FujiFilm ALPHA 5 RYT-SX User Manual Download | Manualshive

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CHAPTER 5 SERVO ADJUSTMENT

5-10

Auto Tuning

5

5.3.3 Approximate Reference Value of Auto Tuning Gain 1

By increasing auto tuning gain, response will be improved while possibly causing vibration or other ill
effects. Change the value 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 configuration

(Division by mechanism)

Auto tuning gain 1

(Approximate reference value)

Large transfer machine

1 to 10

Arm robot

5 to 20

Belt mechanism

10 to 25

Ball screw + Belt mechanism

15 to 30

Mechanism directly coupled with
ball screw

20 to 40

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Summary of Contents for ALPHA 5 RYT-SX

Page 1: ...MEHT301a FUJI SERVO SYSTEM USER S MANUAL RYT SX type ...

Page 2: ...ent 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 servomotor of a specific capacity and they may be different from the appearance of the product you purchased This product is not designed or manufactured for use in devices or systems related to human live...

Page 3: ...PARAMETER 4 CHAPTER 5 SERVO ADJUSTMENT 5 CHAPTER 6 KEYPAD 6 CHAPTER 7 MAINTENANCE AND INSPECTION 7 CHAPTER 8 SPECIFICATIONS 8 CHAPTER 9 CHARACTERISTICS 9 CHAPTER 10 PERIPHERAL EQUIPMENT 10 CHAPTER 11 ABSOLUTE POSITION SYSTEM 11 CHAPTER 12 POSITIONING DATA 12 CHAPTER 13 PC LOADER 13 CHAPTER 14 APPENDIXES 14 ...

Page 4: ...tem 0 11 0 2 1 Servomotor 0 11 0 2 2 Servo Amplifier 0 12 0 3 Model Nomenclature 0 13 0 3 1 Servomotor 0 13 0 3 2 Servo Amplifier 0 14 0 4 Combination between Servomotor and Servo Amplifier 0 15 0 4 1 SX Type 0 15 CHAPTER 1 INSTALLATION 1 1 1 1 Servomotor 1 2 1 1 1 Storage Environment 1 2 1 1 2 Operating Environment 1 2 1 1 3 Installing the Servomotor 1 3 1 1 4 Water Proof and Oil Proof Properties...

Page 5: ...Servomotor 2 24 2 3 1 Brake Connector 2 24 2 4 Encoder 2 25 2 4 1 Encoder Wiring Cable 2 25 2 4 2 Encoder Cable 2 26 2 5 Description of I O Signals 2 27 2 5 1 I O Signals of VS Type 2 27 List of input signals 2 27 List of output signals 2 28 2 5 2 I O Signals of LS Type 2 29 List of input signals 2 29 List of output signals 2 32 2 5 3 Signal Descriptions 2 34 Input signal 2 34 Servo on S ON Sequen...

Page 6: ... pulse ratio 2 Sequence input signal Reference value 28 2 52 Proportional control Sequence input signal Reference value 29 2 53 Pause Sequence input signal Reference value 31 2 53 Positioning cancel Sequence input signal Reference value 32 2 54 External braking resistor overheat Sequence input signal Reference value 34 2 54 Teaching Sequence input signal Reference value 35 2 55 Torque control Sequ...

Page 7: ...output signal Reference value 2 2 68 Speed limit detection Sequence output signal Reference value 11 2 70 Over write completion Sequence output signal Reference value 13 2 70 Read completion Sequence output signal Reference value 2 70 Write command Sequence input signal Reference value 2 70 Read command Sequence input signal Reference value 2 70 Brake timing Sequence output signal Reference value ...

Page 8: ...stop detection Sequence output signal Reference value 41 2 89 Toggle answer 0 Sequence output signal Reference value 42 2 89 Toggle answer 1 Sequence output signal Reference value 43 2 89 Toggle error Sequence output signal Reference value 44 2 89 Battery warning Sequence output signal Reference value 45 2 89 Life warning Sequence output signal Reference value 46 2 90 MD0 Sequence output signal Re...

Page 9: ...rence value 2 97 CSEL1 Sequence output signal Reference value 2 97 CSEL2 Sequence output signal Reference value 2 97 CHAPTER 3 OPERATION 3 1 3 1 Signal Description Priority among Input Signals 3 2 3 2 Operation Check 3 3 3 2 1 Power On 3 3 3 2 2 Power On Servo Control Ready S RDY 3 4 3 2 3 Servo On S ON Ready for Servo On RDY 3 4 3 2 4 Test Operation at Keypad 3 5 3 2 5 If the Servomotor Fails to ...

Page 10: ... PA1_08 Number of output pulses per revolution 4 9 PA1_09 Numerator of electric gear for output pulses 4 9 PA1_10 Denominator of electric gear for output pulses 4 9 PA1_11 Output pulse phase selection at CCW rotation 4 10 PA1_12 Z phase position offset 4 10 PA1_13 Tuning mode selection 4 11 PA1_14 Load inertia ratio 4 12 PA1_15 Auto tuning gain 1 4 13 PA1_16 Auto tuning gain 2 4 14 PA1_20 to 23 Ea...

Page 11: ... torque filter time constant 4 30 PA1_88 Position loop integration time constant PA1_89 Position loop integration limiter 4 30 PA1_90 Load torque observer 4 30 PA1_91 P PI automatic change selection 4 30 PA1_92 and 93 Friction compensation settings 4 31 PA1_94 Torque filter setting mode 4 31 PA1_95 Model torque calculation selection speed observer selection 4 31 PA1_96 Speed limit gain for torque ...

Page 12: ... PA2_40 Internal positioning data selection 4 70 PA2_41 Sequential start selection 4 71 PA2_42 Decimal point position of stand still timer 4 71 PA2_43 Output selection at M code OFF 4 71 4 5 Extended Function Setting Parameters 4 72 4 5 1 List PA2_ 4 72 4 5 2 Description of Each Parameter 4 73 PA2_54 and 55 Command pulse ratio 1 2 4 73 PA2_56 Speed limit selection at torque control 4 73 PA2_57 to ...

Page 13: ...put scale and offset settings 4 96 PA3_88 Command pulse frequency sampling time for monitor 4 98 PA3_89 Feedback speed sampling time for monitor 4 99 CHAPTER 5 SERVO ADJUSTMENT 5 1 5 1 Adjustment Procedure 5 2 5 2 Easy Tuning 5 3 5 2 1 What is Easy Tuning 5 3 5 2 2 Easy Tuning Operation Profile 5 3 5 2 3 Description of Operation 5 5 5 3 Auto Tuning 5 9 5 3 1 Conditions for Auto Tuning 5 9 5 3 2 Pa...

Page 14: ...ibration Suppression 5 26 5 8 3 Manual Adjustment of Vibration Suppression 5 27 CHAPTER 6 KEYPAD 6 1 6 1 Display 6 2 6 1 1 Mode 6 2 6 1 2 Key 6 3 6 1 3 Mode Selection 6 3 6 2 Function List 6 4 6 3 Sequence Mode 6 8 6 4 Monitor Mode 6 12 6 5 Station No Mode 6 20 6 6 Maintenance Mode 6 21 6 7 Parameter Edit Mode 6 25 6 8 Positioning Data Edit Mode 6 29 6 9 Test Operation Mode 6 32 CHAPTER 7 MAINTENA...

Page 15: ...a Brake 8 19 8 3 3 GYC Motor 8 20 8 3 4 GYC Motor With a brake 8 21 8 3 5 GYG Motor 2000 r min 8 22 8 3 6 GYG Motor 2000 r min With a brake 8 22 8 3 7 GYG Motor 1500 r min 8 23 8 3 8 GYG Motor 1500 r min With a brake 8 23 8 4 Optional Specification of Shaft Extension With a Key Tapped 8 24 8 5 Dimensions of Servo Amplifier 8 25 CHAPTER 9 CHARACTERISTICS 9 1 9 1 Timing Chart 9 2 9 1 1 Power On Timi...

Page 16: ...tional encoder cable 1 10 22 Optional encoder cable 2 10 23 Optional encoder cable 3 10 24 Optional servomotor power cable 10 25 Optional servomotor brake cable 10 26 Sequence I O connector kit 10 27 Encoder connector kit amplifier side 10 27 Encoder connector kit motor side 10 28 Encoder connector kit motor side 10 28 Power supply connector kit amplifier side 10 29 Intermediate circuit connector ...

Page 17: ...ocedure for Amplifier of 2kW 3000r min Frame 5 or More 11 4 11 2 3 Battery Replacement Procedure 11 5 11 3 Connection Diagram 11 6 11 3 1 VS Type 11 6 11 3 2 LS Type 11 7 11 4 Starting Up Procedure 11 8 11 5 Battery Warning 11 9 11 6 Calculation of Battery Life 11 10 CHAPTER 12 POSITIONING DATA 12 1 12 1 Settings 12 2 12 1 1 Position data stop position 12 3 PA1_06 Numerator 0 of electronic gear PA...

Page 18: ...n 13 21 13 5 7 Servo Analyze 13 28 13 5 8 Diagnosis to be Made if the Servomotor Fails to Start 13 29 13 5 9 Language Selection 13 30 CHAPTER 14 APPENDIXES 14 1 14 1 Status Indication Block Diagram 14 2 14 2 Main Circuit Block Diagram 14 3 14 3 Control Circuit Block Diagram 14 5 14 4 Parameter List 14 6 14 5 Capacity Selection Calculation 14 13 14 5 1 Type of Mechanical System 14 13 14 5 2 Capacit...

Page 19: ...0 1 CHAPTER 0 INTRODUCTION 0 ...

Page 20: ... 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 caused Description given in the CAUTION category may cause serious results under some circumstances All descriptions are critical and should be strictly observed After reading keep the manual in a place w...

Page 21: ...in a designated set It might cause fire and failure Never use at places susceptible to water splashes in corrosive atmosphere in flammable gas atmosphere or near flammable matters It might cause fire and failure As the servo amplifier servomotor and peripheral devices temperature will become high and requires careful considerations There is a risk of burns Do not touch the heat sink of the servo a...

Page 22: ...rvomotor with a sheet to protect against vapor oil and water Apply an anticorrosive agent on machined surfaces such as the shaft and flange face To avoid rust on bearings turn manually or operate for five minutes without 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 ca...

Page 23: ...asures 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 body of the servomotor install a water or oil splash guard or take similar measures on the machine side In a humid and high oil mist environment install the lead wires and connectors in a face down ...

Page 24: ...hat the voltage fluctuation is contained within the rating Otherwise the servo amplifier will be damaged Install a circuit breaker or similar safety devices for short circuits in external wiring There is a risk of fire or failure Do not remove the cover or disconnect the cable connector or optional device with the servo amplifier turned on There is a risk of electric shock to human body product op...

Page 25: ...ilure 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 incorporated in the servomotor is for retention Do not use it for regular braking operation It might cause failures and injuries Install an external emergency stop circuit so that operation can be stopped i...

Page 26: ...ste 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 including to request an authenticated subcontractor to dispose of the product and control manifesto The battery used in the product falls in the category of called primary battery and must be discarded in ...

Page 27: ...t with the low voltage directive and that support compliant with the EMC directive as well as a relevant guideline are prepared Compliance with RoHS directive RoHS directive concerns with toxic materials and it was made into effective on July 1 2006 in the EU member countries The directive prohibits inclusion of toxic materials in electric and electronic devices Regulated materials include Pb lead...

Page 28: ...mplifier UL508C E132902 Servomotor UL1004 E102475 EC Directives EMC directive Low voltage directive EMI EMS Servo amplifier EN50178 EN61800 5 1 EN55011 Class A group 1 EN61800 3 Servomotor EN60034 1 EN60034 5 EN55011 Class A group 1 EN61800 3 Note The certification for the machine is required because the servo amplifier and the servomotor are assembled into one unit ...

Page 29: ... for the target machine 0 2 1 Servomotor The variation of the servomotor includes three types slim type GYS cubic type GYC and medium inertia type GYG Each type is provided with the INC only 20 bit encoder model and the common ABS INC 18 bit encoder model 1 Except for shaft through part and connectors for GYS and GYC motors of 0 75 kW or less 2 Models with a brake has B at the end ...

Page 30: ...tem 0 0 2 2 Servo Amplifier Three types of servo amplifiers are provided general purpose interface type VV high speed serial bus type VS and positioning type LS The positioning type and high speed serial bus type are compatible with our SX bus ...

Page 31: ...item is what you have ordered Check if the product is damaged during transportation Check if the instruction manual is included If you have any uncertainties contact the seller 0 3 1 Servomotor AC SERVO MOTOR TYPE GYS201D5 HB2 200 W 0 64 Nm 200 Hz 3000 min 1 92 V 1 8 A S1 Ins B FD01MB SER NO 6427751022 Fuji Electric FA YM539189 1 JAPAN ...

Page 32: ...clature 0 0 3 2 Servo Amplifier The model and serial number are also marked on the front panel of the main body of the servo amplifier TYPE RYT401D5 VS2 SOURCE 1PH 3PH 200 230V 50or60Hz OUTPUT 3PH 400W Fuji Electric FA JAPAN SER 693081A0021 ...

Page 33: ...102D5 VS2 RYT102D5 LS2 4 GYS152D5 2 B 1 5 RYT152D5 VS2 RYT152D5 LS2 4 GYS202D5 2 B 2 0 RYT202D5 VS2 RYT202D5 LS2 5 GYS302D5 2 B 3 0 RYT302D5 VS2 RYT302D5 LS2 5 GYS402D5 2 B 4 0 RYT402D5 VS2 RYT402D5 LS2 6 GYS502D5 2 B 5 0 RYT502D5 VS2 RYT502D5 LS2 6 GYC101D5 2 B 0 1 RYT101D5 VS2 RYT101D5 LS2 1 GYC201D5 2 B 0 2 RYT201D5 VS2 RYT201D5 LS2 1 GYC401D5 2 B 0 4 RYT401D5 VS2 RYT401D5 LS2 2 GYC 3000 GYC751...

Page 34: ...CHAPTER 0 INTRODUCTION 0 16 Combination between Servomotor and Servo Amplifier 0 ...

Page 35: ...1 1 CHAPTER 1 INSTALLATION 1 ...

Page 36: ... 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 Atmospheric pressure 70 kPa to 106 kPa Observe the following when operating Install indoors at a place free from rainwater and direct sunshine Do not operate in corrosive atmosphere including hydrogen sulfides sulfurous acid chlorine ammonia sulfur chlorine based ...

Page 37: ...il Install a cover 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 horizontally install so that the servomotor cables face down To install the servomotor vertically or at an oblique direction route the cables to secure a cable trap see the figure on the rig...

Page 38: ...use 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 stress given on the cable Route the encoder cable and motor power cable in CABLEVEYOR Fix the encoder cable and motor power cable attached to the servomotor routed from the motor with cable clamps or si...

Page 39: ... assembling accuracy of the servomotor is shown below Unit mm Servomotor model Runout at shaft end Misalignment flange Perpendicularity of flange face GYS D5 GYC D5 GYG 5 Within 0 02 Within 0 06 Within 0 08 Runout at shaft end Misalignment Perpendicularity of flange face ...

Page 40: ...5 GYS302D5 B2 921 166 63 GYS402D5 B2 921 166 63 GYS502D5 B2 921 166 63 GYC101D5 B2 107 19 25 GYC201D5 B2 235 39 30 GYC401D5 B2 235 39 30 GYC751D5 B2 460 88 40 GYC102D5 B2 646 127 58 GYC152D5 B2 803 137 58 GYC202D5 B2 803 137 58 GYG501C5 B2 400 253 55 GYG751C5 B2 400 253 55 GYG102C5 B2 510 253 55 GYG152C5 B2 510 253 55 GYG202C5 B2 510 253 55 GYG501B5 B2 449 253 58 GYG851B5 B2 449 253 58 GYG132B5 B2...

Page 41: ...e structure and is not abnormal the noise will not effect functional operation Others shaft end magnetization The shaft end of the servomotor equipped with a brake is subject to leaking magnetic flux during energization of the brake coil when the brake is released At the instance chips screws and other magnetic bodies will be attracted Cautions are required Brake power source There is no polarity ...

Page 42: ...o amplifier in the following environment The servo amplifier is neither dust proof nor water proof Item Environmental condition Ambient temperature 10 C to 55 C no freezing allowed Ambient humidity 10 to 90 RH no condensation allowed Location Indoors at altitude 1000 m free from powder dust corrosive gases and direct sunshine Vibration 4 9 m s2 Observe the following when operating Install indoors ...

Page 43: ...ventilation Heat exchanger Servo amplifier Servo amplifier Servo amplifier Servo amplifier Intake air Intake air Intake air Exhaust air Exhaust air 3 To install two or more servo amplifiers in the same control panel the following shall be taken into consideration Arrange transverse alignment in principle The RYT type servo amplifier can be installed side by side closely If servo amplifiers are ins...

Page 44: ...iers or a distance to the peripheral equipment 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 Sequence cable Encoder cable 80 Amplifier depth Unit mm 50 mm or more 40 mm or more 10 mm or more 10 mm or more 5 mm or more ...

Page 45: ...2 1 CHAPTER 2 WIRING 2 ...

Page 46: ...300 mm Motor power cable Lead 300 mm Keypad 6 digit 7 segment LED 4 buttons monitor terminals and one LED are installed Power supply TB1 x Control power x Main power L1C L2C L1 L2 L3 Charge LED Main circuit TB2 x P N junction x Braking resistor Analog monitor CN6 The analog waveform is monitored USB CN4 USB_B connector Sequence I O CN1 Encoder wiring CN2 Battery wiring CN5 Battery box Option SX bu...

Page 47: ... connector Sequence I O CN1 Encoder wiring CN2 Battery wiring CN5 Battery box option Main circuit TB2 P N junction Braking resistor Power supply TB1 Control power Main power Analog monitor CN6 The analog waveform is monitored L1C L2C L1 L2 L3 P1 P N RB1 RB2 RB3 Motor TB3 U V W Ground terminals 2 pcs Charge LED SX bus CN3A IN CN3B OUT Upper side CN3A Lower side CN3B Encoder connector Motor power co...

Page 48: ...ne LED are installed USB CN4 USB_B connector Sequence I O CN1 Encoder wiring CN2 Battery wiring CN5 Battery installing part Analog monitor CN6 The analog waveform is monitored Charge LED SX bus CN3A IN CN3B OUT Upper side CN3A Lower side CN3B Main circuit terminal Control power supply Motor Ground terminals 2 pcs Power supply Braking resistor ...

Page 49: ...ximum wiring length between the servo amplifier and servomotor is 50 m You may not turn the power wiring of the servo amplifier or servomotor on or off with a contactor or you may not drive multiple servomotors selectively with a single servo amplifier Do not connect any of the following devices to the power wiring of the servo amplifier or servomotor Phase advancing capacitor Various reactors Noi...

Page 50: ...connect the short wire and connect across pins 1 and 2 Motor cable External braking resistor Disconnect the short wire and connect across pins 4 and 5 SX bus L1C L2C L1 L2 L3 USB PC marketed item The loader software can be downloaded free of charge TB2 Provided with body Sequence I O cable Connect pushbuttons various sensors pulse inputs and pulse output signals 1 2 3 4 5 6 TB1 CN3A CN3B CN1 CN2 1...

Page 51: ...S and GYC 1kW or more GYG All models Connector CN3B At the end of the network the SX bus wrap plug is necessary Servo ampifier RYT S type P5 1 3 L1 4 L2 1 L1C 2 L2C P1 CN3A IN FFZ 27 FFZ 28 FZ 10 M5 9 20 COMIN 21 CONT1 2 CONT4 22 CONT2 1 CONT3 12 PPI 35 CA 36 CA 34 CB 33 CB 3 CONT5 FFA 31 FFA 32 FFB 29 FFB 30 M5 18 OUT2 6 MON1 1 M5 3 MON2 2 M5 4 DC24V 2 5 L3 CN3B OUT N P RB1 RB2 U 1 V 2 W 3 TB TB ...

Page 52: ...d 2 Motor cable Fabricated by user External braking resistor Disconnect the short wire and connect across pins 4 and 5 SX bus L1C L2C L1 L2 L3 USB PC marketed item The loader software can be downloaded free of charge Ground terminals M4 1 2 3 4 5 Sequence I O cable Connect pushbuttons various sensors pulse inputs and pulse output signals 1 2 3 4 5 6 TB1 CN3A CN3B CN1 molex TB3 1 2 3 CN2 TB2 Provid...

Page 53: ...ase of commercial power supply single phase 100V or single phase 200V input connect across L1 and L2 terminals Servo amplifier RYT S type P5 1 3 L1 4 L2 1 L1C 2 L2C P1 CN3A IN FFZ 27 FFZ 28 FZ 10 M5 9 20 COMIN 21 CONT1 2 CONT4 22 CONT2 1 CONT3 12 PPI 35 CA 36 CA 34 CB 33 CB 3 CONT5 FFA 31 FFA 32 FFB 29 FFB 30 M5 18 OUT2 6 MON1 1 M5 3 MON2 2 M5 4 DC24V 2 5 L3 CN3B OUT N P RB1 RB2 U 1 V 2 W 3 TB TB ...

Page 54: ...r Electromagnetic contactor External braking resistor SX bus CN3A CN3B L1 L2 L3 USB PC marketed item The loader software can be downloaded free of charge CN1 Sequence I O cable Connect pushbuttons various sensors pulse inputs and pulse output signals CN2 Encoder cable Main circuit terminal Control power supply Ground terminals M4 Braking resistor molex Motor Power supply Screw size L1C L2C M3 Othe...

Page 55: ...s RB1 and RB2 Remove the short wire from RB2 RB3 Commercial power supply 3 phase input Servo amplifier RYT S type P5 1 L1 L2 L1C L2C P1 CN3A IN FFZ 27 FFZ 28 FZ 10 M5 9 20 COMIN 21 CONT1 2 CONT4 22 CONT2 1 CONT3 12 PPI 35 CA 36 CA 34 CB 33 CB 3 CONT5 FFA 31 FFA 32 FFB 29 FFB 30 M5 18 OUT2 6 MON1 1 M5 3 MON2 2 M5 4 DC24V 2 L3 CN3B OUT N P RB1 RB2 U V W TB TB TB RB3 CN2 CN4 USB B SX bus IN SX bus OU...

Page 56: ...d pulse direction forward reverse pulse A B phase pulse A B phase pulse are the frequency after multiplication by four 31 FFA 32 FFA 29 FFB 30 FFB 27 FFZ 28 FFZ Pulse output Differential output The number of output pulses per motor revolution 16 to 262144 can be designated Or the output pulse division ratio can be designated The output is issued in A B phase pulse The FFZ and FFZ terminals are for...

Page 57: ...quence output For sink source Signal output terminals of servo amplifier Max 30 V DC 50 mA Photo coupler isolated The reference potential is the COMOUT terminal The output format of the FFZ FFZ and FZ outputs varies according to the pulse output setting If the number of pulses per revolution is designated PA1_08 16 to 262144 synchronization is kept with the FFA and FFA signals Single pulse of FFA ...

Page 58: ...e indicates the frequency after multiplication by four It is always a multiple of four 1 Differential output Do not use the PPI terminal 2 Open collector 24 V DC Use the PPI terminal 3 Open collector output 12 V DC The CA CB terminal and an external resistor are necessary C A C B C A C B D C 1 2 V 6 2 S e rv o a m p lifie r 6 2 5 6 0 Ω PP I C A C B C A C B D C 24V 62 S ervo a m plifier 62 1 5k 62 ...

