FujiFilm GYN101CAG-G09 User Manual Download Page 114

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PARAMETERS

5-44

5-5) Control system settings

Control system setting parameters are described in the order of the parameter number.

Control block diagram

The control block diagram of FALDIC-

Series is shown.

Parameter #3

Pulse string

input

CA, *CA
CB, *CB

Parameters

#1, #2

S-curve time

constant

Parameter #44

Parameters #54, #55

Parameter #40*

Parameter #56

Command follow-up

control selection

Frequency
dividing output
terminal
FA, *FA
FB, *FB
FZ, *FZ

Parameter #17

Pulse string

input form

Position

controller gain

Feed forward

Parameter #45*

Control

added when

setting

Command

follow-up

control

Frequency

dividing

circuit

Command pulse

correction /

Parameter

#43

Inertia

assumption

Tuning mode

Parameter #5

Turned on upon "0" in parameter #5

Load inertia

ratio

Parameter #6

Auto tuning

Auto tuning gain

Parameter #7

* Parameters shown in the shaded box
are automatically adjusted.

α β

Summary of Contents for GYN101CAG-G09

Page 1: ...FUJI AC SERVO SYSTEM USER S MANUAL MEH395 ...

Page 2: ......

Page 3: ...some unusual information which must be specially noted n DANGER Cautionary indication Description of cautionary indication Indicates that death or severe personal injury will result if proper precautions are not taken n CAUTION Cautionary indication Description of cautionary indication Indicates that personal injury or property damage alone will result if proper precautions are not taken Alert sym...

Page 4: ... Fig B shows the following contents n There is a risk of electric shock Do not touch the amplifier when a commercial power is applied and for at least five minutes after de energization Be sure to ground 3rd class grounding the terminal marked Warning display Warning label ...

Page 5: ...using the motor to run at an excessive speed n Do not connect a commercial power supply directly to the motor Otherwise it may break n Supplying power other than 200 V to the amplifier may break it n Do not turn on and off the commercial power repeatedly Otherwise the amplifier rectifier may break n The motor must be firmly tightened to the mounting base or the driven machine If rapid acceleration...

Page 6: ...t from the appearance of the product you have purchased Products introduced in this manual have not been designed or manufactured for such applications in a system or equipment that will affect human bodies or lives Customers who want to use the products introduced in this manual for special systems or devices such as for atomic energy control aerospace use medical use and traffic control are requ...

Page 7: ... INR SI470714 Servomotor User s Manual Fuji GY Series AC Servomotor ING YH347 The type designation of the product covered in this manual is shown below Device Applicable type Servo amplifier RYBoooS3 VBC Servomotor GYCoooDC1 C GYSoooDC1 C Gear head GYNoooSAG Goo GYNoooCAG Goo o in the type designation indicates a decimal point or number in the type designation indicates an alphabetic character or ...

Page 8: ... stage 4 5 5 PARAMETERS 5 1 Parameter configuration 5 2 5 2 List of parameters 5 4 5 3 Basic settings 5 6 5 4 System settings 5 16 5 5 Control system settings 5 44 5 6 For adjustment by manufacturer 5 54 6 ADJUSTMENT OF SERVO 6 1 Basic adjustment 6 2 6 2 Application adjustment 6 4 6 3 Adjustment requiring high speed response 6 7 7 SPECIAL ADJUSTMENT 7 1 Vibration control 7 2 7 1 1 What is vibratio...

Page 9: ...EVICE 10 1 Cable size 10 4 10 2 FAB ELB 10 6 10 3 Electromagnetic contactor 10 7 10 4 Surge absorber 10 8 10 5 Power filter 10 10 10 6 AC reactor 10 12 10 7 External regenerative resistor 10 14 10 8 Option 10 16 11 SPECIFICATIONS 11 1 List of servomotor specifications 11 2 11 2 List of servo amplifier specifications 11 6 11 3 Speed torque characteristics 11 8 11 4 Dimensional drawing 11 15 APPENDI...

Page 10: ......

Page 11: ...1 1 Outline 1 2 Items to be confirmed 1 3 Servomotor 1 4 Servo amplifier 1 5 Type designation OUTLINE ...

Page 12: ...lation Requirements for functions and performance are sophisticated to meet various needs at higher levels They are best for machines requiring short cycle time and high speed positioning n Mechanical vibration suppressed to an ultimate level n Pursuit of high performance and high precision n Epoch making compact size n Simple operation for reduced set up time n Standard compliance with overseas s...

Page 13: ... RS 485 and various interface n Built in positioning controller L R type n PC loader option Catalog No MH544 n 50 W to 3 7 kW rated speed 2000 r min n Compatible with general purpose motor n 1000 P R encoder n Pulse string analog input n Special loader option Catalog No MH541 Function Application examples Semiconductor production and inspection equipment Electronic parts processing equipment Unloa...

Page 14: ...Servo Analysis Function Option In order to utilize the Damping Control Function and Notch Filter etc effectively it is necessary to analyze the resonance frequencies that are inherent in each machine If the Servo Analysis Function offered in the optional personal computer loader is used it can analyze the data for the machine system simply eliminating the needs for complicated calculations and adj...

Page 15: ... time n n n n Uses a new type auto tuning function The previous auto tuning function has been further refined so that adjustments of even heavy perpetual loads which are considered to be difficult in ordinary tuning can be done easily n n n n Setup parameters are designed to facility operability By setting only 7 different parameters in the basic settings operation with the industry s top level pe...

