signal inversion PA3_ Output terminal function settin...

Page 642: ...71 OUT21 signal assignment 72 OUT signal inversion 81 Monitor 1 signal assignment 82 Monitor 2 signal assignment 83 Monitor 1 scale 84 Monitor 1 offset 85 Monitor 2 scale 86 Monitor 2 offset 87 Monito...

Page 643: ...function selection 11 Functional safety body action selection 12 Functional safety SLS speed limit value 21 Torque control speed limit method 51 Notch filter 3 frequency 52 Notch filter 3 attenuation...

Page 644: ...The servomotor keeps outputting the retention force in the stopping state of a hoisting machine Use of a retention brake is recommended if the time allows Mechanism Features Ball screw direct couplin...

Page 645: ...a 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 Cha...

Page 646: ...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 s...

Page 647: ...tern 6 Calculate the effective torque according to the torque pattern 7 If the effective torque Trms is smaller than the rated torque TR operation can be made with the designated operation pattern 8 C...

Page 648: ...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 3...

Page 649: ...m 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 and...

Page 650: ...ically Conveyor and 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 st...

Page 651: ...Approximate 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 s...

Page 652: ...tain the sum of 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 7 Trms TR If the effective...

Page 653: ...acity If it is not an external regenerative resistor is necessary 9 Reviewing the operation pattern and mechanical configuration If Trms exceeds TR review the following items Increase the acceleration...

Page 654: ...w J1 Suppose 20 and 500 mm in length Moving parts J2 Suppose a transfer mass of 20 kg 3 Load torque converted to motor axis TL Suppose a transfer mass of 20 kg friction coefficient of 0 1 and machine...

Page 655: ...g to the capacity selection condition GYS201D7 2 0 2 kW is found JM 0 135 10 4 kgm2 TR 0 637 Nm TAC 1 91 Nm 6 Shortest acceleration deceleration time tAC Acceleration Deceleration torque at an acceler...

Page 656: ...ective torque Trms Time average output torque Because the result is smaller than rated torque 0 637 Nm of the GYS201D7 2 type continuous operation can be made in the designated profile 9 Result of sel...

Page 657: ...Follow the procedure below to check if the regenerative resistor is necessary or not 1 Obtain the energy EG of the mechanical system in the deceleration cycle 2 Calculate the energy EL consumed by the...

Page 658: ...actual value The capacitor of 0 2 kW or smaller capacity servo amplifiers is 440 F VDB DB transistor activation level 390 V VDC DC link voltage 200 x 2 V The energy that can be processed by the mechan...

Page 659: ...2 3 0 135 0 4 2 7 1 1 0 246 720 0 75 4 8 0 36 0 853 940 1 0 7 1 0 35 1 73 1360 1 5 9 6 0 25 2 37 Series Capacity kW Rated current A Phase resistance Inertia 10 4 kg m2 Capacity of capacitor F GYG 200...

Page 660: ...CHAPTER 16 APPENDIXES Revision History 33 16 16 6 Revision History Date of printing Index Description of revision July 2018 None First version...

Page 661: ...CHAPTER 16 APPENDIXES 34 Product Warranty 16 16 7 Product Warranty...

Page 662: ......

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