Page 59: ...parameter The FFZ and FFZ signals are output in a single pulse during a motor revolution The servo amplifier sets no limitation in the output frequency 500 kHz is the upper limit 2 1 3 3 Z Phase Output FZ M5 The Z phase output is an open collector output of the FFZ or FFZ signal The current can flow up to 30 V DC 50 mA 2 1 3 4 Analog Monitor Output MON1 MON2 M5 The analog monitor output is the ana...

Page 60: ...ecified with a parameter For signals that can be assigned refer to page 2 28 2 1 4 SX Bus CN3 The SX bus is established by connecting the MICREX SX SPH using a SX bus extension cable Connect the CN3A IN terminal to the OUT terminal of another SX bus device or CN3B OUT terminal to the IN terminal of another SX bus device If the servo amplifier becomes the end of the SX bus network connect an SX bus...

Page 61: ... board number of devices of direct connection I O and wiring length etc Whole wiring length must be 25 m or less By connecting a SX bus electrical repeater unit NP2L RP1 up to 10 units can be connected per an electrical repeater Up to 20 units can be connected between repeaters CN3 APS30 PWR ALM ＳＸ SCPU32 LOADER RUN TERM SLV STOP CPU No ONL ERR RUN ALM BAT ONL 0 1 2 3 4 5 6 7 ERR 8 9 101112131415 ...

Page 62: ...nding on ambient temperature low temperature environment connector polish and bending stress or similar due to optical fiber cable characteristics Standard max 25 m Extension max 25 m ONL CH1 ERR CH2 EMG OT OT 20 1 B A MP2 CH2 CH1 ＳＸ APS30 PWR ALM ONL 0 1 2 3 4 5 6 7 ERR 8 9 101112131415 ONL 0 1 2 3 4 5 6 7 ERR 8 9 101112131415 ＴＢＲＵＮ SX bus electrical repeater unit APS30 PWR ALM ＳＸ LOADER RUN TER...

Page 63: ... shut off without degraded operation is as follows In this case the station number of the amplifier parameter needs to be set to 0 default FALDIC α No degrading is detected MICREX SX is under operation ALPHA5 Degrading is detected to issue a serious alarm with MICREX SX Operation when the control power is shut off with degraded operation is as follows In this case the station number of the amplifi...

Page 64: ...13 Torque command 1 word write parameter reference value PC servo amplifier 14 S ON FWD REV ORG RST Position preset Position control Torque control Parameter no reference value word 15 Toggle monitor 0 Toggle monitor 1 Position command operation EMG Z phase detection command Interrupt position detection command Interrupt input enable Deviation clear Free run CONT 6 CONT 7 SEL 2 SEL 1 SEL 0 Write c...

Page 65: ...ta 13 Anti resonance frequency Acceleration time rate Deceleration time rate 14 Data selection Parameter no reference value word 15 CONT 6 CONT 7 CONT 8 CONT 9 CONT 10 CONT 11 CONT 12 CONT 13 CONT 14 CONT 15 CONT 16 CONT 17 CONT 18 CONT 19 Write command Read command Data selection bit11 bit10 bit9 bit8 Word 0 ALPHA5 SX 0 0 0 0 Command position 0 0 0 1 Feedback position 0 0 1 0 Position deviation A...

Page 66: ...ome compatible with conventional FALDIC α series One bit has been added to data selection of Faldic α series When data assigned in IQ area has been updated in data selection word 14 the data selection check word 6 will be updated to the identical pattern For details of input output signals in IQ area refer to CHAPTER 3 OPERATION 2 1 5 USB CN4 USB B type 4 pin connector Use a marketed cable ...

Page 67: ...P N junction In addition specify PA2 68 the main power shutoff detection time to 1000 ms When performing PN junction as shown in the figure above it is recommended to use a marketed connecter CL 1814T made by JST by preparing it separately It is because two wires cannot be connected to the connector WSK S05P E WSKR06P E of the servo amplifier of frame 4 or less The following figure is a connection...

Page 68: ...ke is a non exciting brake To turn the servomotor 24 V must be supplied There is no polarity in the brake input circuit If the brake is left released although 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 brake terminal of GYS type 1 0 to 2 0 kW and GYG type is l...

Page 69: ... A UL2464 AWG 25 2P AWG 23 2C Twisted type For 10 m or smaller wiring length RMCV SB A UL2464 AWG 25 2P AWG 17 2C For wiring lengths 10 m and 50 m The relationship between AWG and mm is shown below Gauge SI unit Inch unit A W G In mm 2 Diameter mm Cross section mm2 Diameter mil Cross section CM 16 1 25 1 291 1 309 50 82 2583 17 1 150 1 037 45 26 2048 18 1 024 0 8226 40 30 1624 19 0 9116 0 6529 35 ...

Page 70: ...ial communications The maximum encoder wiring length is 50m Perform shield treatment at the encoder according to the procedure specified below Despite motor capacity wiring treatment at the servo amplifier is the same Encoder cable preparation method Connect the end of the shielding wire to pin 3 Peel off the end of the shield about 15 mm Fold back the shield Wind copper foil tape two or three tur...

Page 71: ...t sequence input signal 1 Signals assignable to CONT1 to 5 sequence input terminals The signals which are turned on and off by an external signal You can select five signals in the table below No Function No Function 1 Servo on S ON 10 Forced stop EMG 6 Home position LS LS 34 External braking resistor overheat 7 OT 49 Interrupt input 8 OT 2 Functions assignable to CONT 6 and 7 IQ area The signals ...

Page 72: ...ting range Default value Change PA03_51 OUT1 signal assignment 0 PA03_52 OUT2 signal assignment Select among OUT signal assignment functions 0 Power Sequence output signal No Function No Function 1 Ready for servo on RDY 33 Alarm code 1 2 In position INP 34 Alarm code 2 11 Speed limit detection 35 Alarm code 3 14 Brake timing 36 Alarm code 4 16 Alarm detection Normally open contact 38 OT detection...

Page 73: ...e ALM1 CONT5 Through Alarm code ALM2 CSEL0 Alarm code ALM3 CSEL1 Alarm code ALM4 CSEL2 2 5 2 I O Signals of LS Type List of input signals The signal assigned to the sequence input terminal or to IQ area can be specified with a parameter No Name Setting range Default value Change PA03_01 CONT1 signal assignment 0 PA03_02 CONT2 signal assignment 0 PA03_03 CONT3 signal assignment 0 PA03_04 CONT4 sign...

Page 74: ...ment 0 PA03_14 CONT14 signal assignment 0 PA03_15 CONT15 signal assignment 9 IQ ABS INC PA03_16 CONT16 signal assignment 10 IQ EMG PA03_17 CONT17 signal assignment 0 PA03_18 CONT18 signal assignment 0 PA03_19 CONT19 signal assignment 1 to 76 0 Note After the setting change the parameters above are enabled after power cycle ...

Page 75: ...4 9 ABS INC 47 Override 8 10 Forced stop EMG 48 Interrupt input enable 11 Alarm reset RST 49 Interrupt input 12 VEL0 50 Deviation clear 13 VEL1 51 Multi step speed selection 1 X1 14 ACC0 52 Multi step speed selection 2 X2 16 Position preset 53 Multi step speed selection 3 X3 17 Gain switch 54 Free run 20 Torque limit 1 55 Edit permission 22 Immediate value continuation 57 Anti resonance frequency ...

Page 76: ... IQ RDY PA03_54 OUT4 signal assignment 2 IQ INP PA03_55 OUT5 signal assignment 28 IQ S RDY PA03_56 OUT6 signal assignment 16 IQ alarm detection at normally open contact PA03_57 OUT7 signal assignment 30 IQ Data error PA03_58 OUT8 signal assignment 31 IQ Address error PA03_59 OUT9 signal assignment 0 IQ PA03_60 OUT10 signal assignment 0 IQ PA03_61 OUT11 signal assignment 0 IQ PA03_62 OUT12 signal a...

Page 77: ...OT detection 67 MD7 18 Point detection area detection 2 39 OT detection 75 Position preset completion 19 Limiter detection 40 Home position LS detection 76 Alarm detection Normally closed contact 20 OT detection 41 Forced stop detection 79 Immediate value continuation permission 21 Cycle end detection 42 Toggle answer 0 80 Immediate value continuation completion 22 Homing completion 43 Toggle answ...

Page 78: ... the input terminal function setting parameter VS type If not assigned to CONT 1 to 5 it is activated with ON signal in IQ area If assigned to CONT 1 to 5 it is activated when the signal normally open contact in IQ area and signal normally open contact of CONT signal are both turned on Forward command FWD Sequence input signal Reference value 2 Reverse command REV Sequence input signal Reference v...

Page 79: ...r has been controlled to stop LS Type X3 X2 X1 Rotation speed OFF OFF OFF LS type Reference value in IQ area words 10 11 OFF OFF ON PA1_41 Manual feed speed 1 OFF ON OFF PA1_42 Manual feed speed 2 OFF ON ON PA1_43 Manual feed speed 3 ON OFF OFF PA1_44 Manual feed speed 4 ON OFF ON PA1_45 Manual feed speed 5 ON ON OFF PA1_46 Manual feed speed 6 ON ON ON PA1_47 Manual feed speed 7 3 Torque control V...

Page 80: ...and FF to position data and speed data in IQ area Check for the active state of the in position signal level to turn the start positioning signal on The motor starts to rotate After rotation begins the in position signal is turned off Parameter setting To assign the start positioning signal to IQ area sequence input terminal specify the corresponding value 4 to the input terminal function setting ...

Page 81: ... opposite to the homing The value is not added to the command current position display while traveling the amount of backlash compensation 2 Internal positioning data selection Set this parameter enable when performing positioning according to the positioning data No Name Setting range Default value Change PA2_40 Internal positioning data selection 0 Disable 1 Enable 0 Always 3 Sequential start se...

Page 82: ...on the homing command 2 Once the in position signal is turned off you can turn off the homing command The motor rotates in the direction of PA2_10 at a speed of PA2_06 3 When the home position LS signal is turned on the speed changes to creep speed for homing PA2_07 4 The motor moves the home position shift unit amount PA2_14 from the first Z phase after the rising or trailing edge of the home pos...

Page 83: ...tion the home position LS will be detected first Reverse traveling unit amount for homing PA2_09 If homing is executed from B in the figure above the distance to OT must be traveled in a round trip and therefore much time is taken If the reverse traveling unit amount for homing is specified the next action is performed at the start of homing 9 A travel occurs first at the homing speed by the rever...

Page 84: ...g a home position LS reference signal x Detection of an over travel signal in the opposite direction to the traveling direction x Detection of an over travel signal during travel of the home position shift traveling amount Over travel in positive direction OT Sequence input signal Reference value 7 Over travel in negative direction OT Sequence input signal Reference value 8 A signal from a limit s...

Page 85: ...equence output signal to the host controller can be notified the fact of detecting the OT or OT signal The OT detection signal is turned on upon detection of either OT 7 or OT 8 or software OT specified in PA2_27 28 software OT detection position If the host controller is equipped with an OT input connect to the host controller in general cases To specify this function specify 38 OT detection 39 O...

Page 86: ...0 regardless of the machine location If the position data is set to 100 in INC specification operation stops at the position in which the current position has been added by 100 to the current position Parameter setting To assign the ABS INC signal to IQ area sequence input terminal specify the corresponding value 9 to the input terminal function setting parameter This signal is handled to be alway...

Page 87: ... 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 servomotor becomes ready to rotate To assign the ready for servo on signal to a sequence output terminal specify the corresponding value 1 to the output terminal function setting parameter 2 Forced stop detection When the forced stop signal is turned off under ...

Page 88: ...e always turned off if it is not assigned to the sequence input terminal Relevant description There are the following methods for resetting alarm detection Rising edge of alarm reset RST of sequence input signal Press and hold the SET SHIFT key for at least one second in the test operation mode Press and hold the ad keys simultaneously for at least one second upon alarm detection Alarm reset from ...

Page 89: ...oning data ACC0 Sequence input signal Reference value 14 ACC0 switches the acceleration deceleration time Function 1 Acceleration deceleration time switch The acceleration time and deceleration time of the servomotor follow the setting of PA1_37 to 40 acceleration time deceleration time The acceleration time and deceleration time can be set separately The setting through ON OFF of the ACC0 signal ...

Page 90: ...dL2 dL3 Multi revolution overflow The position preset response is turned off when position preset is turned off Parameter setting To assign the position preset to IQ area sequence input terminal specify the corresponding value 16 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 Gain swtich Sequence ...

Page 91: ...uence input terminal Torque limit 0 Sequence input signal Reference value 19 Torque limit 1 Sequence input signal Reference value 20 Limitations are set on the output torque of the servomotor The torque limit 0 signal is enabled only for VS type Function Limitation on the output torque of the servomotor by turning on the torque limit signal can be set Specify the torque limit in increments of 1 in...

Page 92: ...maller If forced stop or servo on is turned off or if an over travel or minor failure alarm is detected limitation is set at 4 third torque limit PA2_62 4 or 5 the setting can be changed Torque limit under torque control VS type only The limit 2 is always enabled Deviation hold selection at torque limit Use deviation hold selection at torque limit PA2_59 under position control to select the torque...

Page 93: ... the output terminal function setting parameter The signal is fixed in VS type Immediate value continuation Sequence input signal Reference value 22 Positioning motion can be continued according to the next data from the target position speed started in the immediate value mode This signal is enabled only for LS type Function After immediate data operation starts with the first data supply desired...

Page 94: ...he servo amplifier The immediate value continuation permission signal remains enabled for 50 ms after positioning is completed 2 Immediate value continuation completion signal The signal is turned on after the immediate value continuation process is executed according to an immediate value continuation command and it is turned off after the immediate value continuation command is turned off 3 Comm...

Page 95: ...n arbitrary timing while the in position signal remains inactive Parameter setting To assign the immediate value change command to IQ area sequence input terminal specify the corresponding value 23 to the input terminal function setting parameter Enter value 81 for the immediate value change completion signal Relevant description 1 Change setting completion The signal is turned on after the changi...

Page 96: ...e ratio 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 and command pulse ratio 1 2 on to enable pulse operation If command pulse ratio 1 is turned on the ratio set at PA2_54 command pulse ratio 1 is enabled If command pulse ratio 2 is turned on the ratio set at PA2_5...

Page 97: ...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 signal Reference value 31 This signal temporarily stops the start positioning homing motion and interrupt positioning motion This signal is enabled only for LS type Function Deceleration starts at the activating edge of the pau...

Page 98: ... 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 terminal function setting parameter This signal is handled to be always turned off if it is not assigned to the sequence input terminal External braking resistor overheat Sequence input signal Reference ...

Page 99: ... position is completed Teaching is executed generally according to the following procedure 1 Designate the address of positioning data to which the current position is to be written in the positioning address range in IQ area 2 Using the manual forward rotation command pulse operation or the like feed the mechanical system to the target position 3 The current command position is written as positio...

Page 100: ...speed is subject to a limitation on PA1_26 maximum rotation speed for torque control with a variation of about 100 r min due to lack of speed control If PA2_56 speed limit selection at torque control is set to 2 IQ area the limit speed follows the setting in IQ area 2 Torque setting filter A filter can be performed by the setting of PA1_60 3 Output torque The output torque of the servomotor has in...

Page 101: ...d corresponding number are shown below Parameter setting To assign the override enable to IQ area sequence input terminal specify the corresponding value 43 to the input terminal function setting parameter Similarly specify the corresponding value 44 to 47 for override 1 2 4 8 This signal is handled to be always turned off if it is not assigned to the sequence input terminal Relevant description 1...

Page 102: ...etection Sequence input signal Reference value Use to realize the interrupt positioning function Function If the interrupt input enable signal assigned to a CONT input signal is turned on stoppage is caused after a travel of a certain amount since the interrupt input signal is turned on Specify the traveling amount after the interrupt input in PA2_20 interrupt traveling unit amount The rotation sp...

Page 103: ... 0 0001 0 1 mm Consideration must be taken for the response capability and other particulars of the sensor used for the interrupt input 3 Interrupt position detection function This function is enabled only for VS type While PA2_92 is 0 through 3 and the interrupt position detection command input signal QX 15 10 in IQ area and interrupt input enable are turned on an interrupt input is detected to r...

Page 104: ...e deviation clear signal remains turned on The present command position changes to the present feedback position This is enabled while the zero speed NZERO signal is turned on Use PA3_36 deviation clear input form to select either the edge or level signal If the edge is selected deviation is reset at the rising edge The activation time must be 2 ms or over Parameter setting To assign the deviation...

Page 105: ...arameter setting To assign the multi step speed selection to IQ area sequence input terminal specify the corresponding value 51 52 and 53 to the input terminal function setting parameter These signals are handled to be always turned off if they are not assigned to sequence input terminals Free run BX Sequence input signal Reference value 54 To put the servomotor forcibly into free run coast to sto...

Page 106: ...ader thereby avoiding movement of the servomotor drop of the machine etc Parameter setting To assign the edit permission to IQ area sequence input terminal specify the corresponding value 55 to the input terminal function setting 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 par...

Page 107: ...ght 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 frequency Vibration suppressing workpiece inertia ratio OFF OFF PA1_78 PA1_79 OFF ON PA1_80 PA1_81 ON OFF PA1_82 PA1_83 ON ON PA1_84 PA1_85 Parameter setting To assign the anti resonance frequency selection 0...

Page 108: ...on OFF The toggle error is prepared as a dedicated signal different detection function from alarm detection alarm code 4 to 0 The toggle error monitor becomes enabled after the toggle monitor 0 and 1 start to be updated The toggle error signal can be reset with the alarm reset signal after the toggle monitor 0 and 1 resume to be updated again Using the toggle answer bit on the CPU side of the SX t...

Page 109: ... 6 CONT6 PA3_6 to CONT19 PA3_19 75 Toggle monitor 0 76 Toggle monitor 1 If a program using the toggle monitor 0 and 1 on the SX side the servo amplifier detects the toggle error to stop operation After restarting the program on the SX side reset the alarm in the software on the SX side to operate the servo amplifier Position control Sequence input signal Reference value Position command operation ...

Page 110: ...input signal Reference value Selects the data in IQ area Function Data in IQ area can be selected by combination of ON and OFF among SEL0 though SEL3 VS type Select data by combination among SEL0 through SEL2 LS type Select data by combination among SEL0 through SEL3 VS type IQ area SEL2 SEL1 SEL0 4 5 12 13 OFF OFF OFF Speed command Torque command OFF OFF ON Feedback speed monitor Torque monitor W...

Page 111: ...The 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 IQ area sequence output terminal specify the corresponding value 1 to the output terminal function setting parameter Relevant description The servo control ready S RDY reference value 28 signal can be output The servo control ready ...

Page 112: ... shot can be set Parameter setting To assign the in position INP to IQ area sequence output terminal specify the corresponding value 2 to the output terminal function setting parameter Signal activation condition 1 At power on Level ON Single shot OFF 2 During command pulse input operation Level The signal is turned on if conditions A and B below are satisfied A The rpm of the servomotor is within...

Page 113: ...function available only for LS type Level The signal is turned on if conditions A and B below are satisfied A The rpm of the servomotor is within the setting of PA1_30 zero speed range B The difference deviation amount between the command position command pulse input and feedback position is within the setting of PA1_32 zero deviation range in position range Single shot If conditions A and B above...

Page 114: ... speed limit depends on the setting of PA1_25 maximum rotation speed for position and speed control Parameter setting To assign the speed limit detection to IQ area sequence output terminal specify the corresponding value 11 to the output terminal function setting parameter Over write completion Sequence output signal Reference value 13 Read completion Sequence output signal Reference value Write ...

Page 115: ...in QW 14 The loaded parameter data is established when the read completion signal has been turned on 3 Positioning data overwrite Positioning data is overwritten with the activation of write command according to the table below When the write command is turned off the over write completion 13 is also turned off Name Area Positioning data designation bit 8 to 11 position in QW 14 Position data of p...

Page 116: ...data QD 2 Stand still timer settings of positioning data QW 12 Positioning data status High order byte in QW 5 Positioning data no Low order byte in QW 14 Parameter setting To assign the over write completion signal to IQ area sequence output terminal specify the corresponding value 13 to the output terminal function setting parameter The signals of over write completion read completion write comm...

Page 117: ...ing 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 cannot be released directly in the sequence output terminal DC 30V 50mA The brake attached to the servomotor is for retention Do not use it for braking Do not use the 24 V power supply for sequence I O sig...

Page 118: ...als 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 Main power supply ON OFF Base signal ON OFF Ready for servo on RDY ON OFF Brake timing output ON OFF ...

Page 119: ...g the host controller recognizes the alarm detection It can be also checked when the servo on S ON is ON and ready for servo on RDY is OFF Precautions for using a normally closed contact for alarm detection The contact remains turned off for about 1 5 seconds after the power is turned on Parameter setting To assign the alarm detection normally open contact to IQ area sequence output terminal speci...

Page 120: ...of PA2_32 or PA2_33 The signal is turned off below the setting 3 PA2_31 point detection area detection 2 area ON OFF The signal is turned on below the setting of PA2_32 or PA2_33 The signal is turned off beyond the setting Parameter setting To assign the point detection and area detection 1 to IQ area sequence output terminal specify the corresponding value 17 to the output terminal function setti...

Page 121: ...d off The above positioning data assumes uniform incremental positioning data Parameter setting To assign the limiter detection to IQ area sequence output terminal specify the corresponding value 19 to the output terminal function setting parameter Relevant description The limiter function is helpful to move at a uniform interval to the preset parameter position There is no need to calculate the f...

Page 122: ...gnals 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 inputs 2 Software OT Set PA2_25 software OT selection at 1 enable VS type only to limit the position range of motion between PA2_26 positive software OT detection position and PA2_27 negative software OT detection position If the range is exce...

Page 123: ...and issue the start 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 repeated until the positioning data including CEND is reached 4 After positioning motions are completed up to the positioning data including CEND the cycle end detection signal is turned ...

Page 124: ...pletion 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 remains turned on if the feedback position is within PA2_17 home position detection range around PA2_16 home position after homing completion The signal is always turned on after homing if PA2_17 home positi...

Page 125: ...f the 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 IQ area sequence output terminal specify the corresponding value 24 to the output terminal function setting parameter Speed coincidence NARV Sequence output signal Reference value 25 The signal is tu...

Page 126: ...es Parameter setting To assign the torque limit detection to IQ area sequence output terminal specify the corresponding value 26 to the output terminal function setting parameter Overload warning detection Sequence output signal Reference value 27 The signal is turned on if the servomotor load factor is at the reference value A warning can be issued before the servomotor is suddenly stopped due to...

Page 127: ...40 Overload warning value 60 Overload warning value 80 Overload warning value 100 Overload detection OL2 alarm Lock detection OL1 alarm Overload warning time at 6000r min 0 100 200 300 400 500 600 0 100 200 300 400 Load factor Overload warning time sec Overload warning value 20 Overload warning value 40 Overload warning value 60 Overload warning value 80 Overload warning value 100 Overload detecti...

Page 128: ...put terminal specify the corresponding value 28 to the output terminal function setting parameter Edit permission response Sequence output signal Reference value 29 The signal is output if the edit permission input signal for enabling editing operation for parameters etc is turned on This signal is enabled only for LS type Function After the edit permission assigned to a CONT input signal is turne...

Page 129: ...ff when the read or over write command is turned off Setting of parameters is not necessary as the signals have been assigned and fixed in IQ area Address error Sequence output signal Reference value 31 The signal is turned on when deviation from the parameter number and positioning data number range is detected This signal is enabled only for LS type Function This signal is turned on if deviation...