Page 16: ...s shown in the following pages Is there any damage around the product Observe the appearance to check for broken parts Check if the servomotor shaft rotates smoothly Turn by hand If the shaft rotates smoothly there is no problem However the shaft does not turn with servomotors equipped with a brake Are any screws dislocated or loose Use a screwdriver to check screws If any defects are found contac...

Page 17: ...motor rotates Encoder cable Connect to CN2 of the servo amplifier using the optional cable or connector kit The wiring from the encoder cable up to the servo amplifier is called encoder wiring Encoder A 16 bit serial encoder is housed on the side of the servomotor opposite to the load Frame The frame supports the output shaft of the servomotor The frame is molded of resin Power cable Connect to th...

Page 18: ...unding terminals Connect the grounding cable of the servomotor and grounding terminal Type designation display Keypad panel The keypad panel is provided with a two digit seven segment LED display and four operation keys CN1 Connect the sequence input output signal Connector for connection of loader Connect the PC loader CN2 Connect the encoder cable of the servomotor Charge LED The LED is lit when...

Page 19: ...tring speed control Host I F B DI DO Exclusively used for pulse string Encoder C Standard 16 bit exclusively used for incremental operation 6 3 phase 200V Single phase 100V Voltage No indication 6 Servomotor Basic type designation GYS Slim GYC Cubic Capacity 201 20 201 20 201 20 201 20 X 10１１１１ 200W 500 50 500 50 500 50 500 50 X 10００００ 50W Rated speed D 3000 r min Installation method C Flang...

Page 20: ...1 Outline 1 10 MEMO ...

Page 21: ...2 1 Servomotor 2 2 Servo amplifier INSTALLATION ...

Page 22: ...to 40 C Operating humidity 10 to 90 RH no condensation allowed Use the gear head in the following operating environment Operating temperature 0 to 40 C Operating humidity 10 to 90 RH no condensation allowed 3 Mounting The servomotor can be mounted horizontally downward or upward The same rule applies to the gear head and the servomotor equipped with a brake The symbol in the figure indicates the m...

Page 23: ...e obtained n Do not disassemble the servomotor If the servomotor is disassembled the performance will deteriorate and the mechanical system may be broken n Never give shocks to the servomotor by hitting with a hammer etc Otherwise the encoder will be broken causing the servomotor to run away 5 Power supply to servomotor Do not connect commercial power supply to the servomotor Otherwise the interna...

Page 24: ...d oil Measures taken to the motor are useful for protection against moderate amount of splashes However the shaft is not water proof or oil resistant and so take appropriate measures on the machine side to avoid entry of water and oil into the servomotor In environment with much water or oil drops or oil mist install a cover or the like on the machine and connect lead wires and connector downward ...

Page 25: ...gear head Allowable radial load Fr N Allowable thrust load Fs N LR mm GYN 500SAG G09 101SAG G09 201SAG G09 401SAG G09 751SAG G09 GYN 101CAG G09 201CAG G09 401CAG G09 751CAG G09 294 294 441 589 736 548 8 1019 1019 1381 8 147 147 196 245 294 372 4 666 4 666 4 882 11 11 17 17 22 5 11 17 17 22 5 Motor type Slim GYS Cubic GYC LR Fs Fr Type of servomotor Allowable radial load Fr N Allowable thrust load ...

Page 26: ...s is for prevention of seizure of the output shaft of the servomotor 2 Preparation for assembly 1 Remove the rubber cap in the depth of the flange face of the gear head installing the servomotor 2 Align the position of the key in the input shaft of the gear head with the rubber cap hole Loosen the hexagon socket head cap screw in the rubber cap The hexagon socket head cap screw is located at the i...

Page 27: ...gear head GYN101CAG G09 G25 GYN201CAG G09 G25 GYN401CAG G09 G25 GYN751CAG G09 G25 Tightening torque 1 8 0 21 N m GYN500SAG G09 G25 GYN101SAG G09 G25 GYN201SAG G09 G25 GYN401SAG G09 G25 GYN751SAG G09 G25 _ Size of accessory screw quantity M4 x 12 4 pcs Screw size For GYS Type of gear head GYN500SAG G09 G25 GYN101SAG G09 G25 GYN201SAG G09 G25 GYN401SAG G09 G25 GYN751SAG G09 G25 M5 x 12 4 pcs Tighten...

Page 28: ...o 90 RH no condensation allowed 2 Operating environment Operate the servomotor in the following environment The servo amplifier is not drip proof and dust resistant Operating temperature 10 to 50 C Operating humidity 10 to 90 RH no condensation allowed 3 Mounting 1 Mount the servo amplifier in the upright direction so that the FALDIC characters on the keypad panel of the servo amplifier look horiz...

Page 29: ... in the operation frequency when amplifiers are mounted at 5 mm or larger intervals Reserve 40 mm or a larger distance at the bottom of the servo amplifier 50 mm or a larger distance is necessary above the servo amplifier for heat radiation Servo amplifiers can be operated at 100 ED at ambient temperatures below 45 C i Top 50 mm or more ii Bottom 40 mm or more iii Casing About 10 mm The value assu...

Page 30: ...ifier Servo amplifier Air intake Air intake Air intake Exhaust air Exhaust air Location where strong electrostatic or magnetic field exists Accommodation in the same panel together with high voltage 3 kV 6 kV equipment Sharing of the same power supply with the equipment which generates large noise Under standing vibration In vacuum In explosive atmosphere 5 Power supply to servo amplifier Supply e...

Page 31: ...2 2 11 6 Depth of amplifier Allow 70 mm or more distance for a servo amplifier connected with a sequence input output cable Wall 70 130 Common among all types Sequence input output cable Power cable Servo amplifier ...

Page 32: ...2 INSTALLATION 2 12 MEMO ...