Page 130: ...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 With the LS type codes are output to IQ area in a batch Parameter setting To assign alarm code 0 to 4 to sequence output terminals specify the corresponding value 32 to 36 to the output terminal function setting parameter Correspondence between content...

Page 131: ...Overvoltage 1 0 0 0 08H Hv 5 Control power undervoltage 1 0 0 1 09H LvC 4 Main power undervoltage 1 0 0 1 09H LvP 17 Encoder trouble 1 1 0 1 0 0AH Et1 6 Encoder trouble 2 1 0 1 0 0AH Et2 7 Initial error 1 0 1 1 0BH IE 28 Circuit trouble 1 1 0 0 0CH Ct 8 Memory error 1 1 0 1 0DH DE 9 Fuse broken 1 1 1 1 0FH Fb 10 Encoder communication error 1 0 0 0 0 10H EC 13 Motor combination error 1 0 0 0 1 11H ...

Page 132: ...output Function The corresponding OT or OT detection sequence output is turned on while the OT or OT sequence input signal terminal remains turned off Parameter setting To assign the positive or negative OT detection to IQ area sequence output terminal specify the corresponding value 38 or 39 to the output terminal function setting parameter Relevant description 1 OT detection The signal is turned...

Page 133: ... on or forced stop signal assigned to CONT 1 to 5 is turned off or if the forced stop signal in IQ area is turned on Parameter setting To assign the forced stop detection to IQ area sequence output terminal specify the corresponding value 41 to the output terminal function setting parameter The parameters are fixed in IQ area IX 8 7 for VS type Toggle answer 0 Sequence output signal Reference valu...

Page 134: ...rminal specify the corresponding value 46 to the output terminal function setting parameter MD0 Sequence output 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 value 64 MD5 Sequence output signal Reference value 65 MD6 Sequence output signal Refer...

Page 135: ...ompletion You can select the M code output timing between during execution of positioning data output at start and after execution of positioning data output at completion Output at startup during positioning The signal is issued since the start of the positioning motion to the end After the positioning motion is finished the signal is turned off Output at completion after completion The signal is...

Page 136: ...ion preset completion is turned on after position preset is finished Parameter setting To assign the position preset completion to IQ area sequence output terminal specify the corresponding value 75 to the output terminal function setting parameter The parameters are fixed in IQ area IX 8 7 for VS type Rotation speed Ready for servo on Output after M code issuing Time ON ON OFF Start positioning A...

Page 137: ...ntinuation completion sequence output signal 80 Immediate value continuation permission sequence output signal 79 Immediate value continuation completion Sequence output signal Reference value 80 The signal is turned on after continuation of immediate value operation is processed according to an immediate value continuation command and it is turned off after the immediate value continuation comman...

Page 138: ...inal function setting parameter The relevant signal reference values are shown below Assigned signal No Immediate value change sequence input signal 23 Immediate value change completion sequence output signal 81 Command positioning completion Sequence output signal Reference value 82 The signal is turned on after the command value inside the servo amplifier is completed This signal is enabled only...

Page 139: ...n If a motion to the current position is started the servomotor does not start but the in position signal is turned off for the time specified in PA1_34 in position minimum OFF time single shot ON time Parameter setting To assign the command position completion to IQ area sequence output terminal specify the corresponding value 82 to the output terminal function setting parameter Command positioni...

Page 140: ...NT6 OUT1 0 FALSE OFF 1 TRUE ON The signal status of CONT6 QX 15 6 is send with through output to OUT1 regardless of the CONT6 signal assignment The output signal is turned off in the following cases The SX bus has not been established The SX bus base board power is turned off the cable is disconnected The program is stopped by D300win CONT1 Through Sequence output signal Reference value CONT2 Thro...

Page 141: ...tion If the value set in PA2_69 deviation detection overflow value is exceeded the deviation over alarm is activated The alarm is reset at the rising edge of the alarm reset The signal is output to IQ area IX 9 6 This signal is enabled only for VS type Interrupt position detection Sequence output signal Reference value The interrupt position detection IX 9 5 is turned on after the interrupt input ...

Page 142: ...CHAPTER 2 WIRING 2 98 Description of I O Signals 2 ...

Page 143: ...3 1 CHAPTER 3 OPERATION 3 ...

Page 144: ...Signal for determining the home position Home position LS 6 OT 7 OT 8 Interrupt input 49 Position preset 16 07 Signal irrelevant to motor operation Alarm reset 11 Edit permission 55 LS type only The moving part of the mechanical system of the elevator may drop if a free run command is used Do not assign the command unless necessary If OT 7 is detected during rotation caused by the FWD 2 signal pri...

Page 145: ...oth of them The following results indicate the correct state 1 The charge LED lights up in red 2 If the servo amplifier is in the factory shipment state the keypad shows the following If the charge LED fails to light up Appropriate voltage 200 V or 100 V is not supplied to the main power terminals L1 L2 and L3 Check the source voltage In case of three phase 400 V use a transformer to drop to 200 V...

Page 146: ...nd remains turned on until the power is shut down Power supply SRDY 3 2 3 Servo On S ON Ready for Servo On RDY Issue this signal to turn the servomotor on and make it ready to turn If the signal is turned off in motor stoppage the motor immediately free run If the signal is turned off during motor rotation the motor decelerates to stop and after it is stopped the motor free run After servo on is t...

Page 147: ...eck that the output shaft of the servomotor rotates 1 Use the MODE ESC key to start the test operation mode Fn_001 2 The servomotor rotates while the key on the keypad is held down After checking shaft rotation in the test operation mode press the MODE ESC key to return until Fn_001 is displayed again Unless Fn_001 is displayed again rotation with the sequence I O signal is impossible Notation of ...

Page 148: ...ow voltage alarm is not detected If the DC link voltage drops below about 200V and the power is restored within one second with the servo on signal being turned on the main power undervoltage is detected If the duration exceeds one second the main power undervoltage is not detected Even if the main power undervoltage alarm is detected there is no effect on the servo amplifier However do not repeat...

Page 149: ...er 6 Position data sampling timing PC servo amplifier 7 Pulse input cumulative value PC servo amplifier 8 RDY INP Alarm detection Zero deviation Zero speed Homing completion Torque limit detection Data error Forced stop detection Deviation over Toggle error ALM4 ALM3 ALM2 ALM1 ALM0 9 Toggle answer 0 Toggle answer 1 CONT 1 Through CONT 2 Through CONT 3 Through CONT 4 Through CONT 5 Through Internal...

Page 150: ...rned on 3 3 4 Operation under Position Control Position control is executed while position control QX 14 9 is turned on While FWD QX 14 14 or REV QX 14 13 is turned on the motor rotates at the speed specified with the speed command QW 12 4000H of the rotation speed of the motor shaft is equivalent to 3000 r min You can use the SX extended function parameter PA2_92 so that 6000H is equivalent to 60...

Page 151: ...rvo amplifier refreshment timing in microseconds is output 1H is equivalent to 1ms The value is positive Toggle monitor toggle answer Change toggle monitor 0 and toggle monitor 1 in the IQ area from 0 0 to 0 1 to 1 0 to 1 1 at each scan to change toggle answer 0 and toggle answer 1 similarly If the servo amplifier receives the same pattern continuously for three times a toggle error IX 8 5 is turn...

Page 152: ...ier supplied to pulse terminals CA CA CB and CB are stored Due to an endless ring counter no overflow is caused 3 3 5 Operation under Speed Control While FWD QX 14 14 or REV QX 14 13 is turned on the motor rotates at the speed of QW 12 4000H of the motor shaft rotation speed is equivalent to 3000 r min With the PA2_92 SX extension function 6000H can be made equivalent to 6000 r min The servo on S ...

Page 153: ...opped according to the setting of parameter PA2_61 action sequence at servo on OFF If immediate deceleration is selected deceleration is made at the torque specified in parameter PA2_60 third torque limit 1 If free run at deceleration is selected at extended function parameter PA2_61 action sequence at servo on OFF the motor coasts for a while due to inertia 2 The in position INP signal shown in t...

Page 154: ...rameter PA2_18 selection of operation at OT during homing 2 The in position INP signal shown in the figure indicates the state in the level output mode 3 If the forward rotation torque limit basic setting parameter PA1_27 or reverse rotation torque limit PA1_28 is smaller than the third torque limit extended function parameter PA2_60 the torque settings of the forward rotation torque limit and rev...

Page 155: ...signals and a normally open contact signal if assigned to IQ area of SX bus The figure shows an example when CONT 1 to 5 signals are assigned 2 The in position INP signal shown in the figure indicates the state in the level output mode 3 If the basic setting parameter forward rotation torque limit PA1_27 or reverse rotation torque limit PA1_28 is smaller than the extended function setting paramete...

Page 156: ...indicates the state in the level output mode 5 Deviation clear If the deviation clear signal is detected during motor rotation operation is stopped and immediate controlled stop is caused according to the selected torque limit The maximum torque is assumed if parameter setting is selected with the default setting If 1 level signal is selected for input terminal function parameter PA3_36 deviation ...

Page 157: ...or vertical traveling machines If the function is used for a vertical traveling machine examine adaptability with the brake carefully In addition to operation stop and interruption caused by input signals detection of an alarm or toggle error causes the operation to be stopped The stopping motion upon an alarm follows the setting of extended function setting parameter PA2_62 serious alarms fixed a...

Page 158: ... parameter PA2 Write parameter PA2 ON ON OFF Read parameter PA3 Write parameter PA3 The SEL signals are data selection signals as shown in the table above The data is determined according to the combination among SEL0 QX 14 2 SEL1 QX 14 3 and SEL2 QX 14 4 When the reading completion bit is turned on the parameter is established When the overwrite completion bit is turned on you can change word 12 ...

Page 159: ...ile the position command is turned on Forced stop EMG 12 A forced stop state is caused while the bit is turned on Z phase detection command 11 If the Z phase of the servomotor is detected when the bit is turned on Z phase detection assigned at bit 6 of word 9 is turned on The Z phase detection feedback position is output in word positions 2 and 3 Interrupt position detection command 10 If an inter...

Page 160: ...t is turned on if the speed is within the zero speed width range Homing completion 10 The bit is turned on after the homing is complete Torque limit detection 9 The bit is turned on while the output torque reaches the torque limit Data error 8 The bit is turned on if a parameter is out of the permissible range The bit is turned off after the overwrite command is turned off Forced stop detection 7 ...

Page 161: ...me is zero Position preset response 7 The bit is turned on after position presetting is complete and it is turned off after the command is turned off Z phase signal detection 6 Response signal to Z phase detection command Interrupt position detection 5 Response signal to interrupt position detection command CSEL2 4 CSEL1 3 CSEL0 2 Response signal to SEL2 SEL1 and SEL0 Over write completion 1 Respo...

Page 162: ...M3 ALM2 ALM1 ALM0 9 Toggle answer 0 Toggle answer 1 CONT 1 Through CONT 2 Through CONT 3 Through CONT 4 Through CONT 5 Through Internal command pulse zero Position preset response Z phase signal detection Interrupt position detection CSEL 2 CSEL 1 CSEL 0 Over write completion Read completion 10 11 Position command PC servo amplifier 12 Speed command 1 word write parameter reference value PC servo ...

Page 163: ...000 H 3001r min signed 10 100 Motor current 3000 H 3000r min signed 10 101 Effective torque 10 110 OL thermal value 10 111 Follows bit selection in Breaking resistor thermal value 11 000 Filter command speed 4000 H 3000r min or 3000 H 3000r min signed 11 001 Load inertia ratio 0 1 times unsigned 11 010 DC link voltage max 1V unsigned 11 011 DC link voltage min 1V unsigned 11 100 Power 1 signed 11 ...

Page 164: ...ata 6 CSEL3 CSEL2 CSEL1 CSEL0 Positioning address parameter no monitor selection vibration suppressing workpiece inertia answer 7 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 OUT16 Over write completion Read completion 8 9 Position data setting parameter setting 10 11 Speed data setting 12 Acceleration time data stand still timer Deceleration time data stand still timer 1...

Page 165: ... torque effective torque 5 Alarm code status positioning data M code output M code positioning data 6 CSEL3 CSEL2 CSEL1 CSEL0 Positioning address parameter no monitor selection vibration suppressing workpiece inertia answer 7 RDY INP S RDY Alarm detection Data error Address error OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 OUT16 Over write completion Read completion 8 9 Position data setting paramete...

Page 166: ... Low order word 1 Command position feedback position position deviation High order word 2 Feedback speed Low order word 3 Feedback speed High order word 4 Command torque 1 word 5 Alarm code Execution M code 6 Data selection check Positioning address check 7 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 OUT16 Overwrite completion Read completion 8 Position command Low order...

Page 167: ...on feedback position position deviation High order word 2 Monitor 1 Low order word 3 Monitor 1 High order word 4 Monitor 2 1 word 5 Alarm code 6 Data selection check Monitor 1 and 2 selection check 7 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 OUT16 Overwrite completion Read completion 8 Position command Low order word 9 Position command High order word 10 Speed command ...

Page 168: ...5 Alarm code 6 Data selection check Vibration suppressing workpiece inertia ratio check 7 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 OUT16 Overwrite completion Read completion 8 Position command Low order word 9 Position command High order word 10 Speed command manual feed speed data positioning data Low order word 11 Speed command manual feed speed data positioning dat...

Page 169: ...r byte of word 14 Even if this modification is made to this IQ positioning motions having been started are not affected bit Address 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 Read parameter Low order word 1 Read parameter High order word 2 3 4 5 6 Data selection check Parameter no check 7 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 OUT16 Overwrite completion Read completion...

Page 170: ...5 4 3 2 1 0 0 Read position data Low order word 1 Read position data High order word 2 Read speed data Low order word 3 Read speed data High order word 4 Read timer data 5 Read attribute Read M code 6 Data selection check Positioning data no check 7 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 OUT16 Overwrite completion Read completion 8 Write position data Low order word...

Page 171: ...ble vibration suppression control Specify the anti resonance frequency between 1 and 3000 0 1 Hz to 300 0 Hz Vibration suppression workpiece inertia ratio low order byte in position of word 14 Designate the inertia ratio of the workpiece used under vibration suppression control The setting range is from 1 to 80 in increments of one Reading timer data writing timer data position of word 4 12 Use th...

Page 172: ...n command 1 unit amount signed 2000000000 to 2000000000 unit amount Speed command 0 01 r min signed 0 01 to max speed Speed data 0 01 r min signed 0 01 to max speed Timer data stand still timer 0 01 S or 0 001 S unsigned 0 to 655 35 S or 0 to 65 535 S Acceleration deceleration time Follows acceleration deceleration time rate 0 to 255 Anti resonance frequency 0 1 Hz unsigned 0 function disabled 1 0...

Page 173: ...and speed torque current value motor feedback current value peak torque effective torque 4 Torque current value stand still timer positioning data feedback speed command speed motor feedback current value peak torque effective torque 5 Alarm code status positioning data M code output M code positioning data 6 CSEL3 CSEL2 CSEL1 CSEL0 Positioning address parameter no monitor selection vibration supp...

Page 174: ...Positioning data OFF ON ON OFF 4 The figure shows the case where positioning setting parameter 40 is set at positioning data disable 0 If positioning setting parameter 40 is set at positioning data enable 1 FF hexadecimal 255 in decimal must be set as a positioning address bits 7 to 0 of word 14 5 The in postion signal INP in the figure indicates the state of the case of level output setting If in...

Page 175: ...nd to the CONT signal with an input terminal function parameter and assign change setting completion to the OUT signal with an output terminal function parameter Speed Time RDY ON INP ON START OFF ON OFF ON Speed data setting before change OFF CSEL3 2 1 0 SEL3 2 1 0 OFF OFF OFF OFF Position data setting 10000 unit amount Speed data setting 50000 0 01 r min Position data setting before change OFF O...

Page 176: ...he direction of rotation is switched during immediate value continuation operation movement is temporarily stopped at the command position before the next immediate value continuation data is executed At this time in position INP keeps turned off while operation continues The immediate value continuation command supplied activated within 50 msec after the rising edge of in position INP is accepted...

Page 177: ...ing data with the PC Loader or keypad front panel of the amplifier or through teaching For detail setting method refer to CHAPTER 12 POSITIONING DATA Speed Time 0 Immediate value continuation OFF ON OFF 50ms ON 50ms Immediate value continuation permission OFF ON Speed Time RDY ON INP ON START OFF ON OFF ON Positioning data no 62 OFF CSEL3 2 1 0 SEL3 2 1 0 OFF OFF OFF OFF Positioning address 3E hex...

Page 178: ...d later inputs of the start positioning START to continue positioning without updating the address setting Execution of positioning data provided with the cycle end CEND issues a cycle end detection output When start positioning START is supplied next movement returns to the first positioning address and positioning is executed You can use this to repeat a predetermined operation pattern When nece...

Page 179: ...nnection signal format of pulse 0 Command pulse direction 1 Forward reverse pulse 2 A B phase pulse 0 to 2 PA1_5 Number of command input pulses per revolution 0 Electronic gear is enabled 64 to 1048576 The number of input pulses per motor revolution 0 64 to 1048576 PA1_6 Numerator 0 of electronic gear 1 to 4194304 PA1_7 Denominator of electronic gear Numerator 0 of electronic gear denominator of e...

Page 180: ...ied pulse 1 If both command pulse ratios 1 and 2 are turned on priority is given to command pulse ratio 1 2 The in position INP signal shown in the figure indicates the case of level output setting 3 4 5 Interrupting Stopping Operation The following input signals interrupt or stop each operation Servo on S ON OT OT Forced stop EMG Pause Positioning cancel Deviation clear Free run Speed Time RDY ON...

Page 181: ...FF If immediate deceleration is selected deceleration is made at the torque specified in parameter PA2_60 third torque limit 1 If free run at deceleration is selected at parameter PA2_61 action sequence at servo on OFF the motor coasts for a while due to inertia 2 The in position INP signal shown in the figure indicates the state in the level output mode Speed Time RDY ON INP ON OFF S ON ON OFF OF...

Page 182: ...2_18 selection of operation at OT during homing 2 The in position INP signal shown in the figure indicates the state in the level output mode 3 If the basic setting parameter forward rotation torque limit PA1_27 or reverse rotation torque limit PA1_28 is smaller than the extended function parameter third torque limit PA2_60 the torque settings of the forward rotation torque limit and reverse rotat...

Page 183: ...signals and a normally open contact signal if assigned to IQ area of SX bus The figure shows an example when CONT 1 to 5 signals are assigned 2 The in position INP signal shown in the figure indicates the state in the level output mode 3 If the basic setting parameter forward rotation torque limit PA1_27 or reverse rotation torque limit PA1_28 is smaller than the extended function setting paramete...

Page 184: ...ration deceleration time data IQ area 2 The in position INP signal shown in the figure indicates the state in the level output mode 5 Positioning cancel If the positioning cancel signal is turned on during motor rotation operation is stopped and controlled stop is caused according to the deceleration time setting While the positioning cancel signal remains active homing interrupt positioning immed...

Page 185: ... rotation operation is stopped and immediate controlled stop is caused according to the selected torque limit The maximum torque is assumed if parameter setting is selected with the default setting If 1 level signal is selected for input terminal function parameter PA3_36 deviation clear input form the motor is stopped at the zero speed and the current position is not retained while the deviation ...

Page 186: ...t used for vertical traveling machines If the function is used for a vertical traveling machine examine adaptability with the brake carefully In addition to operation stop and interruption caused by input signals detection of an alarm causes the operation to be stopped The stopping motion upon an alarm follows the setting of extended function setting parameter PA2_62 serious alarms fixed at free r...

Page 187: ... and the state of input signal ACC0 or the setting of deceleration time data IQ area 2 During pulse operation the motor is stopped at the limiter detection position when the pulse input position reaches the limiter detection position The stopping motion follows the torque limit specified in a parameter 3 The in position INP signal shown in the figure indicates the state in the level output mode Sp...

Page 188: ... 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 1 Parameter read value 2 3 Unused 4 Unused 5 Unused Unused 6 CSEL3 CSEL2 CSEL1 CSEL0 Parameter no Check 7 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 OUT16 Over write completion Read completion 8 9 Parameter setting 10 11 Unused 12 Unused Unused 13 Unused Unused Unused 14 SEL3 SEL2 SEL1 SEL0 Parameter no Set word 15 CONT6 CONT7 CO...

Page 189: ...nd 1 bit in 15th word Example of writing the basic setting parameter the auto tuning gain 1 PA1_15 to 10 Parameter read value SEL3 2 1 0 ON Read command OFF Parameter no Set CSEL3 2 1 0 Parameter no Check Read completion OFF OFF ON ON PA1_ 15 OFF OFF ON ON PA1_ 15 ON OFF 12 Time OFF OFF Parameter setting SEL3 2 1 0 Write command OFF Parameter no Set CSEL3 2 1 0 Parameter no Check Write completion ...

Page 190: ...is turned on correct setting items and execute read write again A data error is caused if the parameter no or parameter setting is out of the permissible setting range OFF OFF ON ON PA1_ 50 Out of set range Parameter setting SEL3 2 1 0 Write command OFF Parameter no Set CSEL3 2 1 0 Parameter no Check Over write completion OFF OFF ON ON PA1_ 15 15 OFF Time ON Data error OFF ON OFF OFF ...

Page 191: ...L 3 CSEL2 CSEL1 CSEL0 Positioning address Check 7 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 OUT16 Over write completion Read completion 8 9 Position data setting 10 11 Speed data setting 12 Stand still timer 13 M code timing M code selection Cycle end Data continuation ABS INC M code 14 SEL3 SEL2 SEL1 SEL0 Positioning address word 15 CONT6 CONT7 CONT8 CONT9 CONT10 CONT...

Page 192: ...Read command OFF Positioning address CSEL3 2 1 0 Positioning address Check Read completion OFF ON ON OFF 64 OFF ON ON OFF 64 ON OFF 5000 Time Speed data Read 2000 Stand still timer Read 500 M code Read M code output timing Read ON Output at completion M code selection Read ON Enable Cycle end Read OFF No end designation Data continuation Read OFF Not continued ABS INC Read ON INC shift amount desi...

Page 193: ...2 1 0 ON Write command OFF Positioning address CSEL3 2 1 0 Positioning address Check Over write completion OFF ON ON OFF 17 OFF ON ON OFF 17 ON OFF 10000 Time Speed data 2500 Stand still timer 30 M code 11h hexadecimal M code output timing ON Output at completion M code selection ON Enable Cycle end OFF No end designation Data continuation ON Continuation ABS INC OFF ABS target position designatio...

Page 194: ... data no or positioning data setting is out of the permissible setting range Out of set range Position data SEL3 2 1 0 ON Write command OFF Positioning address CSEL3 2 1 0 Positioning address Check Over write completion OFF ON ON OFF 39 OFF ON ON OFF 39 OFF 30000 Time Speed data 1000000 Stand still timer 100 M code 41h hexadecimal M code output timing ON Output at completion M code selection ON En...

Page 195: ... 5 Alarm code Execution M code 6 Positioning address check 7 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15 OUT16 Overwrite completion Read completion 8 9 Position command 10 11 Speed command manual feed speed data positioning data 12 Acceleration time data Deceleration time data 13 Anti resonance frequency Acceleration time rate Deceleration time rate 14 Data selection Par...

Page 196: ...Motor current 10 100 Peak torque 10 101 Effective torque 10 110 OL thermal value 10 111 Monitors by following bit selection in Breaking resistor thermal value 11 000 Filter command speed 1r min signed 11 001 Load inertia ratio 0 1 times unsigned 11 010 DC link voltage max 1V unsigned 11 011 DC link voltage min 1V unsigned 11 100 Power 1 signed 11 101 Motor temperature 1 unsigned 11 110 Resonance f...

Page 197: ...4 1 CHAPTER 4 PARAMETER 4 ...

Page 198: ...he torque limit 4 72 Input terminal function setting parameters No PA3_01 to 50 Use to enter or change input signals of the servo amplifier 4 85 Output terminal function setting parameters No PA3_51 to 99 Use to enter or change output signals of the servo amplifier 4 91 4 2 Basic Parameters Parameters marked in the Power field are enabled after the control power is turned off then turned on again ...

Page 199: ... In position output format 0 34 In position output time VS type In position minimum OFF time Single shot ON time LS type 20 35 In position judgment time 0 36 Acceleration deceleration selection at speed control 1 0 37 Acceleration time 1 100 0 38 Deceleration time 1 100 0 39 Acceleration time 2 500 0 40 Deceleration time 2 500 0 41 Manual feed speed 1 for position and speed control for VS test ope...

Page 200: ... over flow alarm is not detected Multi rotation data should be processed at the host controller suitably Specify so that the ratio of PA1_06 to 07 2n 1 To establish an absolute position system set this parameter at 1 or 2 In addition install the optional absolute backup battery Because a multi rotation data loss alarm dL1 alarm is detected when the power is turned on perform position presetting to...

Page 201: ... t4 480 ns t6 500 ns t7 500 ns t8 100 ns Forward rotation command CA CA CB CB Reverse rotation command Arrow marks in the figure above indicate the pulse count timing t1 100 nsec t2 100 nsec t3 480 nsec t4 480 nsec t5 500 nsec 90 10 t3 t1 t2 t5 t4 t1 100 ns t2 100 ns t3 480 ns t4 480 ns t5 500 ns Forward rotation command CA CB Reverse rotation command ON specified in the figure above indicates act...

Page 202: ...tation of the servomotor In case of operation with speed command data to the IQ area VS type When speed command data 4000H 3000 r min in word 12 in IQ area is set and the FWD signal in word 14 is turned on the direction of rotation becomes the forward direction making the servomotor rotate forward LS type When speed command data in increments of 0 01 r min with a sign in word 10 in IQ area is set ...

Page 203: ... gear No Name Setting range Default value Change 06 Numerator 0 of electronic gear 1 to 4194304 in increments of 1 16 Always 07 Denominator of electronic gear 1 to 4194304 in increments of 1 1 Always These parameters are enabled only under position control With these parameters the traveling amount of the mechanical system per each command pulse is adjusted to a unit amount If parameter PA1_05 is ...

Page 204: ...oximate 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 per revolution during forward rotation of the motor shaft Enter the specifications of the machine to automatically calculate the settings Parameters grouped according to each mechanical configuratio...

Page 205: ... default value 0 settings of parameters PA1_09 and _10 The output 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 Default value Change 09 Numerator of electric gear for output pulses 1 to 4194304 in increments of 1 1 Power 10 Denominator of electric gear...

Page 206: ...tput position shifts in the CCW direction by the specified pulse amount For servomotors having HB2 at the end of the model name 18 bit encoder the maximum value is 262143 pulses This parameter is irrelevant to the rotation direction selection parameter PA1_04 The Z phase used for homing is also the position that is offset with this parameter The Z phase used in IQ area is the position that is offs...

Page 207: ...ia ratio of the machine has relatively 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 ratio Manual tuning Use this mode if auto tuning and semi auto tuning modes do not function satisfactorily Manually enter the load inertia ratio and various gains Inter...

Page 208: ...nside 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 ADJUSTMENT PA1_14 Load inertia ratio No Name Setting range Default value Change 14 Load inertia ratio GYS and GYC 750 W or less 0 0 to 300 0 times GYS and GYC 1 kW or more 0 0 to 100 0 times GYG 0 0 to 30 0 times 1 0 Always This...

Page 209: ...ents of 1 12 Always This parameter is enabled under speed and position control Specify 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 following characteristic and positioning settling time however a too large value causes vibration of the motor Setting...

Page 210: ... 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 this parameter What is positioning settling time Time from completion of issuance of command frequency to issuance of in position signal The time varies according to various conditions such as the f...

Page 211: ... 750 W or less 0 01 to 6000 r min GYS and GYC 1 kW or more 0 01 to 5000 r min GYG 0 01 to 3000 r min 6000 GYS and GYC of 750 W or less 5000 GYS and GYC of 1 kW or more 3000 GYG Always PA1_26 Max rotation speed for torque control is enabled only for VS type Enter the maximum rotation speed of the sevomotor for position speed and torque control VS type only However this parameter is disabled during ...

Page 212: ...ence signal is turned on in the range of 50 r min to the command speed If the command speed is not reached due to PA1_25 maximum rotation speed override or similar the signal is turned off The speed coincidence signal does not turn on if the FWD or REV signal is turned off For the speed coincidence signal refer to Speed coincidence NARV on page 2 81 PA1_30 Zero speed range No Name Setting range De...

Page 213: ...ion INP output signal The in position INP signal is turned on if position deviation is within this reference value and the motor rotation speed is within the reference value of the zero speed range However the condition includes completion of pulse elimination from the inside of the servo amplifier for homing The setting unit is the one specified with PA1_31 deviation unit selection PA1_33 to 35 I...

Page 214: ... 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 chart Timing chart OFF ON ON Rotation speed OFF OFF ON OFF OFF ON Zero speed range Time Time Zero deviation range In position range Deviation Zero speed Zero deviation In position level In position single shot In position ...

Page 215: ...tion control positioning homing and manual position control operation LS type The parameter is enabled for acceleration and deceleration motions under positioning homing and manual position control operation Acceleration and deceleration follow these parameters during profile operation too These parameters are disabled during pulse operation The acceleration deceleration time setting indicates the...

Page 216: ...0 To perform position control independently in the servo system PA1_37 through PA1_40 are enabled without relations to the setting of PA1_36 Acceleration Deceleration with the speed limit of torque control also follows this parameter PA1_36 acceleration deceleration selection at speed control Acceleration and deceleration occurs according to the table shown above if PA1_36 is set at 1 enable If th...

Page 217: ...OFF ON OFF 42 Manual feed speed 2 for positon and speed control OFF ON ON 43 Manual feed speed 3 for positon and speed control ON OFF OFF 44 Manual feed speed 4 for positon and speed control ON OFF ON 45 Manual feed speed 5 for positon and speed control ON ON OFF 46 Manual feed speed 6 for positon and speed control ON ON ON 47 Manual feed speed 7 for positon and speed control 1 VS type The speed i...

Page 218: ...ter time constant for torque control 1 0 00 61 Gain changing factor 1 62 Gain changing level 50 63 Gain changing time constant 1 64 Position loop gain 2 100 65 Speed loop gain 2 100 66 Speed loop integration time constant 2 100 67 Feed forward gain 2 100 68 Acceleration compensation gain for position control 0 70 Automatic notch filter selection 1 71 Notch filter 1 frequency 4000 72 Notch filter 1...

Page 219: ...cription of Each Parameter PA1_51 to 53 Command filter settings No Name Setting range Default value Change 51 Moving average S curve time 0 2 to 500 0 125 ms Always 52 Low pass filter for S curve time constant 0 0 ms to 1000 0 ms 0 0 Always 53 Command pulse smoothing function 0 Disable 1 Enable 0 Always Filters can be added to commands for smoother follow up Moving average S curve time This parame...

Page 220: ...g improves the response characteristics Automatic adjustment is made inside the amplifier if PA1_13 tuning mode selection is 0 auto tuning or 1 semi auto tuning PA1_55 to 57 Response to disturbance settings No Name Setting range Default value Change 55 Position loop gain 1 1 rad s to 2000 rad s Always 56 Speed loop gain 1 1 Hz to 2000 Hz Always 57 Speed loop integration time constant 1 0 5 ms to 1...

Page 221: ...t value Change 59 Torque filter time constant for position and speed control 0 00 ms to 20 00 ms Always 60 Torque filter time constant for torque control 0 00 ms to 20 00 ms 0 00 Always PA1_60 Torque filter time constant for torque control is enabled only for VS type Torque filter time constant for position and speed control This parameter is enabled under speed and position control Add a filter t...

Page 222: ... _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 the ratio to the first gain Example If PA1_56 speed loop gain 1 is 100 Hz and PA1_65 speed loop gain 2 is 80 the second gain is 80 Hz PA1_64 position loop gain 2 is similar If PA1_57 speed loop integra...

Page 223: ... characteristic to position commands Too much reference value may cause vibration or noise PA1_70 to 76 Notch filter settings No Name Setting range Default value Change 70 Automatic notch filter selection 0 Disable 1 Enable 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 w...

Page 224: ...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 stability of the control Do not enter too much setting Set at 0dB to disable the notch filter 4 Approximate reference value Refer to the table below for the approximate reference value Frequency Hz 200 500...

Page 225: ...ents of 1 0 Always 86 Vibration suppressing damping coefficient 0 0000 to 0 1000 0 0000 Always These parameters are enabled only under position control Use these parameters 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 automatic vibration suppressing con...

Page 226: ...nter manually enter settings so that the following equation is satisfied Position loop integration time constant Speed loop integration time constant x 5 PA1_90 Load torque observer No Name Setting range Default value Change 90 Load torque observer 0 Disable 1 Enable 0 Always Set at 1 enable to suppress effects of load disturbance torque and improve speed fluctuation Use the parameter to reduce th...

Page 227: ...matically set the torque filter automatically or not during auto tuning operation Set at 0 not set automatically to manually specify PA1_59 torque command filter without relations to the setting of PA1_13 tuning mode selection Set at 1 set automatically to automatically adjust inside the amplifier in other than the manual tuning mode PA1_95 Model torque calculation selection speed observer selecti...

Page 228: ...nabled under torque control If the rotation speed exceeds the reference value of PA1_26 maximum rotation speed under torque control under torque control the command torque is reduced so that the rotation speed becomes near the reference value At this time an error is caused in the rotation speed in relation to the reference value Take into consideration that the parameter adjusts the error While a...

Page 229: ...ction after reference signal detection 0 11 Reference signal for shift operation 1 12 Reference signal 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 homing completion 0 17 Home position detection range 0 18 Deceleration time at OT during homing 100 0 19...

Page 230: ...eter PA2_01 Decimal point position of positioning data No Name Setting range Default value Change 01 Decimal point position of positioning data 0 0 1 0 1 2 0 01 3 0 001 4 0 0001 5 0 00001 0 Always Specify the decimal point position of the displayed position data PA2_02 to 05 Positioning speed 1 to 4 No Name Setting range Default value Change 02 Positioning speed 1 10 00 03 Positioning speed 2 50 0...

Page 231: ...ys 17 Home position detection range 0 Always ON after homing completion 1 to 2000000000 unit amount 0 Always 18 Deceleration time at OT during homing 0 0 ms to 99999 9 ms 100 0 Always 22 Detection time for contact stopper 0 ms to 10000 ms 0 Always 23 Torque limit for contact stopper 0 to 100 0 Always 24 Selection of operation at OT during homing 0 Reverse rotation 1 Stop and cancel the homing 0 Po...

Page 232: ... 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 Forward direction Reverse direction Enter the side of the home position in relation to the reference signal for homing Enter the starting direction for homing PA2_08 Forward direction Reverse direction Enter the...

Page 233: ... signal is detected PA2_08 Starting direction for homing No Name Setting range Default value Change 08 Starting direction for homing 0 Forward rotation 1 Reverse rotation 2 Condition judgment start 0 Power Specify the starting direction of the homing motion For the direction of 2 condition judgment start refer to page 4 62 Forward direction direction of position increase Reverse direction directio...

Page 234: ...e 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 depends on PA1_06 numerator 0 of electronic gear and PA1_07 denominator of electronic gear If neither the reference signal for homing deceleration starting signal nor reference signal for shift oper...

Page 235: ...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 serving as a standard of the home position The position of a travel from the specified reference signal toward the homing direction after reference signal detection by the home position shift unit amount is the home position The home position accuracy reproducibility of ...

Page 236: ...ome position LS signal edge selection No Name Setting range Default value Change 13 Home position LS signal edge selection 0 Rising edge timing 1 Trailing edge timing 0 Power Not a compulsory item Specify the enabling timing of the home position LS signal if the home position LS is specified as a reference signal for shift operation reference signal for homing Deceleration starting signal Homing s...

Page 237: ...nal 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 position home position the home position shift unit amount away from the reference signal for shift operation Accurate homing can be executed only with the reference signal for shift operation without a...

Page 238: ...etection range and negative home position detection range around the home position homing completion is turned on Specify 0 to always turn the homing completion signal on after a homing is finished The zero position is not necessarily 0 The home position is the position specified as a home position after homing completion PA2_16 or preset position PA2_19 PA2_18 Deceleration time at OT during homin...

Page 239: ... Detection time for contact stopper PA2_23 Torque limit for contact stopper No Name Setting range Default value Change 22 Detection time for contact stopper 0 ms to 10000 ms 0 Power 23 Torque limit for contact stopper 0 to 100 0 Power These parameters are enabled if 5 stopper is selected for PA2_11 home position shift amount reference signal Enter these parameters to perform homing in applications...

Page 240: ...ference 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 for homing deceleration starting signal or homing parameters For details refer to PA1_12 Z phase position offset on page 4 10 PA1_37 to 40 acceleration times deceleration times No Name Setting ra...

Page 241: ...0 0 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 homing and OT is detected the homing process is canceled and controlled stop is caused according to this parameter For details refer to PA2_57 to 60 Torque limit settings on page 4 74 ...

Page 242: ...fault 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 amount for homing 0 unit amount 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 s...

Page 243: ...curs 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 creep speed PA2_07 Speed Time OFF ON OFF OFF ON OFF ON OFF OFF ON OFF ON OFF ON OFF OFF ON OFF ON ON OFF ON ON OFF Controller sensor Servo amplifier OFF ON 1 2 3 OT OT Encoder Z phase 1 2 3 Home position...

Page 244: ...election 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 Power 16 Home position after homing completion 0 unit amount 0 Always 17 Home position detection range 0 Always ON after homing completion 0 Always 18 Deceleration time at OT during homing 100 0 ms 100 0 Always 24 Selection...

Page 245: ...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 ON OFF OFF ON ON ON ON OFF OFF OFF OFF 1 2 3 4 OFF ON OFF OFF ON OFF 1 2 3 4 Homing creep speed PA2_07 Encoder Z phase Home position shift unit amount Homing speed PA2_06 Home position shift unit amount PA2_1...

Page 246: ... amount 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 Deceleration starting signal 0 Home position LS 0 Power 13 Home position LS signal edge selection 0 Rising edge timing 0 Power 14 Home position shift unit amount 1000 unit amount 1000 Always 15 Deceleration...

Page 247: ...to 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 position INP are momentarily turned on The signal change may fail to be sensed according to some scanning periods of the host controller Time OFF ON OFF OFF ON OFF ON OFF OFF ON OFF ON OFF ON OFF OFF ON O...

Page 248: ... the 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 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 Home position shift unit amount PA2_14 Servo...

Page 249: ...he 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 reverse traveling unit amount for homing PA2_09 the motion changes in the starting direction for homing PA2_08 at the homing speed PA2_06 3 If OT in the starting direction for homing PA2_08 is found w...

Page 250: ...r 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 detection Reverse traveling unit amount for homing PA2_09 Controller sensor Servo amplifier Servo on S ON Position control Homing ORG OT Home position LS LS Encoder Z phase Ready for servo on OT det...

Page 251: ...wer 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 signal for shift operation 0 Home position LS 1 Power 12 Reference signal for homing Deceleration starting signal 3 None 0 Power 13 Home position LS signal edge selection 0 Rising edge timing 0 Power 14 Home position shift unit amount 1...

Page 252: ...ping 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 momentarily turned on The signal change may fail to be sensed according to some scanning periods of the host controller 1 2 1 3 2 2 OT OT Home position shift unit amount Home position LS Home posit...

Page 253: ...ion 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 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 Power 16 Home position after homing completi...

Page 254: ... 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 turned on The signal change may fail to be sensed according to some scanning periods of the host controller OFF ON OFF OFF ON OFF ON OFF OFF ON OFF ON OFF ON OFF OFF ON OFF ON ON OFF ON ON OFF OFF ON 1 2...

Page 255: ...homing 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 signal for shift operation 1 Z phase of encoder 1 Power 12 Reference signal for homing Deceleration starting signal 0 Home position LS 0 Power 13 Home position LS signal edge selection 0 Rising edge...

Page 256: ...he 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 followed by stoppage The stopping point changes to the home position and homing completion is turned on finishing the homing process Homing speed PA2_06 Creep speed for homing PA2_07 Time Homing ORG OFF...

Page 257: ..._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 at 1 reverse rotation enable reverse rotation is made upon detection of the rising edge OFF to ON transition of the home position LS while decelerating to the creep speed for homing PA2_07 3 Changeove...

Page 258: ... 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 selection 1 Trailing edge timing 0 Rising edge timing 1 Trailing edge timing PA2_15 Deceleration operation for creep speed 1 Reverse rotation is enabled Figs a through c assume that the machine positio...

Page 259: ... 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 position shift unit amount PA2_06 Homing speed PA2_07 Creep speed for homing Start from outside of LS LS OFF edge Forward rotation Reverse rotation PA2_06 Homing speed PA2_07 Creep speed for homing P...

Page 260: ...Detection time for contact stopper 50 ms 0 Always 23 Torque limit for contact stopper 30 0 Always Select 5 stopper for the home position shift amount reference signal PA2_11 Be sure to enter the output torque generated upon contact with the stopper as a torque limit for contact stopper PA2_23 and enter the time between contact with the stopper and completion of homing as a Detection time for conta...

Page 261: ...ue the detection time for contact stopper PA2_22 is counted for the specified time then a return is caused by the home position shift amount PA2_14 and homing is finished If the home position shift amount is zero homing is finished at the contact position Torque limit value ON Torque limit detection Homing completion Speed Time Home position shift unit amount PA2_14 Creep speed for homing PA2_07 H...

Page 262: ...software OT detection position No Name Setting range Default value Change Software OT selection VS Type 0 Disable 1 Enable 25 Position operation type LS Type 0 Normal 1 Positioning start with zero position preset 0 Power 26 Positive software OT detection position 2000000000 to 2000000000 unit amount 2000000000 Always 27 Negative software OT detection position 2000000000 to 2000000000 unit amount 2...

Page 263: ...enabled only for LS type Backlash in mechanical system can be compensated using the servomotor rotation amount The servomotor rotates with adding the amount of set value each time the servomotor changes the direction of rotation When using this function make sure to adjust followings If it is not observed the operation may fail 1 Before setting a value to this parameter adjust acceleration deceler...

Page 264: ...y the output format of the point detection area detection signal that is output as an output signal OUT signal In case of point detection setting the signal is output if the servomotor is located nearly in the reference value point detection range In case of area setting the signal is turned on or off if the servomotor position exceeds the reference value Refer to the chart below 1 Point detection...

Page 265: ...t detection area detection is 2 The signal is turned on if the current position is exactly or less than the setting of the standard parameter It is turned off if the position exceeds the setting OFF ON 190 0 200 0 210 0 Current position Area detection Point detection area detection position 1 PA2_32 Point detection area detection position 2 PA2_33 Standard parameter 64 190 0 200 0 210 0 OFF ON Cur...

Page 266: ...tion No Name Setting range Default value Change 40 Internal positioning data selection 0 Disable 1 Enable 10 Power This parameter is enabled only for LS type Select whether the internal positioning data is enabled or disabled For the immediate data start setting the address FFH is not necessary when the parameter is set to 0 When set to 1 it is necessary to set the address FFH Ratio of override OF...

Page 267: ...int 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 This parameter is enabled only for LS type Select the least input increment of the stand still timer Selection can be made between 1 ms and 10 ms PA2_43 Output selection at M code OFF No Name Setting range Default value Change 43 Output selection at M ...

Page 268: ...at servo on OFF 5 62 Action sequence at alarm 0 63 Action sequence at main power shutoff 0 64 Torque keeping time to holding brake 0 00 65 Braking resistor selection 1 66 Flying start at speed control 1 0 67 Alarm detection at undervoltage 1 68 Main power shutoff detection time 35 69 Deviation detection overflow value 15 0 70 Overload warning value 50 72 Station number for communications 0 74 Para...

Page 269: ... pulse ratio 2 0 01 to 100 00 10 00 Always This parameter is enabled only for LS type Specify the multiplication of the command pulse The reference value selected with an input signal command pulse ratio 1 2 assigned to a CONT signal is enabled PA2_56 Speed limit selection at torque control No Name Setting range Default value Change 56 Speed limit selection at torque control 0 Parameter 1 Speed li...

Page 270: ...se rotation torque limit Forward rotation torque limit Reverse rotation torque limit OFF ON TL Forward reverse rotation torque limit TL TL Second torque limit Forward Reverse rotation torque limit Forward rotation torque limit Reverse rotation torque limit ON OFF Second torque limit Forward Reverse torque limit Second torque limit Second torque limit TL Second torque limit Second torque limit Seco...

Page 271: ...ue limit Third torque limit ON OFF Second torque limit forward reverse rotation torque limit Third torque limit Second torque limit or forward rotation torque whichever is less Second torque limit or reverse rotation torque whichever is less TL second torque limit Third torque limit Third torque limit Third torque limit ON ON TL second torque limit Third torque limit TL or second torque limit whic...

Page 272: ...t a dead stop position deviation is held with this function Position deviation is held so that the position deviation count does not reach the limit at the dead stop The function is enabled under the following conditions VS type PA2_57 0 CONT signal Torque limit 1 Torque limit 0 P59 Deviation hold selection at torque limit Torque limit for holding deviation OFF OFF None 1 Second torque limit None ...

Page 273: ...eleration 1 DB at stop 5 Emergency stop at deceleration 1 free run at stop 0 Power 63 Action sequence at main power shutoff 0 DB at deceleration DB at stop 1 DB at deceleration free run at stop 2 Free run at deceleration DB at stop 3 Free run at deceleration free run at stop 4 Emergency stop at deceleration DB at stop 5 Emergency stop at deceleration free run at stop 0 Power Example Timing chart w...

Page 274: ... on function No 1 CONT input signal to free run Specify a time larger than the one taken from excitation of the brake to actual brake application The brake timing signal is turned off when servo on is turned off PA2_65 Braking resistor selection No Name Setting range Default value Change 65 Braking resistor selection 0 None 1 Internal resistor 2 External resistor 1 Power Select the braking resisto...

Page 275: ...tection 1 Power Select 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 Setting range Default value Change 68 Main power shutoff detection time 35 ms to 1000 ms 35 Power Specify the time for detecting shutoff of the main power Power supply phases to be de...

Page 276: ...hange 72 Station number for communications Station No 0 to 238 0 Power Specify the station number when checking the SX bus cable connecting order or performing degraded operation When set to 0 the SX bus station registered in SX CPU model is automatically assigned For other than 0 specify the same as in system definition of the SX CPU module If not matched operation is disabled as the SX CPU modul...

Page 277: ... 2 40 Station number 41 Alarm at present 42 Alarm history 43 Warning at present 44 Total time main power supply 45 Total time control power supply 46 Motor running time 40 Power Specify the data displayed on the keypad at the upper part of the front of the amplifier when the power is turned on PA2_78 Display transition at warning detection No Name Setting range Default value Change 78 Display tran...