Page 33: ...3 1 Construction 3 2 Servo amplifier 3 3 Servomotor 3 4 Encoder 3 5 Standard connection diagrams 3 6 Connection examples WIRING ...

Page 34: ...capacity or to suppress disproportion in the source voltage or harmonics Power filter The power filter is installed to protect the servo amplifier from harmonics and fluctuation in the source voltage Servo amplifier The servo amplifier houses command follow up control and dumping control functions and it is exclusively for pulse string inputs Servomotor FAB ELB AC reactor External regenerative res...

Page 35: ... ONL 0 1 2 3 4 5 6 7 ONL 0 1 2 3 4 5 6 7 ERR 8 9 101112131415 ERR 8 9 101112131415 ERR 8 9 101112131415 ERR 8 9 101112131415 ONL 0 1 2 3 4 5 6 7 ONL 0 1 2 3 4 5 6 7 ONL 0 1 2 3 4 5 6 7 ONL 0 1 2 3 4 5 6 7 ERR 8 9 101112131415 ERR 8 9 101112131415 ERR 8 9 101112131415 ERR 8 9 101112131415 ONL CH1 ONL CH1 ONL CH1 ONL CH1 ERR CH2 ERR CH2 ERR CH2 ERR CH2 EMG OT OT EMG OT OT EMG OT OT EMG OT OT 20 20 2...

Page 36: ...y 50 60Hz No of phases 3 Single phase 200V can be supplied to servo amplifiers with 400W or smaller capacities Use a step down transformer to supply power from the 400V system If the voltage is supplied directly the servo amplifier will be broken n Single phase 100V series Supply 100V commercial power to the servo amplifier Connect the power cables to the L1 and L2 terminals Voltage 100 to 115V 15...

Page 37: ... 6kVA RYB401S3 VBC GYS401DC1 CA 1 2kVA 3 phase 200V series RYB751S3 VBC GYS751DC1 CA 2 1kVA RYB500S3 VBC6 GYS500DC1 C8B 0 15kVA RYB101S3 VBC6 GYS101DC1 C6B 0 6kVA Single phase 100V series RYB201S3 VBC6 GYS201DC1 C6B 1 2kVA The RYB Series servo amplifier 3 phase 200V type 3 7 kW or less is applicable to the harmonics suppression guideline for electric appliances and general purpose equipment enacte...

Page 38: ... phase 100V connect the power cables to the L1 and L2 terminals P DB 1 3 External regenerative resistance option Used to connect an external regenerative resistance The external regenerative resistance is optional Connect across the P and DB terminals Leave pin 2 unconnected U V W 1 2 3 Motor power cable Used to connect the power cable of the servomotor The grounding E terminal of the servomotor i...

Page 39: ...19 7 8 20 21 Pulse string input PPI Power supply input for open collector 24 VDC 5 Differential input CA CA CB CB max input frequency 1 MHz Open collector input CA CB max input frequency 200 kHz The pulse string form can be chosen from command pulse and sign forward reverse rotation pulse and two signals having 90 degree phase difference FFA FFA FFB FFB FFZ FFZ FZ M5 9 10 11 12 23 24 25 26 13 Freq...

Page 40: ...tial input Pulse string input Open collector 24 VDC 12 VDC Pulse string output Differential output Differential output Pulse string output Open collector 30VDC 50mA Max P24 M24 2 2k DC24V Servo amplifier DC24V Servo amplifier 62 PPI Servo amplifier 62 1 5k CA CB CA CB 62 PPI Servo amplifier 62 1 5k CA CB CA CB Servo amplifier AM26LS31 M5 FFA FFB FFZ FFA FFB FFZ M5 Servo amplifier 2SC2712 FZ M5 ...

Page 41: ...evices 24 VDC input CA CB 24 VDC power supply PPI Servo amplifier RYB S3 VBC Pulse generator of host unit Connect to the connector shell 8 21 19 FG Output transistors Shielding wire Ground at both ends CA CB 20 7 24 VDC power supply Contain the source voltage within the 24 VDC 5 range This circuit consumes a maximum 40 mA current Prepare a power supply having a sufficient margin 3 Open collector o...

Page 42: ...ction of rotation of the servomotor cannot be changed by changing the sequence of the servomotor terminals Change the parameter 4 setting to achieve this The wiring length between the servo amplifier and servomotor should be within 50 m long It is not permitted to perform ON OFF of the wiring between the servo amplifier and servomotor using magnetic contactors It is not permitted to turning ON OFF...

Page 43: ...4 contactors socket 350750 3 or 350 689 3 type Japan AMP Motor power cable on motor side Viewed from contact inserting side 1 cap housing 350780 1 type Japan AMP 4 contactors socket 350750 3 or 350689 3 type Japan AMP With brake Projection U V W U Brake Brake V W Projection Do not use the same power supply for the brake 24VDC 0 4A and sequence input output Prepare separate power supplies CAUTION C...

Page 44: ...r for GYC GYS type Wiring on servo amplifier side Wiring on servomotor side 3 SIG 5 4 SIG 6 P5 1 M5 2 4 SIG 6 3 SIG 5 M5 2 P5 1 Encoder wiring Viewed from wiring side Housing 53988 0611 Shell body clamp 58302 0600 Mold cover 53989 0605 Mold cover 53990 0650 Cable clamp 58303 0000 Clamp screw 53982 0009 M2 x 4 All parts are made by Molex Encoder wiring Viewed from wiring side Housing 54180 0611 She...