Page 278: ...ose 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 PA3_1 to 99 PA2_86 to 88 Positioning data in RAM 1 to 3 No Name Setting range Default value Change 86 Positioning data in RAM1 87 Positioning data in RAM2 88 Positioning data in RAM3 0 No designation 1 to 99 ...

Page 279: ...according to the type of the servomotor RB2 at the end of servomotor 20 bit encoder HB2 18 bit encoder In the sequence test mode the status indication LED on the front panel of the servo amplifier blinks quickly at very short intervals PA2_90 Specify the parameter according to the connected motor encoder bit ALPHA5 RB type 20 bit 0 ALPHA5 HB type 18 bit 1 PA2_91 Position command delay time No Name...

Page 280: ...nsion function Speed format 3000 r min h 2 bit toggle error function selection Interrupt input function selection 0 4000h 1 3000h Enable 2 4000h 3 3000h Disable Interruption position detection 4 4000h 5 3000h Enable 6 4000h 7 3000h Disable Command cumulative pulse latch 8 4000h 9 3000h Enable 10 4000h 11 3000h Disable Interruption position detection 12 4000h 13 3000h Enable 14 4000h 15 3000h Disab...

Page 281: ... assignment 05 CONT5 signal assignment 06 CONT6 signal assignment 07 CONT7 signal assignment 08 CONT8 signal assignment 2 09 CONT9 signal assignment 2 10 CONT10 signal assignment 2 11 CONT11 signal assignment 2 12 CONT12 signal assignment 2 13 CONT13 signal assignment 2 14 CONT14 signal assignment 2 15 CONT15 signal assignment 2 16 CONT16 signal assignment 2 17 CONT17 signal assignment 2 18 CONT18...

Page 282: ...TART 11 CONT11 signal assignment 5 IQ ORG 12 CONT12 signal assignment 51 IQ X1 13 CONT13 signal assignment 0 IQ 14 CONT14 signal assignment 0 IQ 15 CONT15 signal assignment 9 IQ ABS INC 16 CONT16 signal assignment 10 IQ EMG 17 CONT17 signal assignment 0 IQ 18 CONT18 signal assignment 0 IQ 19 CONT19 signal assignment Select among CONT signal assignment functions See below 0 IQ Power 1 Input termina...

Page 283: ...OT 8 OT 10 Forced stop EMG 34 External braking resistor overheat 49 Interrupt input B Functions assigned to CONT 6 and 7 in IQ area The signals which are turned on and off by the SX controller You can select two signals in the table below The location in IQ area is address word 15 bit 5 and 6 No Name 14 ACC0 17 Gain switch 19 Torque limit 0 20 Torque limit 1 29 Proportional control 32 Positioning ...

Page 284: ...onitor 1 The conditions of servo on function No 1 1 and forced stop function No 10 which can be set in CONT 1 to 5 are as follows Servo on If not assigned to CONT 1 to 5 it is activated with ON signal in IQ area If assigned to CONT 1 to 5 it is activated when the signal normally open contact in IQ area and signal normally open contact of CONT signal are both turned on Forced stop If not assigned t...

Page 285: ...BS INC 47 Override 8 10 Forced stop EMG 48 Interrupt input enable 11 Alarm reset RST 49 Interrupt input 12 VEL0 50 Deviation clear 13 VEL1 51 Multi step speed selection 1 X1 14 ACC0 52 Multi step speed selection 2 X2 16 Position preset 53 Multi step speed selection 3 X3 17 Gain switch 54 Free run 20 Torque limit 1 55 Edit permission 22 Immediate value continuation 57 Anti resonance frequency selec...

Page 286: ...al that is always enabled after 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 include alarm reset deviation clear and free run Functions that may not be specified with a normally closed signal include forced stop and external braking resistor overhea...

Page 287: ...gnal assignment 2 56 OUT6 signal assignment 2 57 OUT7 signal assignment 2 58 OUT8 signal assignment 2 59 OUT9 signal assignment 2 60 OUT10 signal assignment 2 61 OUT11 signal assignment 2 62 OUT12 signal assignment 2 63 OUT13 signal assignment 2 64 OUT14 signal assignment 2 65 OUT15 signal assignment 2 66 OUT16 signal assignment 2 Refer to the table below 81 Monitor 1 signal assignment 2 82 Monito...

Page 288: ...UT3 signal assignment 1 54 OUT4 signal assignment 2 55 OUT5 signal assignment 28 56 OUT6 signal assignment 16 57 OUT7 signal assignment 30 58 OUT8 signal assignment 31 59 OUT9 signal assignment 0 60 OUT10 signal assignment 0 61 OUT11 signal 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 Sel...

Page 289: ...ch are turned on and off by an external signal You can select two signals in the table below No Name No Name 1 Ready for servo on RDY 33 Alarm code 1 2 In position INP 34 Alarm code 2 11 Speed limit detection 35 Alarm code 3 14 Brake timing 36 Alarm code 4 16 Alarm detection normally open contact 38 OT detection 20 OT detection 39 OT detection 22 Homing completion 40 Home position LS detection 23 ...

Page 290: ...5 Alarm code 3 16 Alarm detection normally open contact 36 Alarm code 4 22 Homing completion 41 Forced stop detection 23 Zero deviation 42 Toggle answer 0 24 Zero speed 43 Toggle answer 1 26 Torque limit detection 44 Toggle error 28 Servo control ready S RDY 75 Position preset completion 30 Data error 32 Alarm code 0 33 Alarm code 1 Output signals which are enabled to be set in OUT 1 and 2 are als...

Page 291: ...n 2 44 Toggle error 19 Limiter detection 45 Battery warning 20 OT detection 46 Life warning 21 Cycle end detection 60 MD0 22 Homing completion 61 MD1 23 Zero deviation 62 MD2 24 Zero speed 63 MD3 25 Speed coincidence 64 MD4 26 Torque limit detection 65 MD5 27 Overload warning 66 MD6 28 Servo control ready S RDY 67 MD7 29 Edit permission response 75 Position preset completion 30 Data error 76 Alarm...

Page 292: ...gnment 1 Command speed 2 Feedback speed 3 Torque command 4 Position deviation unit amount pulse 5 Position deviation 1 10 unit amount pulse 6 Position deviation 1 100 unit amount pulse 7 Command pulse frequency 8 Speed deviation 9 Motor current 10 Effective torque 11 DC link voltage 12 OL thermal value 13 Braking resistor thermal value 14 Power W 15 Motor temperature 16 Command speed filtered 3 Al...

Page 293: ...imum speed 9 Motor current Amperage supplied to servomotor Output voltage corresponding to maximum current 10 Effective torque Effective torque given to servomotor Output voltage corresponding to rated torque 11 DC link voltage DC voltage inside servo amplifier Output voltage corresponding to 400 V 12 OL thermal value Load factor OL alarm upon 100 13 Braking resistor thermal value Load factor of b...

Page 294: ...put 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 calculation of the resolution PA3_88 Command pulse frequency sampling time for monitor No Name Setting range Default value Change 88 Command pulse frequency sampling time for monitor 0 62 5 µs 1 125 µs...

Page 295: ...Name Setting range Default value Change 89 Feedback speed sampling time for monitor 0 62 5 µs 1 125 µs 2 250 µs 3 500 µs 4 1 ms 5 2 ms 6 4 ms 7 8 ms 1 Always Specify the feedback speed sampling time for monitor The sampling time is for the monitoring function No effect is caused to the control even if the value is changed ...

Page 296: ...CHAPTER 4 PARAMETER 4 100 Output Terminal Function Setting Parameters 4 ...

Page 297: ...5 1 CHAPTER 5 SERVO ADJUSTMENT 5 ...

Page 298: ...Using the tuning procedure and mode selection START Synchronous or interpolation operation of two or more axes Adjust in the interpolation control mode END Adjust through easy tuning Satisfactory motion Adjust through auto tuning Satisfactory motion Adjust through auto tuning application Satisfactory motion Review and check the mechanical system No Yes No No Yes Yes Yes No Auto tuning for checking...

Page 299: ...C Loader or keypad To install PC Loader refer to CHAPTER 13 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 machines with a linear driving system follow the procedure below to perform slow running before performing easy tuning Turn the motor at 10 r min fixed while checking the rotation direction and strok...

Page 300: ...ditions see the following pages NG2 Interrupted Check the conditions of interruption see the following pages NG3 Though tuning is finished adjustment is necessary Perform auto tuning or manual tuning to adjust again Slow run for rotation direction and stroke checks Easy tuning for automatic tuning Slow travel at 10 r min Automatic tuning 1 Select the course SET SET 1 sec or longer ESC Slow running...

Page 301: ...art is kept as far as no resonance is observed Power supply to main circuit No alarm Neither OT nor EMG BX signal OFF Auto tuning 1 Parameter write enable 2 1 PA1_13 tuning mode selection other than 2 manual tuning 2 PA2_74 parameter write protection 0 write enable Operation pattern in case of reciprocal motion The operation pattern is shown below P in the table indicates the number of the basic s...

Page 302: ...ing gain automatically changes to the one that will suppress resonance re adjustment is necessary Easy tuning Starting condition Conditions necessary to start easy tuning are indicated in the table below Easy tuning does not start if the following conditions are not satisfied NG1 is indicated Easy tuning is interrupted if any condition is unsatisfied during operation NG2 is indicated Power supply ...

Page 303: ...Details 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 includes three profiles normal completion interruption by user and faulty termination Each profile is described below Faulty termination Normal completion Interruption by user NG2 NG3 Completion of easy ...

Page 304: ...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 taken on the safety If ill effects are expected to the machine due to resonance of the motor with the mechanical system assign the servo on S ON signal to a CONT signal before starting easy tuning If ...

Page 305: ...ion deceleration The friction force is not large and does not apply pressure 5 3 2 Parameters Used for Auto Tuning Parameters used for gain adjustment are listed in the table below No Name Approximate reference value PA1_13 Tuning mode selection 0 Auto tuning 1 Semi auto tuning PA1_14 Load inertia ratio No need to enter automatically updated Enter a stable estimated value or average value PA1_15 A...

Page 306: ... 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 configuration Division by mechanism Auto tuning gain 1 Approximate reference value Large transfer machine 1 to 10 Arm robot 5 to 20 Belt mechanism 10 to 25 Ball screw Belt mechanism 15 to 30 Mechanism directly c...

Page 307: ...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 No END Adjust while referring to 5 4 Auto Tuning Application Adjust auto tuning gain 2 Yes 1 There is no need to adjust auto tuning gain 2 under speed control 1 ...

Page 308: ...estimated value or average value PA1_15 Auto tuning gain 1 Refer to 5 3 3 Approximate Reference Value of Auto Tuning Gain 1 for adjustment PA1_16 Auto tuning gain 2 Enter when necessary PA1_59 Torque filter time constant for position and speed control Increase in increments of 0 5 ms starting at the current setting PA1_64 Position loop gain 2 70 PA1_65 Speed loop gain 2 70 PA1_66 Speed loop integr...

Page 309: ... in parameters 1 Resonance frequency PA1_71 notch filter 1 frequency 2 Depth PA1_72 notch filter 1 attenuation 3 Width PA1_73 notch filter 1 width Excessive attenuation might undermine control stability Setup beyond necessity shall be avoided Gain dB Frequency Hz Resonance point 2 Depth 3 Width 1 Resonance frequency Notch filter 1 attenuation Notch filter 1 frequency Frequency Hz Gain dB Frequency...

Page 310: ...be specified in four levels A large setting covers a wide frequency range A reference value of 2 is recommended in general Use PA1_74 to 76 to add a notch filter to two resonance points simultaneously The notch filter is added to eliminate the resonance point Width of notch filter Wide setting 3 Narrow setting 0 Frequency Hz Gain dB ...

Page 311: ...es Re read out of the parameters obtained in auto tuning adjustment Satisfactory motion No Yes No END Follow the procedure described in 5 5 Manual Tuning Enter 0 to PA1_94 and adjust the torque filter time constant for position and speed control PA1_59 Perform servo analyze to enter the notch filter manually Adjust auto tuning gains 1 and 2 again Satisfactory motion 1 Adjustment of auto tuning gai...

Page 312: ... 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 Load inertia ratio Jl Enter a stable assumed value or average value PA1_51 Moving average S curve time 16 or over PA1_54 Position command response time constant Kpt Kpt 600 Kp1 PA1_55 Position loop gain...

Page 313: ...Increase 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 Decrease speed loop integration time constant 1 Decrease the moving average S curve time and position command response time constant Increase feed forward gain 1 If resonance is caused in the mechanical s...

Page 314: ...51 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 case of overshoot 1 Increase PA1_51 moving average S curve time 2 Increase PA1_54 position command response time constant 3 Decrease PA1_58 feed forward gain 1 4 Increase PA1_14 load inertia ratio Each...

Page 315: ...gth 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 6 2 Parameters Used for Interpolation Control Mode Parameters used for gain adjustment are shown in the table below The other parameters are automatically adjusted However auto tuning gain 2 becomes disabled No Name Approximate reference value PA1_13 T...

Page 316: ...nical 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 command response time constant min 5 8 Position command response time constant shall tune to the larger parameter between two axes 9 While observing interpolation characteristics and rotation state f...

Page 317: ...g 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 parameters are not tuned Operate the PC Loader or keypad to perform profile operation Select the operation pattern and press the START STOP button to start to operate In case of operation at PC Loader ...

Page 318: ...he gain reference value is left unchanged at the start level as far as resonance is not observed Power supply to main circuit No alarm 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_ Rotation direction Moving distance Operation frequency Acceleration time Deceleration time R...

Page 319: ...eration Profile operation is stopped by the user or upon an error The error includes the following events OT EMG or external braking resistor overheat is detected in the middle BX Free run signal is turned on in the middle The servo on S ON signal is turned off in the middle ...

Page 320: ...ration of the entire machine can be suppressed System without vibration suppression At motor acceleration deceleration torque tends to reach maximum value This acceleration deceleration shock could cause vibration to the entire machine System with vibration suppression Because the torque is controlled during acceleration deceleration of the motor the shock of acceleration deceleration is reduced a...

Page 321: ...raveling stopping of a part of the machine The vibration frequency is about 1 Hz to 300 Hz Inapplicable mechanical characteristics and conditions Vibration is observed continuously without relations to traveling stopping Eccentric vibration is caused in synchronization to the rotation of the motor or machine The vibration frequency is less than 1 Hz or more than 300 Hz The traveling time is less t...

Page 322: ...ptimum 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 the default value 6 After normal or faulty completion PA1_77 automatic vibration suppression selection automatically changes to 0 disable The applicable frequency is 1 Hz to 100 Hz If the procedure is...

Page 323: ...on suppressing anti resonance frequency is set the vibration suppressing anti resonance frequency must be adjusted again Perform gain adjustment first May not be entered in case of auto or semi auto tuning Check the vibration suppressing anti resonance frequency Enter the vibration suppressing anti resonance frequency parameters PA1_78 _80 _82 and _84 Check the effects Finely adjust the vibration ...

Page 324: ...er for the resonance point What are the resonance point and vibration suppressing anti resonance point Vibration of the machine includes the resonance point and vibration suppressing anti resonance point The resonance point and vibration suppressing anti resonance point mentioned here are machine characteristics viewed from the motor Resonance point Frequency at which the motor vibrates without ar...

Page 325: ...gauge or similar adopt method 1 In other cases adopt method 2 1 Measure the vibration of the arm tip with a laser displacement gauge or similar 1 Vibration suppressing anti resonance frequency Ts Hz 2 Starting at 300 0 Hz maximum setting decrease the reference values of parameters PA1_78 _80 _82 and _84 gradually while visually checking vibration to find the best value Frequency of vibration Ts Ti...

Page 326: ...i 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 motion is stopped Otherwise shock will be caused Parameters for up to four points can be entered a b c The vibration suppressing anti resonance frequency varies according to conditions a b and c No Nam...

Page 327: ...onic gear PA1_07 denominator of electronic gear β α 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 similar measuring instrument 2 Take a motion picture of the arm tip with a high speed video to check vibration 3 Visually observe The vibration suppressing anti resonance f...

Page 328: ... 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 Setting and press the enter vibration suppressing anti resonance frequency button to open the exclusive window Enter the anti resonance frequency and resonance frequency to automatically calculate the rat...

Page 329: ...6 1 CHAPTER 6 KEYPAD 6 ...

Page 330: ... execution of test operation manual operation profile operation etc made at the PC Loader or keypad which accompanies motor rotation The servo amplifier functions online in other cases 6 1 1 Mode The keypad functions in seven modes Some modes are unavailable for some models of the servo amplifier Sequence mode The control and operation statuses of the servo amplifier are displayed Monitor mode Var...

Page 331: ...ected ESC The sub mode is selected The value decreases by one 1 The sub mode is selected The value increases by one 1 SET SHIFT The cursor digit shifts to the right SHIFT The mode or value settles SET Press and hold for at least one second to settle The power is turned on Sequence mode MODE ESC Monitor mode MODE ESC Station number mode MODE ESC Maintenance mode MODE ESC Parameter edit mode MODE ES...

Page 332: ...Sub mode selection Indication and entry example Sequence mode Sequence mode Amplifier setting Motor setting Monitor mode Feedback speed Command speed Command torque Motor current Peak torque Effective torque Feedback position Command position Position deviation LS Z pulse Load inertia ratio DC link voltage max Command pulse frequency Feedback cumulative pulse Command cumulative pulse ...

Page 333: ...in VREF input voltage TREF input voltage Input signal Output signal OL thermal value Power w Motor temperature Overshoot unit amount Settling time Resonance frequency 1 Resonance frequency 2 Station number mode Station number display Maintenance mode Alarm at present Alarm history Warning at present Braking resistor thermal value ...

Page 334: ...d entry example Maintenance mode Parameter edit mode Parameter page 1 Parameter page 2 Parameter page 3 Positioning data edit mode Positioning status Target position Rotation speed Stand still timer M code Total time main power supply Total time control power supply Motor running time ...

Page 335: ...Test operation mode Manual operation Position preset Homing Automatic operation Alarm reset Parameter initialization Auto tuning gain Easy tuning Profile operation Sequence test mode Teaching Alarm history initialization Positioning data initialization Auto offset adjustment Z phase offset adjustment ...

Page 336: ...hapter keypad keys may be simply described as shown below MODE ESC key When using as a MODE key MODE When using as an ESC key ESC SET SHIFT key When using as a SET key SET for at least one second When using as a SHIFT key SHIFT 1 Sequence mode The status of the output signal of the servo amplifier and operation status are displayed Sequence mode Amplifier setting Motor setting SET 1 sec or over ES...

Page 337: ...ositioning is being executed Torque control Manual operation In LV Servo off The servomotor is ready to rotate Servo on Manual feed rotation state Servo off The servomotor is ready to rotate Servo on Manual operation OT OT Zero speed stop In LV Manual feed rotation state Stopped at zero speed due to forced stop signal Speed control In undervoltage For details see the pages about undervoltage on 7 ...

Page 338: ...d pulse frequency 44 45 DC link voltage max DC link voltage min Position deviation 46 4 5 6 7 8 Motor current Peak torque Effective torque LS Z pulse VREF input voltage TREF input voltage Warning at present Total time main power supply Total time control power supply Motor running time Power W Input signals OL thermal value Braking resistor thermal value Settling time 19 20 21 22 23 24 25 26 27 28...

Page 339: ...6桁目 3桁目 SET 1 sec or over 1st digit 2nd digit Indication Indication Control function Connection format 3rd digit 4th to 6th digits Indication Capacity Speed control DI DO standard SX bus 0 2 kW 20 101 2 0 kW 20 102 SET 1秒以上 ESC SET 1 sec or over モータ形状スリム表示キュービック中慣性エンコーダ種別１８ｂｉｔＡＢＳ表示２０ｂｉｔＩＮＣ０２ｋＷ 20 101 ２０ｋＷ 20 102 5桁目表示容量 2 4桁目 1桁目 6桁目 1st digit 2nd to 4th digits Indication Motor prof...

Page 340: ...Current rotation speed of servomotor The correct value is displayed even if the load mechanical system rotates the motor The speed is displayed in r min and a negative sign is attached for reverse rotation clockwise rotation when viewed against the motor shaft 2 Command speed displayed digits signed four digits Current speed command issued to the servomotor The command speed is given in a speed co...

Page 341: ...ificant digit 6 Effective torque displayed digits signed three digits The load ratio of the servomotor displayed in percent to the rated torque The range from 0 to the maximum torque is displayed in increments of 1 7 Feedback position displayed digits signed 10 digits The rotation amount of the servomotor is displayed in the unit amount after correction with an electronic gear If the electronic ge...

Page 342: ... 10 digits The difference between the command position and feedback position is displayed The deviation amount is in encoder pulses For the indication refer to 7 Feedback position In case of a negative position deviation H or L and a negative sign alternate at the most significant digit 10 Command pulse frequency displayed digits signed five digits The pulse frequency supplied to the pulse input t...

Page 343: ... to 7 Feedback position 13 LS Z pulse displayed digits unsigned seven digits The number of pulses in 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 Because the value is in the homing direction no negative sign is attached Displayed only if the Z pha...

Page 344: ... displayed The displaying range is from 0 V to 500 V 16 DC link voltage min displayed digits unsigned three digits The DC link voltage min of the servo amplifier at every two seconds is displayed The displaying range is from 0 V to 500 V 17 VREF input voltage Only display shown below is indicated as the analog function is not provided If the DC link voltage max exceeds 390 V during operation an ex...

Page 345: ...lied to the servo amplifier is displayed The corresponding LED lights up when the input signal is turned on The number of sequence input signals varies according to the type of the servo amplifier CONT40 CONT31 CONT30 CONT21 SET 1秒以上 ESC CONT20 CONT11 CONT10 CONT1 SET 1秒以上 ESC SET 1 sec or over ESC Press the SHIFT key to alternate between the high order and low order five digits SET 1 sec or over ...

Page 346: ...hree digits The regeneration load ratio to the braking resistor overheat alarm level is displayed in percent A braking resistor overheat alarm is caused if this value is 100 The regeneration load ratio is calculated for 0 4 kW or larger motor capacities if PA2_65 braking resistor selection is set at 1 internal resistor The minimum increment is 1 The displaying range is from 0 to 100 The number of ...

Page 347: ... unit amount is negative H or L and a negative sign alternate at the most significant digit 26 Settling time displayed digits unsigned five digits The settling time under position control is displayed The displaying range is from 0 ms to 1000 0 ms If the settling time exceeds 1000 0 ms 1000 0 ms is displayed 27 Resonance frequency 1 displayed digits unsigned four digits The resonance frequency rec...

Page 348: ... detected 4000 Hz is displayed 6 5 Station No Mode In the station no mode the station no of the servo amplifier is displayed and a new station no can be entered Press the MODE ESC key until is displayed and press and hold the SET SHIFT key for at least one second to display data SET 1秒以上 ESC SET 1 sec or over ESC Station no SET 1秒以上 ESC SET 1 sec or over ESC Parameter PA2_72 is updated Online Togg...

Page 349: ... The alarm detected currently is displayed in a code If an alarm is detected the status indication LED blinks After an alarm reset indication changes to Use to display the history After an alarm is detected the following is displayed automatically Supplementary data to the alarm can be displayed too SET 1秒以上 ESC SET 1秒以上 SET 1 sec or over SET 1 sec or over Total time main power supply Total time c...

Page 350: ...uble 1 7 Encoder trouble 2 8 Circuit trouble 9 Memory Error 10 Motor Combination Error 11 Braking transistor overheat 12 Encoder Communication error 13 CONT control signal Error 14 Overload 1 15 Fuse Broken Overcurrent 2 2 Control power undervoltage 4 5 Overvoltage The alarm is automatically displayed upon detection If an alarm is detected indication blinks quickly at 0 5 second intervals when com...

Page 351: ... a warning 4 Total time main power supply The cumulative time of turning the main power L1 L2 and L3 on is displayed The displaying range is from 0 h to 9999 h SET 1秒以上 SET 1秒以上 ESC SET 1秒以上 ESC SET 1秒以上 ESC 1時間経過 59分59秒以降 SET 1 sec or over SET 1 sec or over Detected history number 1 indicates the latest alarm and 20 the earliest Alarm code Refer to 2 SET 1 sec or over Cooling fan life warning Mai...

Page 352: ... 0 h to 9999 h 6 Motor running time The cumulative time of turning the servomotor on is displayed The displaying range is from 0 h to 9999 h SET 1秒以上 ESC 1時間経過 59分59秒以降 SET 1秒以上 ESC 1時間経過 59分59秒以降 SET 1 sec or over After 1 hour 59 minutes 59 seconds or later 5 minutes 9 seconds 9999 hours SET 1 sec or over After 1 hour 59 minutes 59 seconds or later 5 minutes 9 seconds 9999 hours ...

Page 353: ...s in most parameters are reflected on the servo amplifier and servomotor operation immediately 2 Parameter page 2 On parameter page 2 parameters related to system setting such as the homing functions are registered Changes in parameters become enabled after the power is turned off then on again 3 Parameter page 3 On parameter page 3 parameters related to system setting such as sequence I O termina...

Page 354: ...is displayed in the remaining digits in the exact value In case of a six digit number the negative sign at the left end and the most significant digit alternate Unsigned parameter with seven to ten digits H is displayed at the left end for the high order five digits L is displayed at the left end for the low order five digits Signed parameter with seven to 10 digits H is displayed at the left end ...

Page 355: ...ress the SET SHIFT key to shift the digit to be edited The shifting order is from 1 to 10 H side High order five digits L side Low order five digits Settling the value Press and hold the SET SHIFT key for at least one second to settle the value All digits blink three times The settled value remains The value blinks at about 0 5 second intervals when it is settled Press the MODE ESC key to return t...

Page 356: ... The set data of PA1_7 is displayed The most significant digit of the high order five digits blinks the high order two digits of default value 1 is displayed Shift to the desired editing digit Increase the value to 1 Show the low order five digits Shift to the desired editing digit Change the value to 0 Settle the new value After being settled the value remains Key operation Remarks Blink Blink Bl...

Page 357: ... with address 1 selected For how to edit refer to Indication and editing on page 6 26 only for 2 to 5 1 Positioning status Set data relevant to the positioning data How to edit positioning status Determined by SET 1 sec or over Determined by SET 1 sec or over Determined by SET 1 sec or over SET SET SET SET 1 sec or over SET 1 sec or over SET 1 sec or over ESC ESC ESC 1st digit 3rd and 4th digits 6...

Page 358: ...d and set the incremental value for INC 3 Rotation speed Set the travel speed to the motor target position Use the motor shaft rotation speed for the setting value The setting value range is from 0 01 to 6000 r min in increments of 0 01 Note that the setting speed is not the machine travel speed SET 1 sec or over SET 1 sec or over SET 1 sec or over ESC ESC ESC SHIFT SHIFT SET 1 sec or over SET 1 s...

Page 359: ...ce output signal in position signal INP turns on The decimal point position can be changed in the parameter PA2 42 timer data decimal point position 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 sec or over SET 1 sec or over SET 1 sec or over ESC ESC ESC SET 1 sec or ...

Page 360: ...ain Easy tuning Profile operation Sequence mode Teaching 1 Manual operation The servomotor rotates while a keypad key is held down The rotation speed of the servomotor depends on the setting of parameter PA1_41 NG is indicated while the servomotor rotates upon a sequence I O signal 1 Cause of NG indication The S ON and FWD REV signals are turned on The motor is during rotation The forced stop exte...

Page 361: ... 3 Homing Operate keypad keys to perform homing The homing profile follows settings of parameters PA2_6 through PA2_18 After homing complete indication remains Press the MODE ESC key to return to mode selection 1 Cause of NG indication The S ON and FWD REV signals are turned on The motor is during rotation 1 SET 1 sec or over SET 1 sec or over ESC ESC ESC End of resetting SET 1 sec or over 1 ESC S...

Page 362: ...f the fault and press the MODE ESC key to return to the offline state 2 Cause of NG1 indication Offline switching impossible The motor is during rotation Operation such as manual feed homing is being executed Return to offline by ESC 1 Offline indication 2 Address selection indication 3 In process indication 4 Normally completed Press ESC to return to 2 SET 1 sec or over ESC ESC 1 Press SET to sta...

Page 363: ...on again Alarms removed through alarm resetting Alarms not removed through alarm resetting Main power undervoltage Amplifier overheat Braking transistor error Absolute data Lost 1 Multi turn data over flow Overload 2 Internal braking resistor overheat External braking resistor overheat Encoder overheat Deviation overflow Absolute data Lost 2 Absolute data Lost 3 Command Pulse Frequency Error Initi...

Page 364: ...ializing parameters be sure to turn the power off then on again 1 Cause of NG indication The S ON signal is turned on Parameter PA2_74 parameter write protection is set at 1 write protect 8 Positioning data initialization All positioning data is reset to initial values After initializing turn the power off then on again VS type Only display shown below is indicated as the positioning function is n...

Page 365: ...phase position After the Z phase offset is defined the distance between the current position and Z phase is automatically entered in parameter PA1_12 Z phase offset 1 Cause of NG indication Parameter PA2_74 parameter write protection is set at 1 write protect The zero position Z phase of the encoder is not established immediately after the power is turned on In this case turn the motor shaft two o...

Page 366: ... decrease of data different from regular parameter entry parameter PA1_15 is not updated if no operation is made press the SET SHIFT key to register parameter PA1_15 1 Cause of NG indication Parameter PA2_74 parameter write protection is set at 1 write protect Press the or key to change the value Parameter PA1_15 is updated SET 1 sec or over SET 1 sec or over ESC SET 1 sec or over ...

Page 367: ...urn path 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 1 If NG indication is shown remove the cause of the fault and press the MODE ESC key to return to the offline state 2 Cause of NG1 indication Parameter PA2_74 parameter write protection is set at 1 write protect OT EMG or ext...

Page 368: ...es Direction of rotation Operation pattern name Travel distance Operation frequency Acceleration time Deceleration time Rotation speed Timer Go path Return path Profile operation PA1_20 Endless PA1_37 PA1_38 PA1_21 PA1_22 PA1_23 1 If NG indication is shown remove the cause of the fault and press the MODE ESC key to restart the offline state Cause of NG1 indication OT EMG or external braking resist...

Page 369: ...The S ON signal is turned on in advance The orange status indication LED blinks in the sequence test mode Interval of blinks 0 95 sec lit and 1 2 sec unlit The sequence test mode is not finished even if another mode other than Fn_014 indication is started To exit from the mode turn the main power off then on again If parameter PA2_89 is set at 1 change the reference value to 0 before turning the p...

Page 370: ...isplay shown below is indicated as the positioning function is not provided LS type only RYT 5 LS 1 If NG indication is shown remove the cause of the fault and press the MODE ESC key to return to the address selection 2 Cause of NG indication The teaching position exceeds the positioning data stop position 2000000000 to 2000000000 Parameter PA2_75 positioning data write protection is set at 1 writ...

Page 371: ...7 1 CHAPTER 7 MAINTENANCE AND INSPECTION 7 ...

Page 372: ...low Device Description of inspection Servomotor There is no deviation 1 in the linkage between the servomotor shaft and mechanical system The servomotor is free from direct splashes of water vapor or oil The servomotor itself does not vibrate excessively Servo amplifier Screws of the terminal block and mounting sections are not loose Connectors are inserted correctly There is no massive dust on th...

Page 373: ...pplied or either 1 or 2 is not arranged perform Immobility diagnosis described in 13 5 8 on page 13 29 or contact us 7 2 2 State at Alarm If an alarm is alerted display of the servo amplifier will be as follows 1 An alarm code is displayed at the seven segment LED of the keypad For the description of display refer to the following pages 2 The orange status indication LED blinks The LED blinks at 0...

Page 374: ...th parameter PA2_77 initial display of the keypad is displayed Order of descrip tion Indication 1 3 6 7 8 9 10 11 12 Encoder Communication error 13 Cont control signal Error 14 Overload1 15 Amplifier overheat 20 Braking transistor error 21 Deviation overflow 22 24 17 Absolute data Lost1 Multi turn data over flow Name in English Overcurrent1 Overspeed Main power undervoltage Encoder trouble1 Encode...

Page 375: ... sec or more SET 1 sec or more End of resetting Indication Name Encoder Communication error Overload 1 Amplifier overheat Deviation overflow Overcurrent 1 Overspeed Main power undervoltage Braking transistor overheat Overcurrent 2 Control power undervoltage Overvoltage Overload 2 Internal braking resistor overheat External braking resistor overheat Encoder overheat Command pulse Frequency Error In...

Page 376: ...imbalance caused by an encoder fault Replace the servomotor Unconnected grounding cable Connect the grounding cable 2 Overspeed Display Description of detected alarm Cause and remedy Cause Remedy Wrong servomotor output wiring Correct the wiring of power cables U V and W The rotation speed of the servomotor overshoots Check the speed waveform during acceleration with the PC Loader or similar see t...

Page 377: ...if there is a power factor improvement capacitor Unconnected external braking resistor or wrong wiring Connect the external braking resistor Correct the wiring of the external braking resistor Broken braking transistor Replace the servo amplifier The internal DC voltage can be checked in the monitor mode of the keypad on_015 Internal DC link voltage max value Approximately over 420 V overvoltage i...

Page 378: ...o amplifier The parameter overwriting frequency has exceeded 100 000 cycles Store the parameters which need to be overwritten in the RAM 8 Fuse Broken Display Description of detected alarm Cause and remedy Cause Remedy Blown fuse Replace the servo amplifier The fuse of the main circuit is installed for prevention of secondary disaster such as fire The end user cannot replace the fuse Do not turn t...

Page 379: ...he regeneration frequency 11 Encoder Communication Error Display Description of detected alarm Cause and remedy Cause Remedy Interrupted encoder communications Broken wire or poor contact Check cables visually and through continuity check and correct faults Check for the broken wire in the encoder cable and correct Insert ferrite cores The servo amplifier and encoder communicate through high speed...

Page 380: ...rake to retain a stopped elevator The acceleration deceleration frequency and operation frequency are too high Increase the cycle time and decrease the operation frequency Servo amplifier is damaged Replace the servo amplifier If an OL2 alarm is caused but no damaged servo amplifier or incorrect wiring is found the servomotor capacity must be examined Check the OL thermal value with the PC Loader ...

Page 381: ...on Check if the source voltage is within specification limits Insert a reactor if there is a power factor improvement capacitor Increase the deceleration time Decrease the servomotor rotation speed Increase the cycle time and decrease the operation frequency Due to vertical transfer or winding purpose etc the regenerative power cannot be consumed Connect an external braking resistor Install a coun...

Page 382: ...bles U V and W The servomotor fails to rotate mechanically Check if the brake is applied Low output torque Increase PA1_27 _28 torque limit The deviation detection width is small Increase PA2_69 deviation detection overflow 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 Incre...

Page 383: ...medy Excessive ambient temperature Reduce the ambient temperature of the servomotor to 40 C or lower Remove shields interrupting heat radiation if there are any The effective torque exceeds the rating Increase the cycle time and reduce the operation frequency The main body of the encoder detects this alarm according to results of self diagnosis 21 Absolute Data Lost Display Description of detected...

Page 384: ...N SYSTEM 22 Multi turn Data Overflow Display Description of detected alarm Cause and remedy Cause Remedy Excessive servomotor revolutions Check the servomotor revolutions Use the PC Loader or take similar measures to check the current position 23 Initial Error Display Description of detected alarm Cause and remedy Cause Remedy The encoder is damaged Replace the servomotor The power is turned on wh...

Page 385: ...g resistor model WSR 401 Configuration of mechanical system 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 even once or not 2 Frequency of alarm detection and control method pulse operation etc and other circumstances Example An alarm is displayed when...

Page 386: ...own 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 general industrial machines and no countermeasures against radio noise are taken For this reason noise effects may be observed under the following circumstances Electric noise may be observed at AM r...

Page 387: ...a non exciting type retention only brake Do not use it for braking Failure will be caused if the brake is used for braking resulting in substantial reduction of the service life Use it only for retention of a stopped servomotor 4 Capacitor built in servo amplifier The electrolytic capacitors used for the main circuit and control circuit of the servo amplifier have service lives For capacitors used...

Page 388: ...ure Annual average 30 C Load factor Within 80 Operation rate Within 20 hours day Servomotor Part name Standard service life Method Bearing 20 000 to 30 000 hours Oil seal 5000 hours Send the product back to us for repair Servo amplifier Part name Standard service life Method Capacitors of main circuit 73 000 hours Aluminum electrolytic capacitors of printed circuit board 73 000 hours Cooling fan 7...

Page 389: ...8 1 CHAPTER 8 SPECIFICATIONS 8 ...

Page 390: ...CHAPTER 8 SPECIFICATIONS 8 2 Specifications of Servomotor 8 8 1 Specifications of Servomotor 8 1 1 GYS Motor 200V series Standard specifications ...

Page 391: ...CHAPTER 8 SPECIFICATIONS Specifications of Servomotor 8 3 8 Brake specification motor equipped with a brake ...

Page 392: ... 4 Specifications of Servomotor 8 Torque characteristics drawing at 3 phase 200 V or single phase 230 V source voltage GYS500D5 2 0 05 kW GYS101D5 2 0 1 kW GYS201D5 2 0 2 kW GYS401D5 2 0 4 kW GYS751D5 2 0 75 kW GYS102D5 2 1 0 kW ...

Page 393: ...ate typical values of each servomotor combined with the corresponding RYT type servo amplifier The rated torque indicates the value obtained when the servo amplifier is installed to the following aluminum heat sink x Model GYS500 101 200 200 6 mm x Model GYS201 401 250 250 6 mm x Model GYS751 300 300 6 mm x Model GYS102 152 202 350 350 8 mm x Model GYS302 402 502 400 400 12 mm ...

Page 394: ...CHAPTER 8 SPECIFICATIONS 8 6 Specifications of Servomotor 8 100V series Standard specifications Brake specification motor equipped with a brake ...

Page 395: ...D5 6 0 1 kW GYS201D5 6 0 2 kW GYS401D5 6 0 375 kW These characteristics indicate typical values of each servomotor combined with the corresponding RYT type servo amplifier The rated torque indicates the value obtained when the servo amplifier is installed to the following aluminum heat sink x Model GYS500 101 200 200 6 mm x Model GYS201 401 250 250 6 mm ...

Page 396: ...ifications of Servomotor 8 8 1 2 GYC Motor Standard specifications Brake specification motor equipped with a brake Torque characteristics drawing at 3 phase 200 V or single phase 230 V source voltage GYC101D5 2 0 1 kW GYC201D5 2 0 2 kW ...

Page 397: ...racteristics indicate typical values of each servomotor combined with the corresponding RYT type servo amplifier The rated torque indicates the value obtained when the servo amplifier is installed to the following aluminum heat sink x Model GYC101 201 401 250 250 6 mm x Model GYC751 300 300 6 mm x Model GYC102D 300 300 12 mm x Model GYC152D 202D 400 400 12 mm ...

Page 398: ...CHAPTER 8 SPECIFICATIONS 8 10 Specifications of Servomotor 8 8 1 3 GYG Motor 2000 r min Standard specifications Brake specification motor equipped with a brake ...

Page 399: ...102C5 2 1 0 kW GYG152C5 2 1 5 kW GYG202C5 2 2 0 kW These characteristics indicate typical values of each servomotor combined with the corresponding RYT type servo amplifier The rated torque indicates the value obtained when the servo amplifier is installed to the following aluminum heat sink x Model GYG501C 751C 102C 300 300 12 mm x Model GYG152 202 400 400 12 mm ...

Page 400: ...CHAPTER 8 SPECIFICATIONS 8 12 Specifications of Servomotor 8 8 1 4 GYG Motor 1500 r min Standard specifications Brake specification motor equipped with a brake ...

Page 401: ... GYG851B5 2 0 85 kW GYG132B5 2 1 3 kW These characteristics indicate typical values of each servomotor combined with the corresponding RYT type servo amplifier The rated torque indicates the value obtained when the servo amplifier is installed to the following aluminum heat sink x Model GYG501B 851B 300 300 12 mm x Model GYG132 400 400 12 mm ...

Page 402: ...CHAPTER 8 SPECIFICATIONS 8 14 Specifications of Servo Amplifier 8 8 2 Specifications of Servo Amplifier 8 2 1 Common Specifications ...

Page 403: ...CHAPTER 8 SPECIFICATIONS Specifications of Servo Amplifier 8 15 8 8 2 2 Specifications of VV Type Outline of system configuration Interface specifications ...

Page 404: ...CHAPTER 8 SPECIFICATIONS 8 16 Specifications of Servo Amplifier 8 8 2 3 Specifications of VS Type Outline of system configuration Interface specifications ...

Page 405: ...CHAPTER 8 SPECIFICATIONS Specifications of Servo Amplifier 8 17 8 8 2 4 Specifications of LS Type Outline of system configuration Interface specifications ...

Page 406: ...CHAPTER 8 SPECIFICATIONS 8 18 Dimensions of Servomotor 8 8 3 Dimensions of Servomotor 8 3 1 GYS Motor See page 8 27 for the shaft extension specification of the motor with a key ...

Page 407: ...CHAPTER 8 SPECIFICATIONS Dimensions of Servomotor 8 19 8 8 3 2 GYS Motor With a Brake See page 8 27 for the shaft extension specification of the motor with a key ...

Page 408: ...CHAPTER 8 SPECIFICATIONS 8 20 Dimensions of Servomotor 8 8 3 3 GYC Motor See page 8 27 for the shaft extension specification of the motor with a key ...

Page 409: ...CHAPTER 8 SPECIFICATIONS Dimensions of Servomotor 8 21 8 8 3 4 GYC Motor With a brake See page 8 27 for the shaft extension specification of the motor with a key ...

Page 410: ...ons of Servomotor 8 8 3 5 GYG Motor 2000 r min See page 8 27 for the shaft extension specification of the motor with a key 8 3 6 GYG Motor 2000 r min With a brake See page 8 27 for the shaft extension specification of the motor with a key ...

Page 411: ...f Servomotor 8 23 8 8 3 7 GYG Motor 1500 r min See page 8 27 for the shaft extension specification of the motor with a key 8 3 8 GYG Motor 1500 r min With a brake See page 8 27 for the shaft extension specification of the motor with a key ...

Page 412: ...CHAPTER 8 SPECIFICATIONS 8 24 Optional Specification of Shaft Extension With a Key Tapped 8 8 4 Optional Specification of Shaft Extension With a Key Tapped ...

Page 413: ...CHAPTER 8 SPECIFICATIONS Dimensions of Servo Amplifier 8 25 8 8 5 Dimensions of Servo Amplifier ...

Page 414: ...CHAPTER 8 SPECIFICATIONS 8 26 Dimensions of Servo Amplifier 8 ...

Page 415: ...9 1 CHAPTER 9 CHARACTERISTICS 9 ...

Page 416: ...nds until initialization of the servo amplifier is finished since the control power is turned on 2 Completion of initialization is indicated 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 turned on the servo amplifier is ready to operate Main power co...

Page 417: ...n 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 UU pulses 2ms Zero deviation 23 OFF ON 0 pulses OFF Pulse command Can be input May not be input Can be input 2ms CONT signal sequence input signal OFF ON Recognition by servo amplifier OFF ON 2ms ...

Page 418: ...rm is actually 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 reference value 0 2 or 4 80 ms Alarm Servo alarm detection normally open contact Servo alarm detection normally closed contact Normal Alarm occurrence OFF ON ON OFF Ready for servo on RDY ON OF...

Page 419: ...9 2 1 GYS GYC Motor 1 In case of operation at rated rotation speed 3000 r min OL2 alarm 2 In case of operation at maximum rotation speed 6000 r min 1 10 100 1000 0 50 100 150 200 250 300 負荷率 OLアラーム検出時間 s OL2アラーム OL1アラーム 1 10 100 1000 0 50 100 150 200 250 300 負荷率 OLアラーム検出時間 s OL2アラーム OL1アラーム OL2 alarm OL1 alarm Load factor OL alarm detection time s OL2 alarm OL1 alarm Load factor OL alarm detection...

Page 420: ...oad Characteristic 9 3 In case of operation at max rotation speed 5000 r min Target capacity 1 0 kW 1 5 kW 1 10 100 1000 0 50 100 150 200 250 300 負荷率 OLアラーム検出時間 s OL2アラーム OL1アラーム OL alarm detection time s OL2 alarm OL1 alarm Load factor ...

Page 421: ...2000 r min 2 In case of operation at max rotation speed 3000 r min 1 10 100 1000 0 50 100 150 200 250 300 負荷率 OLアラーム検出時間 s OL2アラーム OL1アラーム 1 10 100 1000 0 50 100 150 200 250 300 負荷率 OLアラーム検出時間 s OL2アラーム OL1アラーム OL alarm detection time s OL alarm detection time s OL2 alarm OL1 alarm OL2 alarm OL1 alarm Load factor Load factor ...

Page 422: ...9 0 083 RYT102D5 2 GY 102D5 B 2 1 0 2 0 1 2 0 073 0 11 RYT152D5 2 GY 152D5 B 2 1 5 2 9 1 8 0 103 0 17 RYT202D5 2 GY 202D5 B 2 2 0 3 9 2 4 0 13 0 22 RYT302D5 2 GY 302D5 B 2 3 0 5 9 3 5 0 19 0 33 RYT402D5 2 GY 402D5 B 2 4 0 7 8 4 7 0 25 0 44 3000 r min RYT502D5 2 GY 502D5 B 2 5 0 9 8 5 9 0 31 0 56 RYT501C5 2 GY 501C5 B 2 0 5 1 0 0 60 0 044 0 056 RYT751C5 2 GY 751C5 B 2 0 75 1 5 0 89 0 059 0 083 RYT1...

Page 423: ...1D5 6 GY 401D5 6 0 375 11 8 RYT500D5 2 GY 500D5 2 0 05 RYT101D5 2 GY 101D5 2 0 1 RYT201D5 2 GY 201D5 2 0 2 RYT401D5 2 GY 401D5 2 0 4 7 2 RYT751D5 2 GY 751D5 2 0 75 RYT102D5 2 GY 102D5 2 1 0 23 5 RYT152D5 2 GY 152D5 2 1 5 RYT202D5 2 GY 202D5 2 2 0 34 4 RYT302D5 2 GY 302D5 2 3 0 RYT402D5 2 GY 402D5 2 4 0 3000 r min RYT502D5 2 GY 502D5 2 5 0 68 8 RYT501C5 2 GY 501C5 2 0 5 RYT751C5 2 GY 751C5 2 0 75 R...

Page 424: ...llowing conditions Testing conditions 1 Use testing apparatus shown in the figure below to cause the cable to be bent in a traveling distance L of 300 mm 2 Count each reciprocal test cycle Count the bending frequency until conductors are broken The cable life depends largely on the handling method The bending life is a reference value for the testing conditions specified above Bending radius R 60 ...