Page 45: ...hin 50m Note Use the core with larger sectional area for power supply Connection It is not allowed to extend the wiring distance by connecting two or more cables of short wiring length Cable size See the following table for conversion between AWG and mm sizes Gauge Diameter Sectional area A W G mm G mil mm Circular mil mm2 16 1 4 1 2 55 12 50 82 47 24 1 400 1 291 1 200 3038 2583 2232 1 539 1 309 1...

Page 46: ...3 WIRING 3 14 MEMO ...

Page 47: ...15 3 5 Standard connection diagrams Connection diagrams of the servo amplifier are shown here n 3 phase 200V without brake n 3 phase 200V with brake n Single phase 100V without brake n Single phase 100V with brake ...

Page 48: ... FZ 25 M5 26 L1 L2 L3 CN1 CN1 CN1 CN1 CN2 CN2 CN2 CN2 1 P24 2 CONT1 5 CONT4 3 CONT2 6 CONT5 14 M24 4 CONT3 P24 P24 P24 P24 OUT1 15 OUT2 16 RDY 17 PSET 18 P24 P24 P24 P24 DB 19 PPI P ＤＣ２４Ｖ M5 13 FFA 9 FFB 11 FFB 12 FFZ 23 FFZ 24 FFA 10 1 2 1 1 1 Servomotor Without brake Servo amplifier External regenerative resistor option Phase A pulse output differential Phase B pulse output differential Phase Z ...

Page 49: ...ONT5 14 M24 4 CONT3 P24 P24 P24 P24 OUT1 15 OUT2 16 RDY 17 PSET 18 P24 P24 P24 P24 DB 19 PPI P 5 Br 6 Br ＤＣ２４Ｖ M5 13 FFA 9 FFB 11 FFB 12 FFZ 23 FFZ 24 FFA 10 1 2 1 1 1 Servo amplifier Commercial power supply 3 phase 200V External regenerative resistor option Servomotor With brake Phase A pulse output differential Phase B pulse output differential Phase Z pulse output differential Phase Z pulse out...

Page 50: ...FZ 25 M5 26 L1 L2 CN1 CN1 CN1 CN1 CN2 CN2 CN2 CN2 1 P24 2 CONT1 5 CONT4 3 CONT2 6 CONT5 14 M24 4 CONT3 P24 P24 P24 P24 OUT1 15 OUT2 16 RDY 17 PSET 18 P24 P24 P24 P24 DB 19 PPI P ＤＣ２４Ｖ M5 13 FFA 9 FFB 11 FFB 12 FFZ 23 FFZ 24 FFA 10 1 2 1 1 1 Servo amplifier Commercial power supply Single phase 100 V External regenerative resistor option Servomotor Without brake Phase A pulse output differential Pha...

Page 51: ...5 14 M24 4 CONT3 P24 P24 P24 P24 OUT1 15 OUT2 16 RDY 17 PSET 18 P24 P24 P24 P24 DB 19 PPI P 5 Br 6 Br ＤＣ２４Ｖ M5 13 FFA 9 FFB 11 FFB 12 FFZ 23 FFZ 24 FFA 10 1 2 1 1 1 Servo amplifier Commercial power supply Single phase 100V External regenerative resistor option Servomotor With brake Phase A pulse output differential Phase B pulse output differential Phase Z pulse output differential Phase Z pulse o...

Page 52: ...3 WIRING 3 20 MEMO ...

Page 53: ...ducts not specified in this manual be sure to refer to the operation manual or user s manual of the corresponding equipment The connection diagrams shown in this chapter are for reference only n Programmable controller NWOP40o o n Positioning module NP1F MP2 n Positioning module NC1F VP1 n Positioning unit AD75 type n Position control unit NC113 ...

Page 54: ...r the programmable logic controller refer to the operation manual or user s manual Controller side Y20 Y21 X0 X1 X2 X3 X4 M24 P24 M24 X5 X6 DC24V Input common Input common Output common Sign Output common Pulse output Output common Nearly origin signal End of positioning Stop command Origin return command Manual forward command SPB Basic unit 40 points Manual reverse command Positioning start comm...

Page 55: ...DY 17 PSET 18 P24 DB 19 PPI P 1 1 M5 13 FFA 9 FFB 11 FFZ 23 FFZ 24 FFA 10 1 DC24V Servo amplifier Commercial power supply 3 phase 200 V External regenerative resistor Option Servomotor Without brake 1 Connect the shielding wires to the connector shell of CN1 and CN2 The connector shell is connected with the grounding terminal 2 Ground the shielding wire at both ends Connect it to the connector she...

Page 56: ...nual pulse generator phase A Manual pulse generator phase A Manual pulse generator phase B Manual pulse generator phase B Manual pulse generator ground Manual pulse generator ground Forward rotation pulse output Pulse output common Reverse rotation pulse output Pulse output common Feedback pulse phase A Feedback pulse phase A Feedback pulse phase B Feedback pulse phase B Feedback pulse ground Feed...

Page 57: ...7 PSET 18 P24 DB 19 PPI P M5 13 3 1 1 1 M24 DC24V 1 Servo amplifier Commercial power supply 3 phase 200V External regenerative resistor Option Servomotor Without brake 1 Connect the shielding wires to the connector shell of CN1 and CN2 The connector shell is connected with the grounding terminal 2 Ground the shielding wire at both ends Connect it to the connector shell on the amplifier side and co...

Page 58: ...al does not become valid if the MON output is left active MOFF in the same scanning cycle as activation of MON is not valid Controller side A6 A7 B7 A10 B10 A9 A8 B8 A11 B11 A12 B12 B4 B9 A4 B3 A3 A2 B2 A1 B1 M24 P24 M24 P24 DC24V Positioning module NC1F VP1 12 to 24 V 12 to 24 V Common 5 V 5 V End of positioning Ready Common Reverse rotation pulse Common Forward rotation pulse Common External mar...