Page 425: ...10 1 CHAPTER 10 PERIPHERAL EQUIPMENT 10 ...

Page 426: ...damage caused by power switching or short circuiting current Insert the electromagnetic contactor between MCCB ELCB and AC reactor if one is to be used AC reactor Install for large power supply capacities imbalance in the source voltage and suppression of harmonics Power filter Install to suppress harmonics in the power supply circuit and to protect the servo amplifier against surges and noises in...

Page 427: ...atures the cable is used for higher ambient temperatures 50 C etc reduced cable space improved actuation efficiency etc The maximum allowable temperature as an insulated cable is 90 C Example BOARDLEX made by FURUKAWA ELECTRIC Control circuit section Twisted shielded cable for electronic and electric devices Used for control circuits Use this cable for applications susceptible to potential radiant...

Page 428: ... 3 Motor power U V W 5 Earthing E 2 Braking resistor RB1 RB2 RB3 4 Control power L1C L2C Rating r min Capacity W 75 HIV 90 75 HIV 90 Common 3000 50 to 375 1 25 0 75 1 25 1 25 0 75 Single phase 200V Recommended cable size mm2 1 Power supply L1 L2 L3 3 Motor power U V W 5 Earthing E 2 Braking resistor RB1 RB2 RB3 4 Control power L1C L2C Rating r min Capacity W 75 HIV 90 75 HIV 90 Common 3000 50 to 7...

Page 429: ...75 HIV 90 Common 50 to 1000 1 25 1500 2000 0 75 3000 2 0 1 25 4000 2 0 3000 5000 3 5 3 5 500 to 1000 1 25 1500 2000 2000 2 0 500 850 1500 1300 1 25 0 75 1 25 1 25 0 75 If the servo system requires to fit the overseas standard use the following cable size Cable 75 HIV Power supply and motor power 1 1kW or less 100V and 200 V series 1 25mm2 2 1 5kW 2 0mm2 3 2kW or more 5 5mm2 Braking resistor contro...

Page 430: ...UL2464 AWG 25 2P AWG 23 2C or AWG 23 3P or equivalent For 10 m or smaller wiring length RMCV SB UL2464 AWG 25 2P AWG 17 2C or equivalent For wiring lengths 10 m and 50 m The relationship between AWG and mm is shown below Gauge SI unit Inch unit A W G In mm2 Diameter mm Cross section mm2 Diameter mil Cross section CM 16 1 25 1 291 1 309 50 82 2583 17 1 150 1 037 45 26 2048 18 1 024 0 8226 40 30 162...

Page 431: ... among all models Capacity Po W 50 100 200 375 In case of single phase 100V Rated rotation speed 3000 r min Input voltage Vac V 85 Internal power consumption Pi W 15 Input current Iin A 1 5 2 6 4 8 8 7 Input current for selection of peripheral equipment Iin 1 5 A 2 3 3 9 7 2 13 1 Capacity Po W 50 100 200 400 750 In case of single phase 200V Rated rotation speed 3000 r min Input voltage Vac V 170 I...

Page 432: ... 13 0 9 8 19 5 14 7 3000 2000 4000 19 5 13 0 26 0 29 3 19 5 39 0 5000 32 5 48 8 1500 2000 1300 3 3 8 5 5 6 12 8 8 4 5 0 10 2 4 Conditions for Selecting Peripheral Equipment of Servo Amplifier To select peripheral equipment for a single servo amplifier 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 ...

Page 433: ...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 leakage breaker In case of single phase 100V Rated rotation speed Capacity kW MCCB ELCB Sensed current 30mA 0 05 EA32AC 3 EG32AC 3 0 1 EA32AC 5 EG32AC 5 0 2 EA32AC 10 EG32AC 10 3000 r min 0 375 EA32AC 15 EG32A...

Page 434: ... 0 05 0 1 0 2 EA33AC 3 EG33AC 3 0 4 EA33AC 5 EG33AC 5 0 75 EA33AC 10 EG33AC 10 1 0 EA33AC 15 EG33AC 15 1 5 EA33AC 20 EG33AC 20 2 0 EA33AC 30 EG33AC 30 3 0 EA53AC 40 EG53AC 40 4 0 3000 r min 5 0 EA53AC 50 EG53AC 50 0 5 0 75 EA33AC 10 EG33AC 10 1 0 EA33AC 15 EG33AC 15 1 5 EA33AC 20 EG33AC 20 2000 r min 2 0 EA33AC 30 EG33AC 30 0 5 0 85 EA33AC 10 EG33AC 10 1500 r min 1 3 EA33AC 15 EG33AC 15 ...

Page 435: ...wiring length If the power supply capacity exceeds 500 kVA connect an AC reactor Model of electromagnetic contactor In case of single phase 100V In case of 3 phase 200V Rated rotation speed Capacity Capacity kW MC 0 05 0 1 0 2 SC 03 3000 r min 0 375 SC 0 In case of single phase 200V Rated rotation speed Capacity Capacity kW MC 0 05 0 1 0 2 0 4 SC 03 3000 r min 0 75 SC 0 0 5 SC 03 2000 r min 0 75 S...

Page 436: ...c Model S1 B 0 made by OKAYA ELECTRIC INDUSTRIES Electromagnetic contactor etc Model S2 A 0 made by OKAYA ELECTRIC INDUSTRIES Applicable to 250 V AC or less voltages A non inductive capacitor and a non inductive resistor are connected in series and filled in epoxy resin S1 B 0 200Ω 1 2 W 0 1 µF S2 A 0 500Ω 1 2 W 0 2 µF Protection in AC circuit Protection in DC circuit C R circuit Diode Protection ...

Page 437: ...erent 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 grounding allowed 4 Use a grounding cable as thick and short as possible Connect the grounding cable directly from the copper bar to individual device do not use a jumper cable A twisted or net cabl...

Page 438: ...0 75 RNFTC20 20 1500 r min 0 5 RNFTC10 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 directional the servo amplifier is also protected against high frequency voltage fluctuation in the power supply Rated rotation speed Capacity kW Power filter 0 05 0 1 0 2 0 4 RNFT...

Page 439: ...ong 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 capacitor input type The AC reactor suppresses current distortion in the power supply system protecting devices in the same system against damage Imbalance in the source voltage increases harmonics currents ...

Page 440: ...75 ACR2 2 2A DCR2 2 2 1500 r min 0 5 ACR2 1 5A DCR2 1 5 Rated rotation speed Capacity kW AC reactor DC reactor 0 05 0 1 DCR2 0 2 0 2 ACR2 0 4A DCR2 0 4 0 4 ACR2 0 75A DCR2 0 75 0 75 ACR2 1 5A DCR2 1 5 1 0 1 5 ACR2 2 2A DCR2 2 2 2 0 ACR2 3 7A DCR2 3 7 3 0 ACR2 5 5A DCR2 5 5 4 0 ACR2 7 5A DCR2 7 5 3000 r min 5 0 ACR2 11A DCR2 11 0 5 ACR2 0 75A DCR2 0 75 0 75 ACR2 1 5A DCR2 1 5 1 0 1 5 ACR2 2 2A DCR2...

Page 441: ...armonics suppression measures of the discrete device as far as possible For details refer to JEM TR227 Source The Japan Electrical Manufacturers Association JEMA Limitations set in the guideline for harmonics suppression measures are satisfied if the servo amplifier is connected with an AC DC reactor How to connect the AC reactor Connect in the primary circuit of the servo amplifier as shown in th...

Page 442: ...7W 20 to 75 RYT201D5 6 0 2 8W 20Ω 15 to 39 RYT401D5 6 0 375 20W 20Ω WSR 751 15Ω 25W 10 to 22 RYT500D5 2 0 05 RYT101D5 2 0 1 RYT201D5 2 0 2 39 to 160 RYT401D5 2 0 4 8W 40Ω WSR 401 68Ω 17W 39 to 80 RYT751D5 2 0 75 20W 40Ω 15 to 40 RYT102D5 2 1 0 RYT152D5 2 1 5 20W 15Ω WSR 152 15Ω 50W 12 to 27 RYT202D5 2 2 0 7 5 to 20 RYT302D5 2 3 0 30W 12Ω DB11 2 10Ω 260W 7 5 to 13 RYT402D5 2 4 0 3000 r min RYT502D5...

Page 443: ... 5kW 3000r min frame4 or less Power supply for internal control M PG From sequence I O connector Battery Inrush current suppression resistor L1 L2 L3 RB3 P1 P N L1C L2C RB2 RB1 Built in braking resistor Use the external braking resistor in the designated set without fail There is a risk of fire Servo amplifier Servomotor ...

Page 444: ...input terminal Parameter setting Set PA2_65 braking resistor selection at 2 external resistor The external braking resistor will become excessively hot in the event of failure of the braking transistor possibly causing fire U V W 1 U 2 V 3 W 4 E Ｍ 3 FG 7 P5 8 M5 1 BAT 4 SIG 5 SIG 2 BAT P5 1 M5 2 BAT 3 BAT 4 SIG 5 SIG 6 ＰＧ L1 L2 L1C L2C L3 CN2 Servomotor Connect the sheath shield to the shell cover...

Page 445: ... 19 20 21 22 23 24 25 26 27 28 1 2 3 4 5 6 7 8 9 11 10 12 13 15 14 16 17 18 19 20 21 22 23 24 25 26 27 28 Color Mark Gray White Yellow Pink Orange Gray White Yellow Pink Orange Gray White Yellow Pink 29 30 29 30 Orange Gray White 31 32 33 34 35 36 31 32 33 34 35 36 10 0 300 Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 1 Black 1 Red 2 Black 2 Red 2 Black 2 Red 2 Black 2 Red 2 Black 2...

Page 446: ...cs Amp K K Cable color Length Model and manufacturer The cable color is either 1 or 2 L mm Model WSC P06P05 E WSC P06P10 E WSC P06P20 E 10000 1000 0 20000 2000 0 5000 500 0 Servo amplifier connector Main body of plug housing 54180 0619 Plug shell cover 58299 0626 Plug shell body 58300 0626 Plug mold cover A 54181 0615 Plug mold cover B 54182 0605 58303 0000 Cable clamp Made by Molex Japan Co Ltd 5...

Page 447: ...n servomotor side Connector on servomotor side Connector MS3108B20 29S Cable clamp MS3057 12A Made by Daiichi Denshi Kogyo Connector on servo amplifier side Main body of plug housing 54180 0619 Plug shell cover 58299 0626 Plug shell body 58300 0626 Plug mold cover A 54181 0615 Plug mold cover B 54182 0605 58303 0000 Cable clamp Made by Molex Japan 59832 0009 Clamp screw L mm Model WSC P06P05 C WSC...

Page 448: ...54181 0615 Plug mold cover B 54182 0605 58303 0000 Cable clamp Made by Molex Japan Co Ltd 59832 0009 Clamp screw Pin number Cable color 1 2 3 4 5 6 Red Black Orange Orange White Light blue Light blue White 1 2 White Black Yellow Brown Red Blue Servo amplifier connector Case Protective tube Signal name P5 M5 BAT BAT SIG SIG L 100 12 42 5 18 8 WSC P06P20 W 20000 2000 0 4 3 6 2 1 5 The manufacturer o...

Page 449: ...movable cable is used Cable color Length Model and manufacturer L mm Model WSC M04P05 E WSC M04P10 E WSC M04P20 E 10000 1000 0 20000 2000 0 5000 500 0 Servomotor connector Cap housing 172159 9 Socket 170362 1 Made by Tyco Electronics Amp K K Servo amplifier side Cable color U V W E Red White Black Green yellow WSC M04P02 E 2000 200 0 Signal name 50 105 Servomotor connector Servo amplifier side L 2...

Page 450: ...bject to change without notice The movable cable is used Cable color Length Model and manufacturer L mm Model WSC M02P05 E WSC M02P10 E WSC M02P20 E 10000 1000 0 20000 2000 0 5000 500 0 Servomotor connector Cap housing 172157 9 Socket 170362 1 Made by Tyco Electronics Amp K K Control device side Cable color Red Black WSC M02P02 E 2000 200 0 Signal name Servomotor connector Control device side Serv...

Page 451: ...om that of the optional cable The manufacturer of the connector is subject to change without notice Model and manufacturer Soldered plug 10136 3000PE Made by Sumitomo 3M Shell kit 10336 52A0 008 Unit mm 36 2 18 1 Terminal layout 12 7 18 41 Max 23 8 39 43 5 32 2 14 17 External Dimension 19 Main body of plug housing 54180 0619 Plug shell cover 58299 0626 Plug shell body 58300 0626 Cable clamp 58303 ...

Page 452: ...l 0 5 to 2 0 kW The connector model is different from that of the option cable The manufacturer of the connector is subject to change without notice Cap 172161 9 Cap cover 316455 1 Made by Tyco Electronics Amp K K Socket SIG SIG FG Socket P5 M5 170365 1 bulk 170361 1 chain 170366 1 bulk 170362 1 chain 12 8 5 14 14 18 19 47 6 3 9 4 1 7 8 2 5 Terminal layout External Dimension Model and manufacturer...

Page 453: ...del WSK R06P E Applicable range GYS model 1 5 kW or less GYC model 1 5 kW or less GYG model 1 0 kW or less 6 7 13 2 29 39 32 34 12 5 3 1 4 2 5 3 1RX 4 2 L1C L2C L1 L2 L3 External Dimension Model and manufacturer Unit mm Connector Kit 05JFAT SBXGF I J S T Mfg Co Ltd Terminal layout P1 P N RB1 RB2 Lead wire UL2501 AWG 18 20 39 2 44 4 6 6 6 7 13 2 29 5 3 1 4 2 5 3 1RX 4 2 RB3 External Dimension Model...

Page 454: ...tor kit motor side Model WSK M04P E Applicable range GYS model 0 75 kW or less GYC model 0 75 kW or less 23 96 29 16 6 7 13 2 29 3 1 2 3 1RY 2 U V W External Dimension Model and manufacturer Unit mm Terminal layout Connector Kit 03JFAT SBYGF I J S T Mfg Co Ltd 1 U 2 V 3 W 23 7 11 8 9 8 4 4 4 E Cap housing 172159 9 Socket 170362 1 Made by Tyco Electronics Amp K K External Dimension Model and manufa...

Page 455: ...cable range GYS model 1 0 to 2 0 kW with brake GYG model 0 5 to 2 0 kW with brake Groove position Rubber bushing 31 7 65 8 71 5 34 2 3 2 Connector MS3108B18 10S Cable clamp MS3057 10A Made by Daiichi Denshi Kogyo Unit mm External Dimension Model and manufacturer Connector MS3108B20 15S Cable clamp MS3057 12A Made by Daiichi Denshi Kogyo Groove position Rubber bushing 4 37 3 70 9 80 7 37 3 Unit mm ...

Page 456: ...otor side with brake Model WSK M06P CB Applicable range GYS model 3 0 to 5 0 kW with brake GYC model 1 0 to 2 0 kW with brake External Dimension Model and manufacturer Connector MS3108B22 22S Cable clamp MS3057 12A Made by Daiichi Denshi Kogyo Groove position Rubber bushing 37 3 4 72 5 81 40 5 Unit mm Groove position Rubber bushing 42 9 4 8 79 6 90 43 7 Connector MS3108B24 10S Cable clamp MS3057 1...

Page 457: ... 1 BAT 2 BAT Battery Battery case Model WSB SC Applicable range All models Φ17 60 5 36 1 2 1 38 22 20 4 17 5 R 10 Battery Battery case Model and manufacturer Housing IL 2S S3L N Crimp terminal IL C2 1 10000 Japan Aviation Electronics Industry Ltd Model and manufacturer Battery ER1733WK41 1PP Hitachi Maxell Ltd 1 B 2 B Cap housing 172157 9 Socket 170362 1 Made by Tyco Electronics Amp K K 11 8 23 7 ...

Page 458: ...1 1000 100 0 20 0 3 取付部分の厚みは１２ｍｍ 28 0 5 4 2 0 2 0 150 1 Item Model Resistor Thermistor Resistance Allowable power Operating temperature Dielectric strength Contact capacity Specifications WSR 401 68 Ω 17 W cont Open at 135 10 C For 1 minutes at 1 5kV AC 30VDC 3A Connect the braking resistor to the servo amplifier with a 10 m or shorter cable The external braking resistor becomes hot Keep flammabl...

Page 459: ...nce Allowable power Operating temperature Dielectric strength Contact capacity Specifications WSR 751 15 Ω 25 W cont Open at 135 10 C For 1 minutes at 2 5kV AC 30VDC 3A Connect the braking resistor to the servo amplifier with a 10 m or shorter cable The external braking resistor becomes hot Keep flammable matters away from the external braking resistor For connection of the external braking resist...

Page 460: ... ２１０１１５ｔ２ P DB 1 2 Item Model Resistor Thermistor Resistance Allowable power Operating temperature Dielectric strength Contact capacity Specifications WSR 152 15 O 50 W cont Open at 150 10 C For 1 minutes at 2 5kV AC 30VDC 3A Connect the braking resistor to the servo amplifier with a 10 m or shorter cable The external braking resistor becomes hot Keep flammable matters away from the external br...

Page 461: ...sistor Thermistor Resistance Allowable power Operating temperature Dielectric strength Contact capacity Specifications DB11 2 10 Ω 260 W cont Open at 150 10 C For 1 minutes at 2 5kV AC 120VAC 30VDC 0 1A Connect the braking resistor to the servo amplifier with a 10 m or shorter cable The external braking resistor becomes hot Keep flammable matters away from the external braking resistor For connect...

Page 462: ... Contact capacity Specifications DB22 2 5 8 Ω 300 W cont Open at 150 10 C For 1 minutes at 2 5kV AC 120VAC 30VDC 0 1A Connect the braking resistor to the servo amplifier with a 10 m or shorter cable The external braking resistor becomes hot Keep flammable matters away from the external braking resistor For connection of the external braking resistor refer to 10 8 External Braking Resistor M5 M3 5 ...

Page 463: ...11 1 CHAPTER 11 ABSOLUTE POSITION SYSTEM 11 ...

Page 464: ...ules of International Air Transport Association IATA was made into effect on January 1 2003 and the rule about lithium and lithium ion battery was revised This battery is a non hazardous matter with 1 0g or less lithium non class 9 and is out of the scope of the rule if the quantity is within 24 pieces If the quantity exceeds 24 the package must be compliant to the rule For details contact Fuji El...

Page 465: ...rocedure 1 Prepare the servo amplifier battery and battery case 2 Connect the lead wire connector of the battery to CN5 on the front panel of the servo amplifier 3 Engage one catch of the battery case with the bottom of the servo amplifier 4 Engage the other catch of the battery case with the bottom of the servo amplifier Installation is finished 5 After installing check if both the connector and ...

Page 466: ... battery case ２ Connect the lead wire connector of the battery to CN5 on the front panel of the servo amplifier ３ Engage one catch of the battery case with the front of the servo amplifier ４ Engage the other catch of the battery case with the front of the servo amplifier Installation is finished ５ After installing check if both the connector and case are securely connected and fixed as shown in th...

Page 467: ...edures 11 5 11 11 2 3 Battery Replacement Procedure Reverse the installation procedure to remove and install the new battery according to the installation procedure Be sure to leave the control power supplied when working turn the main power off Leave the encoder cable connected ...

Page 468: ... bus OUT M5 2 SIG 5 SIG 6 BAT 3 BAT 4 CN1 CN6 OUT1 5 COMOUT 19 MON2 14 MON1 16 BAT 2 CN5 BAT 1 1 U 2 V 3 W 4 Ｍ 7 P5 ＰＧ 1 Br 2 Br 8 M5 5 SIG 4 SIG 1 BAT 2 BAT 3 FG 1 2 3 4 5 6 Connect the external braking resistor across RB1 and RB2 Remove the jumper wire from RB2 and RB3 Commercial power supply In case of single phase input connect to the L1 and L2 terminals Connector CN3B when a terminator is app...

Page 469: ...2 SIG 5 SIG 6 BAT 3 BAT 4 CN1 CN6 OUT1 5 COMOUT 19 MON2 14 MON1 16 BAT 2 CN5 BAT 1 1 U 2 V 3 W 4 Ｍ 7 P5 ＰＧ 1 Br 2 Br 8 M5 5 SIG 4 SIG 1 BAT 2 BAT 3 FG 1 2 3 4 5 6 Connector CN3B when a terminator is applied the SX bus folding back plug is necessary Connect the external braking resistor across RB1 and RB2 Remove the jumper wire from RB2 and RB3 Commercial power supply In case of single phase input ...

Page 470: ..._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 after the absolute position system is established Execute position preset to remove the alarm Perform homing To establish the coordinate system of the absolute position system execute regular homing 1 2...

Page 471: ... to check the battery warning 1 OUT signal assignment number 45 2 Monitor Warning Forecast monitor of PC Loader 3 Maintenance mode of keypad The battery warning can be checked in the maintenance mode of the keypad 4 Blink of orange status indication LED of keypad The blink of the status indication LED indicates an alarm in regular cases If the indication status LED blinks though no alarm AL is sho...

Page 472: ...14 hours 1 year About 261 days 365 days x 5 7 About 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 shutoff phase 0 0415 mA 0 0075 mA 0 034 mA Calculation of service life Annual battery capacity consumption 10 Hr 0 0075 mA 14 Hr 0 0415 mA 261 days 24 ...

Page 473: ...12 1 CHAPTER 12 POSITIONING DATA 12 ...

Page 474: ...sitioning data are as follows For the target position and stand still timer the position of the decimal point can be changed by setting the 9 Decimal Point Rotation speed speed data 0 01 to max rotation speed r min in increments of 0 01 Target position position data 2000000000 to 2000000000 in increments of 1 unit amount Set contents of positioning data Stand still timer stop time 0 000 to 65 535 ...

Page 475: ...07 Denominator 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 Always PA2_01 Decimal point position of positioning data No Name Setting range Default value Change 01 Decimal point position of positioning data 0 0 1 0 1 2 0 01 3 0 001 4 0 0001 5 0 0...

Page 476: ...changing the setting of the PA2_42 decimal point position of stand still timer it is also allowed to set from 0 000 to 65 535 s Rotation speed Ready Stand still timer of positioning data Time ON ON OFF Start positioning AD7 AD0 35 99 In position lNP ON OFF ON M code output at startup Stand still timer stop time FF FF 20 Positioning data are regarded as being executed while the timer is measured Th...

Page 477: ...tion 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 data of ABS the motor moves up to the zero point from any position When INC specification is applied the servo motor moves from the current position by the setting of the positioning data When positioning data is set to 100 0 the servo motor moves from ...

Page 478: ... the next speed data at the specified position of the positioning data 2 When data with a low 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 addresses When the motor is started up at positioning data while data continuation is executed the positioning dat...

Page 479: ...ntinuation of positioning data No Command style Stop position 0 00 17 18 19 ABS Step mode CO CO CO 5000 00 5200 00 5400 00 ABS ABS ABS Rotation speed 0 00 5000 00 500 00 50 00 M code M code output Rotation speed Ready Data continuation of positioning data Time ON ON OFF Start positioning AD7 AD0 56 0 In position INP ON OFF ON Cycle end Stand still timer Stop time Positioning data are regarded as b...

Page 480: ...ting value of position data to the IQ area 8th and 9th word directly Positioning is started on the ON edge of the start positioning START signal For details of the immediate data start refer to CHAPTER 3 OPERATION Stop method The servo motor is decelerated before the specified position set by positioning data and stopped automatically at that position The method for stopping the motor forcibly aft...

Page 481: ...signal After positioning data are set if PA2_01 decimal point position of positioning data is changed the setting might be increased or decreased The significant figure 10 digits long is not changed 12 4 Response Time The response time of start positioning operation according to positioning data is as follows Starting up by the CONT signal Start positioning START terminal sampling time Approx 1 0 ...

Page 482: ...CHAPTER 12 POSITIONING DATA 12 10 Response Time 12 ...

Page 483: ...13 1 CHAPTER 13 PC LOADER 13 ...

Page 484: ...00 Professional Pentium 300MHz or faster Windows XP Professional Windows XP Home Edition Memory environment 64 MB or more Windows 2000 Professional 128 MB or more Windows XP Professional Windows XP Home Edition Display Windows compatible display having XGA 1024 x 768 pixels or better resolution Free space of hard disk 80 MB minimum 13 2 Installation Method Before starting installation exit from Me...

Page 485: ...cept the terms in the license agreement then Next 4 Enter user information Enter the user name and the division you belong to Designate the user of the PC Loader After entering and selecting click Next 5 The installation preparation start screen is displayed Click Install File copying begins 6 The installation end screen is displayed Click Finish to finish installation ...

Page 486: ...B driver Select Install from a list or specific location Advanced and click Next 2 Select the USB driver file Select Search for the best driver in these locations and place a check mark at Include this location in the search Click the Browse button and select the USB driver 3 Select the folder containing the driver file The USB driver is copied in the folder where PC Loader is installed C Program ...

Page 487: ...e button to open the browse screen The SxUsb sys file is found in the following folder in the default state C Program Files ALPHA5 Driver Win2000 6 Select the SxUsb sys file and click the Open button 7 Copy from is designated Click the OK button 8 The file is copied and the completion screen is displayed Click the Finish button to exit from driver installation ...

Page 488: ...ct the PC with the amplifier Turn the amplifier on The PC recognizes the amplifier as a USB device Install the ALPHA5 USB driver 2 Select Search for a suitable driver for my device recommended and click Next 3 Designate the location of the driver file Select Specify a location and click Next ...

Page 489: ...tion screen The USB driver is copied in the folder where the PC Loader is installed C Program Files ALPHA5 Driver 5 Select the SxUsb inf file and click OK 6 Click Next to start to install the driver 7 The file is copied and the completion screen is displayed Click the Finish button to exit from installation of the driver ...

Page 490: ...er in the following list can be used As of November 2007 Applicable device Applicable model Name and model of loader Version SX Programmer Expert D300winVer2 NP4H SEDBV2 All versions SX Programmer Expert D300winVer3 NP4H SEDBV3 V3 3 4 or earlier SX Programmer Standard NP4H SWN V2 2 3 or earlier Fuji s integral controller MICREX SX SX communications middle ware NP4N MDLW All versions FRENIC Mini FR...

Page 491: ...Various numerical data Alarm history Warning Forecast monitor Automatic vibration suppressing monitor or System configuration Edit Parameters Parameters can be edited transferred compared or initialized Communication setup Set up communication conditions between the servo amplifier and PC Test running Various test operations can be conducted independently between the servo amplifier and servomotor...

Page 492: ...log Perform I O check If necessary perform forced OUT signal output and forced pulse output Perform I O monitor in the monitor mode to check 2 Connect with the host controller and perform motion to check if the sequence program functions correctly Give commands from the host and check for motions Use digital monitor in the monitor mode to check the command pulse frequency and command cumulative pu...

Page 493: ...rm and press the START STOP button to acquire the waveform Example of real time trace screen You can show the interval between two points overlap waveforms perform FFT analysis copy the screen show parameter data of the acquired waveform save the waveform in a CSV file or do other things Relationship between sampling time and tracing time Sampling time ms Tracing time s 1 60 2 120 5 300 10 600 20 ...

Page 494: ...OP button to stop tracing Waveform that can be acquired Up to eight channels of analog or digital signals can be acquired Waveforms that can be acquired are shown below All digital I O signals can be traced Up to four analog signals can be acquired If four analog signals are selected no more digital signals are acquired Example of analog signal selection screen Example of digital signal selection ...

Page 495: ...how the interval between two points overlap waveforms perform FFT analysis re load the waveform copy the screen show parameter data of the acquired waveform save the waveform in a CSV file or do other things For detail description of each tab and button refer to the Help of PC Loader Tabs Buttons Relationship between sampling time and tracing time Sampling time ms Tracing time s 0 125 0 0625 0 250...

Page 496: ...ger position 5 Press the START STOP button to start to trace If trigger conditions are satisfied the waveform is acquired and the procedure is automatically stopped Waveform that can be acquired Same as that of real time trace Trigger setting Both analog and digital waveforms can be used for the trigger setting The trigger setting is only for the single channel Analog trigger setting Digital trigg...

Page 497: ...and torque 1 digital waveform in position INP 2 Select Use at edge as a digital trigger signal of the digital waveform in position INP 3 Set the sampling time at 1ms 4 Set the trace count from the trigger position at 250 After entering above press the START STOP button to start to trace Select Monitor Digital monitor to show the overshoot unit amount and settling time at real time 1 2 3 4 ...

Page 498: ...N OFF status of the digital I O signal Lighting on and off are indicated as ON and OFF respectively Digital monitor Monitor various pieces of data during operation the data is not saved Data that can be monitored in the monitor mode of the keypad Alarm history monitor The history incl accompanying data of past 20 alarms is displayed Feedback speed at alarm torque command DC link voltage etc ...

Page 499: ... warning remaining time of the main circuit capacitor and heat sink etc Automatic vibration suppressing monitor The state of learning of automatic vibration suppressing is displayed IQ area monitor Data between the SX controller and servo amplifier are displayed Command value from the master unit can be checked System monitor The model capacity etc of the connected servo amplifier and servomotor i...

Page 500: ...nnected servo amplifier or those having been saved in a file 5 Initialization Currently edited parameters or those of the connected servo amplifier are reset to default values This function can be executed only while the servo is turned off After initializing turn the servo amplifier off then on again 6 File information Data about currently edited parameter file The type date comment and so on of ...

Page 501: ...suppressing resonance frequency at PA1 Control gain and filter setting and enter the anti resonance frequency and resonance frequency to automatically calculate the workpiece inertia ratio The resonance frequency is not the one suppressed with the notch filter Perform servo analyze to check this resonance frequency This resonance frequency appears as a set with the anti resonance frequency and the...

Page 502: ...nges Changed positioning data are sent to the connected servo amplifier 3 Send all All positioning data are sent to the connected servo amplifier 4 Comparison Currently edited parameters are compared with those of the connected servo amplifier or those having been saved in a file 5 Initialization Currently edited parameters or those of the connected servo amplifier are reset to default values 6 Fi...

Page 503: ...ervomotor from the main body of the servo amplifier Use this function if the servomotor does not operate correctly according to host commands if the motor fails to start or to check the direction of rotation 1 Servo on is automatically turned on and the motor rotates Be careful 2 To return to the regular mode turn the servo amplifier off Be careful 1 1 1 2 2 1 2 ...

Page 504: ...rs PA2_06 through _14 After the homing motion is finished the motion is finished Press the Preset button to change the current position to the one specified in parameter PA2_19 preset position Press the Set button to output the Z phase at the current position and automatically change parameter PA1_12 Z phase offset Z phase position set fails in the following cases PA2_74 parameter write protection...

Page 505: ...art one of motions a Press the START STOP button during the motion to stop immediately Slow running A motion starts according to parameter settings b The speed is fixed at 10 r min The function is for the check of the traveling amount and direction Easy tuning A motion starts according to parameter settings 2 while the auto tuning gain 1 is adjusted However the acceleration and deceleration time i...

Page 506: ...r the current cycle Select the OUT signal output at a and select ON or OFF at b To exit from this mode turn the power off a b Select the pulse signal to be output at a Phase A B Enter the frequency and press the Forced pulse output button to issue pulses Frequency setting range 0 to 1000 kHz in increments of 1 kHz Z phase The Z phase signal alternates each time the Forced H signal output or Forced...

Page 507: ...he motor current effective torque OL thermal value and braking resistor thermal value do not change The overload warning does not function Under torque control simulation proceeds in the powering state The motor rotates in the same direction as the sign included in the torque command The speed at the time follows the setting of easy tuning speed setting PA1_21 INC ABS system selection PA1_2 is han...

Page 508: ...aunching The positioning data edit screen can be launched at the same time for checking the positioning data Select the positioning data to be launched Currently executed positioning data address and feedback current position are monitored Pressing this button starts automatic operation with selected positioning data Positioning operation is canceled and stops if this button is pressed during oper...

Page 509: ... The positioning data edit screen can be launched at the same time for checking the positioning data Select the positioning data to write data Pressing this button executes teaching Data are written to the address selected for the feedback current position shown here The address to which the teaching was executed will have the ABS type command method Other setting will not be changed ...

Page 510: ...hat the motor may turn substantially according to some vibration torque settings Enter a suitable allowable stroke setting to set a limit Each setting 1 Mode In case of horizontally driven equipment select Normal In case of vertically driven equipment select UpDown 2 Adds vibration torque Larger the value better the accuracy But the shock is larger causing a larger burden to the equipment In regul...

Page 511: ...s shown launch Immobility diagnosis to analyze probable causes at real time Starting method Select Diagnosis Immobility diagnosis from the menu or click the icon to start Reference screen Operation method Select from the list of Operation being started 1 in the screen above Press the Diagnosis START STOP button to show the amplifier state and estimate the cause of immobility 1 ...

Page 512: ...ese and English Applicable version The version of PC Loader supporting Japanese and English is V1 3 or later Selecting procedure Select the desired language by selecting Setup Language in the menu bar Exit the PC Loader after the following window is shown The language will be updated when the PC Loader is restarted ...

Page 513: ...14 1 CHAPTER 14 APPENDIXES 14 ...

Page 514: ...rent control PWM Torque filter Speed adjuster DC link voltage Feedback speed Feedback position Command torque Motor current Position deviation Command pulse frequency Command cumulative pulse Filter command speed Effective torque Calculation of effective value Peak torque Command speed Command position Electronic gear Load inertia ratio Speed deviation Peak calculation Position deviation Inertia o...

Page 515: ... RYT501B5 to RYT851B5 N P L3 T L2 S L1 R P1 W V U RY R PT Fan C M 1PH 3PH 200 to 240VAC 50 60Hz RB2 Frame 3 or above RB1 RB3 CHARGE LED Gate drive Current detection Over current detection Voltage detection Braking transistor failure detection Fan drive L2C L1C C DS Control power 1PH 200 to 240VAC 50 60Hz Dynamic braking circuit Power supply monitor ...

Page 516: ... T L2 S L1 R P1 W V U RY R PT Fan C M 3PH AC200 240V 50 60Hz RB2 Frame 3 or above RB1 RB3 CHARGE LED Gate drive Current detection Over current detection Voltage detection Braking transistor failure detection Fan drive L2C L1C C DS Control power 1PH AC200 240V 50 60Hz Dynamic braking circuit Power supply monitor Brown fuse detection FUSE ...

Page 517: ...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 ratio 0 PA1_80 Vibration suppressing anti resonance frequency 1 PA1_81 Vibration suppressing workpiece inertia ratio 1 PA1_82 Vibration suppressing anti resonance frequency 2 PA1_83 Vibration suppressing...

Page 518: ...tion 12 Z phase position offset 13 Tuning mode selection 14 Load inertia ratio 15 Auto tuning gain 1 16 Auto tuning gain 2 20 Easy tuning stroke setting 21 Easy tuning speed setting 22 Easy tuning timer setting 23 Easy tuning direction selection 25 Max rotation speed for position and speed control 26 Max rotation speed for torque control 1 27 Forward rotation torque limit 28 Reverse rotation torqu...

Page 519: ...d 7 for position and speed control VS for test operation 1 The parameter applicable only for VS type 2 The parameter applicable only for LS type PA1_ Control gain and filter setting parameters No Name Power Record of reference value 51 Moving average S curve time 52 Low pass filter for S curve time constant 53 Command pulse smoothing function 54 Position command response time constant 55 Position ...

Page 520: ...ece inertia ratio vibration suppressing resonance frequency 2 84 Vibration suppressing anti resonance frequency 3 85 Vibration suppressing workpiece inertia ratio vibration suppressing resonance frequency 3 86 Vibration suppressing damping coefficient 87 Model torque filter time constant 88 Position loop integration time constant 89 Position loop integration limiter 90 Load torque observer 91 P PI...

Page 521: ...time at OT during homing 19 Preset position 20 Interrupt traveling unit amount 22 Detection time for contact stopper 23 Torque limit for contact stopper 24 Selection of operation at OT during homing 25 Software OT selection 1 Positioning operation type 2 26 Positive software OT detection position 27 Negative software OT detection position 28 Positive limiter detection position 2 29 Negative limite...

Page 522: ...servo on OFF 62 Action sequence at alarm 63 Action sequence at main power shutoff 64 Torque keeping time to holding brake 65 Braking resistor selection 66 Flying start at speed control 1 67 Alarm detection at undervoltage 68 Main power shutoff detection time 69 Deviation detection overflow value 70 Overload warning value 72 Station number for communications 74 Parameter write protection 75 Positio...

Page 523: ...T3 signal assignment 04 CONT4 signal assignment 05 CONT5 signal assignment 06 CONT6 signal assignment 07 CONT7 signal assignment 08 CONT8 signal assignment 2 09 CONT9 signal assignment 2 10 CONT10 signal assignment 2 11 CONT11 signal assignment 2 12 CONT12 signal assignment 2 13 CONT13 signal assignment 2 14 CONT14 signal assignment 2 15 CONT15 signal assignment 2 16 CONT16 signal assignment 2 17 ...

Page 524: ...nment 2 59 OUT9 signal assignment 2 60 OUT10 signal assignment 2 61 OUT11 signal assignment 2 62 OUT12 signal assignment 2 63 OUT13 signal assignment 2 64 OUT14 signal assignment 2 65 OUT15 signal assignment 2 66 OUT16 signal assignment 2 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 Monitor 1 2 output...

Page 525: ...ompensation measures are necessary Timing belt conveyor Has a relatively large degree of freedom when compared with chain Mainly for small loads Because a π value is included in the traveling distance of each pulley rotation compensation measures are necessary When applying the servo system to a mechanical system take care of the following points 1 Reduction ratio Use nearly at the rated speed max...

Page 526: ... wire material results in a larger moment of inertia a sufficiently large reduction ratio is necessary To achieve a constant surface speed examination must be made including peripheral equipment Chain drive Mainly used for the transfer line Countermeasures against elongation of the chain itself are necessary Used mainly for relatively large reduction ratios the traveling speed of the mechanical sy...

Page 527: ...nt of inertia of mechanical system Load torque torque necessary to move the machine Acceleration Deceleration time Operation profile In general there is no way to measure the inertia of the mechanical system and load torque calculate approximate values according to the configuration of the machine Module Pitch circle diameter of gear Number of teeth Module 0 5 0 75 0 8 1 1 5 2 2 5 3 4 5 6 7 Approx...

Page 528: ... 1 2 3 4 5 6 7 8 9 Yes No _ 1 Calculate the load inertia according to the configuration of the machine 2 Calculate the load torque according to the configuration of the machine 3 Temporarily select the motor capacity 4 Check the shortest acceleration deceleration time If the time is designated calculate the necessary acceleration deceleration torque 5 Create the torque pattern according to the ope...

Page 529: ...ｚ１２ＷＬ１０3 2 Ａ１０3 2 １２ＷＡ１０3 2 Ｂ１０3 2 Ｗ１０3 Ａ2 １０3 Ｂ2 １０3 Ｌ ρ １０3 Ａ1 １０3 Ｂ1 Ｗ2 １０3 Ａ2 １０3 Ｂ2 １０3 Ｌ ρ Ｗ1 １０3 Ａ1 １０3 Ｂ1 １０3 Ｌ ρ １２Ｗ2 Ｂ2 １０3 2 Ｌ１０3 2 Ｊx １２Ｗ1 Ｂ1 １０3 2 Ｌ１０3 2 １２Ｗ2 Ａ2 １０3 2 Ｌ１０3 2 Ｊy １２Ｗ1 Ａ1 １０3 2 Ｌ１０3 2 １２Ｗ2 Ａ2 １０3 2 Ｂ2 １０3 2 Ｊz １２Ｗ1 Ａ1 １０3 2 Ｂ1 １０3 2 Ｗ πρ ４１０3 ＬＤ２１０3 2 Ｄ1 １０3 2 ＪｚＷ８Ｄ２１０3 2 Ｄ1 １０3 2 πρ ３２１０3 ＬＤ２１０3 4 Ｄ1 １０3 4 Ｊｘ１６ＷＤ２１０3 2 Ｄ1 １０3 2 Ｗ１２１０...

Page 530: ... of sprocket mm GL Reduction ratio no unit W Total mass of moving parts kg D Roll diameter mm GL Reduction ratio no unit J Inertia around the center of gravity of body W Mass of body kg L Distance between body and axis of rotation mm GL Reduction ratio no unit Ball screw Rack Pinion conveyor and chain drive Feed roll Rotating body and table drive Obtain the sum of inertia of each shape Inertia of ...

Page 531: ...ght kg GL Reduction ratio no unit Hoisting vertically Descending vertically At a stop vertically Calculation of load torque TL ２πη μＷＦ９８１ＢＰ１０3 ＴＬＧＬ２πη μ １Ｗ1 Ｗ2 ９８１ＢＰ１０3 ＴＬＧＬ２πη μ １Ｗ1 Ｗ2 ９８１ＢＰ１０3 ＴＬＧＬ２πη Ｗ1 Ｗ2 ９８１ＢＰ１０3 ＴＬＧＬＤ２ η μＷＦ９８１ＴＬＧＬ１１０3 ＧＬＤ２ＴＬ１１０3 η μ １Ｗ1 Ｗ2 ９８１ η μ １Ｗ1 Ｗ2 ９８１ＴＬＤ２ＧＬ１１０3 η Ｗ1 Ｗ2 ９８１ＴＬＤ２ＧＬ１１０3 Traveling speed V Mass of movin...

Page 532: ...ent positioning 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 safety 4 Calculating the shortest acceleration deceleration time calculating the accelerating decelerating torque Check the shortest acceleration deceleration under consideration of load...

Page 533: ...rn TDC Deceleration torque 6 Calculating the effective torque Trms Calculate the effective torque of each cycle of the operation pattern Obtain 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 torque is equal to or smaller than the rated torque continuou...

Page 534: ... resistor capacity If it is not an external braking resistor is necessary 9 Reviewing the operation pattern and mechanical configuration If Trms exceeds TR review the following items Increase the acceleration deceleration time a little in the allowable range Reduce the operation frequency increase the cycle time If the rotation speed allows increase the reduction ratio Increase the motor capacity ...

Page 535: ...Suppose Ø20 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 20kg friction coefficient µ of 0 1 and machine efficiency η of 0 9 0 6 10 4 kg m2 πρ 32 4 GL2 J1 L 1000 π 7 85 103 D1 1000 32 500 1000 20 1000 4 1 1 2 0 5 10 4 kg m2 2 GL 2 J2 W 1 2π 20 BP 1000 1 1 2 JL 1 1 10 4 kg m2 2 1 2π 10 1000 GL TL µW F 9 81 2...

Page 536: ...und 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 acceleration Deceleration time of 0 05 seconds TL TR 0 9 JL JM 5 Frequent feed TL 0 03 Nm JL 1 1 10 4 kg m2 TAC JM JL 2π N 60 TAC TL 0 135 10 4 1 1 10 4 2π 3000 60 1 91 0 03 0 021 s TAC JM JL 2π N 60 TAC TL 0 135 10 4 1 1 10 4 2π 3000 60 0 05 0 78 Nm 0 03 ...

Page 537: ...ctive torque Trms Time average output torque Because the result is smaller than rated torque 0 637 Nm of the GYS201D5 HB2 type continuous operation can be made in the designated profile 9 Result of selection Servomotor GYS201D5 HB2 0 2 kW TAC 2 ta TL 2 tL TDC 2 td 0 782 0 05 2 0 032 0 05 1 tcyc Trms 0 5 0 25 Nm 500 mm s 0 05 0 05 0 05 Speed 0 78 0 78 0 03 50 mm Time Time Toque ...

Page 538: ...braking 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 load torque 3 Calculate the energy EM consumed by the coil of the servomotor Phase resistance of GYS201D5 HB2 type 2 3 Ω P1 W 2π 60 T Nm N r min 1 2 2π 60 0 78 3000 1 2 2 1 JM JL 2πN 60 2 EG 6 1 J 2π 3000 60 2 0 135 10 4 1 1 10 4 EL 2π 60 TL N tDC...

Page 539: ...tual value The capacitor of 0 2 kW or smaller capacity servo amplifiers is 300 µF VDB DB transistor activation level 390 V VDC DC link voltage 200 x 2 V The energy that can be processed by the mechanical system servo amplifier and servomotor is EL EM ES 0 24 1 2 10 8 12 2 J Because EG 6 1 J no external braking resistor is necessary 1 2 C VDB 2 VDC 2 ES 10 8 J 300 10 6 3902 200 2 2 1 2 ...

Page 540: ...05 10 8 GYS 5 0 30 0 0 05 12 8 4080 Series Capacity kW Rated current A Phase resistance Ω Inertia 10 4 kg m2 Capacity of capacitor µF 0 1 1 0 3 6 0 0577 0 2 1 5 2 1 0 213 300 0 4 2 6 0 9 0 408 660 0 75 4 8 0 38 1 21 1 0 6 7 0 27 3 19 940 1 5 9 6 0 15 4 44 1360 GYC 2 0 12 6 0 11 5 69 1880 Series Capacity kW Rated current A Phase resistance Ω Inertia 10 4 kg m2 Capacity of capacitor µF 0 5 3 5 0 71 ...

Page 541: ...election Calculation 14 29 14 100V series Series Capacity kW Rated current A Phase resistance Ω Inertia 10 4 kg m2 Capacity of capacitor µF 0 05 0 85 4 7 0 0192 0 1 1 5 2 5 0 0371 0 2 2 7 0 66 0 135 2000 GYS 0 375 4 8 0 31 0 246 2400 ...

Page 542: ...CHAPTER 14 APPENDIXES 14 30 Revision History 14 14 6 Revision History Date of printing Index Description of revision September 30 2007 September 30 2008 None a First version SX type version ...

Page 543: ...ollowing cases 1 The malfunction occurs due to inappropriate conditions environment handling or usage that is not instructed in a catalogue instruction book or user s manual 2 The malfunction is caused by the factors that do not originate in the purchased or delivered product 3 The malfunction is caused by other devices or software design that does not originate in Fuji Electric products 4 The mal...

Page 544: ...ntinuation Also most spare parts used for repair are provided for seven years from the date of discontinuation However some electric parts may not be obtained due to their short life cycle In this case repair or provision of the parts may be difficult in the above period Please contact Fuji Electric or its service providers for further information 4 Delivered term Standard products that do not ent...

Page 545: ...CHAPTER 14 APPENDIXES Service Network 14 33 14 14 8 Service Network ...

Page 546: ...CHAPTER 14 APPENDIXES 14 34 Service Network 14 ...

Page 547: ...zen Shinagawa Bldg 2 4 13 Konan Minato ku Tokyo 108 0075 Japan Phone 81 3 6717 0611 Fax 81 3 6717 0585 URL http www fesys co jp eng index html JQA 0456 The Inverter Value Engineering Center Suzuka Area has acquired environment management system ISO14001 and quality management system ISO9001 certifications ...

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