Page 59: ... CONT3 P24 OUT1 15 OUT2 16 RDY 17 PSET 18 P24 DB 19 PPI P M5 13 1 1 1 M24 DC24V 1 Servo amplifier Commercial power supply 3 phase 200V External regenerative resistor Option Servomotor Without brake 1 Connect the shielding wires to the connector shell of CN1 and CN2 The connector shell is connected with the grounding terminal 2 Ground the shielding wire at both ends Connect it to the connector shel...

Page 60: ...ble logic controller refer to the operation manual or user s manual of the equipment The connection diagram shown in this chapter is only for reference Controller side 3 PULSE F 21 PULSE F 4 PULSE R 22 PULSE R 24 PGO 5V 25 PGO COM 26 COM 9 PULSER A 27 PULSER A 10 PULSER B 28 PULSER B 11 DOG 12 FLS 13 RLS 14 STOP 15 CHG 16 STAT 35 COM 36 COM 7 READY 8 INPS P24 M24 Ground the shielding wire at both ...

Page 61: ... M24 4 CONT3 P24 DB 19 PPI P 1 1 OUT1 15 OUT2 16 RDY 17 PSET 18 M5 13 FFA 9 FFB 11 FFB 12 FFZ 23 FFZ 24 FFA 10 1 １ 1 DC24V M24 Servo amplifier Commercial power supply 3 phase 200V External regenerative resistor Option Servomotor Without brake 1 Connect the shielding wires to the connector shell of CN1 and CN2 The connector shell is connected with the grounding terminal 2 Ground the shielding wire ...

Page 62: ...anual or user s manual of the equipment The connection diagram shown in this chapter is only for reference Controller side A21 A20 A7 A24 A5 A2 A16 A12 M24 A24 A1 A23 A22 DC 24V P24 Input common Immediate stop input signal CCW pulse output Origin common NC unit NC113 CW pulse output 24 V ground for output Origin input signal 5V End of positioning signal Nearly origin input signal 24 V power supply...

Page 63: ...CONT2 6 CONT5 14 M24 4 CONT3 M24 DB 19 PPI P 1 OUT1 15 OUT2 16 RDY 17 PSET 18 M5 13 FFA 9 FFB 11 FFB 12 FFZ 23 FFZ 24 FFA 10 1 1 1 P24 DC24V Servo amplifier Commercial power supply 3 phase 200V External regenerative resistor Option Servomotor Without brake 1 Connect the shielding wires to the connector shell of CN1 and CN2 The connector shell is connected with the grounding terminal 2 Ground the s...

Page 64: ...3 WIRING 3 32 MEMO ...

Page 65: ...4 1 Test operation in two stages 4 2 First stage 4 3 Second stage TEST OPERATION ...

Page 66: ...tage n Second stage Check wiring and product or parameters Use only the servomotor and servo amplifier without connection of the servomotor to the machine and perform test operation Check the parameters of the servo amplifier Mount the servo amplifier to the host controller and the machine to perform test operation ...

Page 67: ...eck if the servo amplifier and servomotor function correctly 4 Check parameter 4 switching direction of rotation n Test operation procedure 1 Fix the servomotor so that it will not fall 2 Referring to Chapter 3 connect cables to the servo amplifier and the servomotor 3 Turn the power on Check the charge LED i and keypad panel indication ii Fix securely Mount nothing on the motor shaft i Check the ...

Page 68: ...value Change 29 Speed setting for test operation 1 to 5000 r min in 1 increments 100 Always 30 Acceleration deceleration time for test operation 0 000 to 9 999 sec in 0 001 increments 0 100 Always ENT 1 sec or more ESC ENT ESC Off line Rotation in forward direction Rotation in reverse direction The servomotor rotates while the or key is held down Test operation at keypad panel Use the MODE key to ...

Page 69: ...ommand pulse correction β 1 to 32767 in 1 increments 1 Always 03 Pulse string input form 0 Command pulse and command sign 1 Forward or reverse rotation pulse 2 Two signals with 90 degree phase difference 1 Power 04 Direction of rotation switch 0 Forward rotation CCW 1 Reverse rotation CW 0 Power n Test operation procedure 1 Referring to section 2 1 Servomotor mount the servomotor to the machine se...

Page 70: ...4 TEST OPERATION 4 6 MEMO ...

Page 71: ...5 1 Parameter configuration 5 2 List of parameters 5 3 Basic settings 5 4 System settings 5 5 Control system settings 5 6 For adjustment by manufacturer PARAMETERS ...

Page 72: ...thod are specified 5 37 25 and 26 These parameters are used for connection of optional items 5 39 27 and 28 The parameter write protection mode and keypad panel display details are specified 5 41 System settings 29 and 30 Minutes of test operation are specified 5 42 40 to 56 The servo gain and time constants of various filters are specified 5 46 57 to 60 The notch filter for suppressing resolution...

Page 73: ...tor mode Parameter setting mode Test operation mode Power on More than 1 sec More than 1 sec MODE MODE MODE MODE ESC ESC ESC ESC MODE MODE MODE MODE ESC ESC ESC ESC MODE MODE MODE MODE ESC ESC ESC ESC MODE MODE MODE MODE ESC ESC ESC ESC MODE MODE MODE MODE ESC ESC ESC ESC MODE MODE MODE MODE ESC ESC ESC ESC SHIFT SHIFT SHIFT SHIFT ENT ENT ENT ENT SHIFT SHIFT SHIFT SHIFT ENT ENT ENT ENT Data editin...

Page 74: ... 19 Zero deviation width 1 to 10000 pulse in 1 increments 200 Always 5 34 20 Deviation limit width 10 to 65535 x 100 pulse in 1 increments 10000 Always 5 35 21 Zero speed width 10 to 5000 r min in 1 increments 50 Always 5 36 22 Positioning end judgment time 0 000 to 1 000 sec in 0 001 increments 0 000 Always 5 37 23 Max current limit 0 to 300 in 1 increments 300 Always 5 37 24 Undervoltage alarm d...

Page 75: ...ays 5 50 54 Position gain added when setting 0 to 1000 rad sec in 1 increments 0 Always 55 Addition limit when setting 0 to 200 r min in 1 increments 0 Always 56 Command follow up control selection 0 None 1 Command follow up control 2 Command follow up control with correction on stop 0 Power 5 51 57 Notch filter 1 frequency 10 to 200 x 10Hz in 1 increments 200 Always 58 Notch filter 1 damping amou...

Page 76: ...d pulse correction α and β become integers within 32767 n Setting from PC loader option Use the α and β setting from mechanical configuration button in the parameter editing screen of the PC loader to automatically specify command pulse correction values α and β α β setting screen Data are automatically set by simply entering the machine specifications Because settings are given for each component...

Page 77: ...0 pulses one full revolution of motor To couple 10 mm lead screw to the output shaft of the servomotor with a setting unit of 1 100 The pi π included in the mechanical system travel distance per each revolution of the servomotor can be approximated with 355 113 The number of output pulses has nothing to do with command pulse correction According to the setting of system setting parameter 17 two si...

Page 78: ...Open collector input Forward rotation command CA CA CB CB Reverse rotation command The arrow shown in the figure above is triggered at each pulse count timing t1 100 nsec t2 100 nsec t3 480 nsec t4 480 nsec t6 500 nsec t7 500 nsec t8 100 nsec 90 90 90 90 10 10 10 10 t3 t3 t3 t3 t1 t1 t1 t1 t2 t2 t2 t2 90 90 90 90 10 10 10 10 t6 t6 t6 t6 t7 t7 t7 t7 t8 t8 t8 t8 t4 t4 t4 t4 Forward rotation command ...

Page 79: ... the active transistor and low signal level The arrow shown in the figure above is triggered at each pulse count timing 90 90 90 90 10 10 10 10 t1 t1 t1 t1 t3 t3 t3 t3 t2 t2 t2 t2 t4 t4 t4 t4 t5 t5 t5 t5 t1 0 2 μsec t2 0 2 μsec t3 2 μsec t4 2 μsec t5 2 5 μsec ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON ON Forward rotation command CA CA CB CB Reverse rotation command The ar...

Page 80: ...ency between the direction of rotation of the servomotor and mechanical travel direction The direction of rotation is positive when a forward rotation pulse or a pulse string of two signals with level H or phase B advanced 90 degree phase difference signals is input n Forward reverse rotation The counterclockwise rotation when viewed from the output shaft of the servomotor is forward rotation The ...

Page 81: ...ctly inside the amplifier n Manual tuning Setting of basic setting parameter 05 2 Use this option when adjustment fails in the auto tuning and semi auto tuning modes Parameters that must be set or those automatically adjusted in each tuning mode are as follows Tuning mode No Name 0 Auto 1 Semi auto 2 Manual 06 Load inertia ratio 07 Auto tuning gain H 40 Position controller gain 1 41 Speed response...

Page 82: ...he following two setting methods 1 Setting the value monitored at the keypad panel Use monitor mode 09 at the keypad panel to monitor Use the monitored value as a setting If the value fluctuates set the average value If fluctuation is considerable and the maximum to minimum ratio exceeds two use the setting method described below 2 Setting the calculated value Calculate the load inertial moment an...

Page 83: ...tablished the setting content is updated 2 Setting through auto tuning gain setting from keypad panel in test operation mode The setting is updated at real time when the value is changed n Approximate measure for setting Configuration of machine Auto tuning gain approximate Large transfer machine 1 to 6 Arm robot 5 to 10 Belt drive 7 to 13 Ball screw mechanism 10 to 15 Inserting mounting or bondin...

Page 84: ...5 PARAMETERS 5 14 Basic setting parameter 08 and 09 No Name Setting range Initial value Change 08 and 09 Not used 0 These parameters are not used ...

Page 85: ...PARAMETERS 5 5 15 MEMO ...

Page 86: ...ber n OUT signal allocation number Setting Name Page Setting Name Page 0 Not specified 0 Not specified 1 Operation command RUN 5 18 1 Alarm detection a contact 2 Reset RST 5 19 2 Alarm detection b contact 5 28 3 overtravel OT 3 Dynamic brake 5 29 4 overtravel OT 5 20 4 Overtravel detection 5 20 5 Forced stop EMG 5 22 5 Forced stop detection 5 22 6 P action 5 24 7 Deviation clearance 5 25 8 Externa...

Page 87: ... Forced stop detection P action Ready RDY x Fixed Deviation clearance Positioning end PSET x Fixed Zero deviation H External regenerative resistor overheat Zero speed H Torque limit detection H Anti resonance frequency selection 0 CPU ready H Anti resonance frequency selection 1 Manual forward rotation FWD H For test op Manual reverse rotation REV H For test op Only waveform at the PC loader can b...

Page 88: ...ervomotor is stopped When the operation command RUN remains inactive all rotation commands are ignored The servomotor is ready to rotate when the operation command RUN is active without alarm detection with active overtravel overtravel and forced stop EMG signals If the operation command RUN signal is active and other signals are turned off the servomotor is stopped n Parameter setting To assign t...

Page 89: ...Deviation limit 17 Amplifier overheat 18 Encoder overheat n Parameter setting To assign the reset RST signal to a sequence input terminal specify the corresponding value 2 to the system setting parameter If this signal is not assigned to the sequence input terminals the signal is assumed to be inactive at any time n Reference Alarm detection can be reset in any of the following methods 1 Activatin...

Page 90: ...tion is reset n Parameter setting To assign the OT signal to a sequence input terminal specify the corresponding value 3 to the system setting parameter For OT signal specify 4 These signals are assumed to be active at any time if they are not assigned to the sequence input terminals To assign OT detection to a sequence output terminal specify the corresponding value 4 to the system setting parame...

Page 91: ...9 101112131415 ONL CH1 ONL CH1 ONL CH1 ONL CH1 ERR CH2 ERR CH2 ERR CH2 ERR CH2 EMG OT OT EMG OT OT EMG OT OT EMG OT OT 20 20 20 20 1 1 1 1 B A B A B A B A HP2 HP2 HP2 HP2 ONL ONL ONL ONL ERR ERR ERR ERR PE1 PE1 PE1 PE1 PH PH PH PH PL PL PL PL DA DA DA DA CH CH CH CH No No No No SCPU32 SCPU32 SCPU32 SCPU32 LOADER LOADER LOADER LOADER RUN RUN RUN RUN TERM TERM TERM TERM SLV SLV SLV SLV STOP STOP STO...

Page 92: ...rced stop is detected deviation is reset 2 Forced stop detection When the forced stop 5 signal is turned off the forced stop detection 5 signal is turned on to notify external devices of the event n Parameter setting To assign forced stop to a sequence input terminal specify the corresponding value 5 to the system setting parameter If this signal is not assigned to the sequence input terminals the...

Page 93: ...tor is stopped with the zero speed command state The zero speed state is valid in all control forms Activate forced stop to ready the servomotor for operation Deactivate the operation command RUN signal to coast to stop 3 Rotation command While the forced stop signal remains inactive all rotation commands are ignored ...

Page 94: ...or rotates n Parameter setting To assign P action to a sequence input terminal specify the corresponding value 6 to the system setting parameter The signal is assumed to be inactive at any time if it is not assigned to the sequence input terminals Sequence input signal P action If the brake is handled with servo locked an overload alarm 13 is detected This is because the servo performs PI control ...

Page 95: ...sponding value 7 to the system setting parameter n Reference While the deviation clearance signal is activated all rotation commands are ignored If the deviation clearance signal is turned on during rotation of the servomotor pulse command manual forward rotation FWD of the test operation mode and other commands are ignored to cause the servomotor to be stopped The feedback position does not chang...

Page 96: ...setting To assign external regenerative resistor overheat to a sequence input terminal specify the corresponding value 8 to the system setting parameter The signal is assumed to be active at any time if it is not assigned to the sequence input terminals Because the thin external regenerative resistance is not provided with thermistor output be sure to assign 1 valid to parameter 25 regenerative re...

Page 97: ...e signal is assumed to be inactive at any time if it is not assigned to sequence input signals In this case parameter 61 anti resonance frequency 0 becomes always valid To make anti resonance frequencies invalid set the anti resonance frequency at 200 0Hz factory shipment value n Parameter setting To assign anti resonance frequency 0 or 1 to a sequence input terminal specify the corresponding valu...

Page 98: ...ontroller recognizes the alarm detection signal to check for an alarm Description in parentheses is for b contact alarm detection Precaution for usage of b contact alarm detection Make sure that the signal is inactive for about one second after the power is turned on n Parameter setting To assign a or b contact alarm detection to the sequence output terminal specify the corresponding value 1 or 2 ...

Page 99: ...stem setting parameter n Reference Major fault With this type of failure the servomotor cannot be driven Action upon alarm Coasting to stop upon detection Detection of major fault Indication Description Indication Description 01 Overcurrent 1 14 Undervoltage 02 Overcurrent 2 15 Regenerative resistor overheat 03 Overspeed 16 Deviation limit 04 Overvoltage 17 Amplifier overheat 05 Encoder trouble 18...

Page 100: ...istor overheat 8 signal 5 Source voltage above 150V Conditions 2 and 4 are ignored if the corresponding signal is not assigned to the CONT terminals The host controller recognizes the ready RDY signal to check if the servomotor is ready to rotate n Parameter setting The ready RDY signal is fixed at the sequence output terminal RDY Sequence output signal Ready RDY 7 CA 8 CA CN1 CN1 CN1 CN1 19 PPI 2...

Page 101: ...ter 21 3 The deviation amount is within zero deviation width specified at parameter 19 4 The above conditions remain arranged for the positioning end judgment time specified at parameter 22 n Parameter setting The positioning end PSET signal is fixed at the sequence output terminal PSET Sequence output signal Positioning end PSET OFF OFF ON ON Zero deviation Positioning end Positioning end judgmen...

Page 102: ... FB FB and FZ terminals of the servo amplifier can be specified The phase A and phase B signals are 50 duty A single pulse of the phase Z signal is output in each revolution The output width depends on the number of output pulses The phase A and phase Z signals are synchronized with each other Use about 500kHz output frequency There is no limit in the output frequency of the servo amplifier There ...

Page 103: ...phase Z The position of the key is assumed to be phase Z for explanation n Reference Adjustment of the phase Z position can be made in the test operation mode of the keypad panel so that the current position becomes the position where the phase Z signal is issued à Refer to page 8 17 65536 pulses rev Phase Z offset pulses Z rev Counterclockwise To use this parameter reserve at least one full revol...

Page 104: ...ystem setting parameter 19 and zero speed signal system setting parameter 21 remain active in the positioning end judgment time specified in system setting parameter 22 the positioning end signal is activated The zero deviation signal can be checked in the trace screen of the PC loader option For internal processes of servo amplifier Cannot be assigned to OUT terminals OFF OFF ON ON Zero deviation...

Page 105: ...e deviation limit for alarm detection in the number of encoder feedback pulses not command pulses The initial setting is 10000 so that deviation is detected at 1000000 pulses With the initial setting deviation is detected if the difference between the command position and feedback position is equivalent to about 15 2 revolutions of the servomotor shaft The deviation limit width is provided for ala...

Page 106: ... speed signal system setting parameter 21 remain active in the positioning completion judgment time specified in system setting parameter 22 the positioning end signal is activated Time OFF ON Zero speed width system setting parameter 21 Speed Zero speed The zero speed signal can be checked in the trace screen of the PC loader option For internal processes of servo amplifier Cannot be assigned to ...

Page 107: ...zero speed signal system setting parameter 21 remain active in the positioning end judgment time system setting parameter 22 the positioning end signal is activated System setting parameter 23 No Name Setting range Initial value Change 23 Max current limit 0 to 300 in 1 increments 300 Always Specify the output torque limit of the servomotor This setting is always valid OFF OFF ON ON Zero deviation...

Page 108: ...aximum performance and after being stopped it coasts to stop Detection of major fault Detection of minor fault Indication Description Indication Description 01 Overcurrent 1 14 Undervoltage 02 Overcurrent 2 15 Regenerative resistor overheat 03 Overspeed 16 Deviation limit 04 Overvoltage 17 Amplifier overheat 05 Encoder trouble 18 Encoder overheat 06 Control power alarm 1 19 Initial error 07 Contro...

Page 109: ...ional regenerative resistor thin type External regenerative resistor 0 Invalid n Connection of optional external regenerative resistor thin type WSR ooo T The external regenerative resistor thin type must be protected with the electronic thermal relay inside the servo amplifier because it is provided with no thermistor n Connection with optional external regenerative resistor WSR ooo P DB Servo am...

Page 110: ...parameter 26 No Name Setting range Initial value Change 26 Dynamic brake on overtravel detection valid invalid 0 Invalid 1 Valid 0 Power Specify the parameter for models equipped with the optional dynamic brake unit will be sold later ...

Page 111: ...lue Change 28 Keypad panel initial display 0 to 11 in 1 increments 0 Power Specify the initial display of the keypad panel immediately after the power is supplied System setting parameter 28 Setting Description Display Setting Description Display 0 State display mode 51 3 Feedback speed 01 1 Current alarm 52 4 Effective torque 02 2 Alarm history 53 5 Peak torque 03 6 Pulse string frequency 04 7 In...

Page 112: ...Use the test operation mode of the keypad panel or PC loader to start test operation Refer to page 8 15 n Acceleration deceleration time setting examples 1 To accelerate to 5000 r min in 0 1 second 2 To accelerate to 100 r min in 0 05 sec Speed 3000 r min 2000 r min System setting parameter 29 Acceleration time System setting parameter 30 Time Acceleration time 2000 r min x Target acceleration tim...

Page 113: ...PARAMETERS 5 5 43 System setting parameters 31 through 39 No Name Setting range Initial value Change 31 to 39 Not used 0 These parameters are not used ...

Page 114: ... 40 Parameter 56 Command follow up control selection Frequency dividing output terminal FA FA FB FB FZ FZ Parameter 17 d dt Pulse string input form Position controller gain Feed forward Parameter 45 Control added when setting Command follow up control Frequency dividing circuit Command pulse correction Parameter 43 Inertia assumption Tuning mode Parameter 5 Turned on upon 0 in parameter 5 Load ine...

Page 115: ...5 45 Parameter 47 Parameters 41 42 Parameter 46 M Parameters 57 through 60 Position detection Speed detection PI control Notch filter Current control PG Parameters shown in the shaded box are automatically adjusted ...

Page 116: ...ys 46 Torque filter time constant 0 00 to 20 00 msec in 0 01 increments 0 31 Always These parameters are automatically updated when auto tuning or semi auto tuning is selected at basic setting parameter 5 Specify them when manual tuning is selected Tuning mode No Name 0 Auto 1 Semi auto 2 Manual 06 Load inertia ratio 07 Auto tuning gain 40 Position controller gain 41 Speed response 42 Speed contro...

Page 117: ...em to vibrate n Speed controller integration time 1 Control system setting parameter 42 This parameter determines the response of the speed control loop A smaller setting improves the response of the servomotor while too small a setting may cause the mechanical system to vibrate n Feed forward filter time constant Control system setting parameter 45 This parameter filters feed forward action of th...

Page 118: ...parameter without fail if the dumping control function parameters 61 through 64 are used Refer to section 7 1 Vibration control Control system setting parameter 44 No Name Setting range Initial value Change 44 Feed forward gain 0 000 to 1 500 in 0 001 increments 0 000 Always This parameter functions if parameter 60 command follow up control selection is set at 0 none Specify the parameter in a poo...

Page 119: ...ystem setting parameter 47 No Name Setting range Initial value Change 47 Speed setting filter 0 00 to 20 00 msec in 0 01 increments 0 00 Always Specify the parameter to filter the speed command No change is necessary in principle ...

Page 120: ...ameters 51 to 53 Gain switching reduces the noise and vibration at the time of stopping The settings of the second gain parameters 51 to 53 are given in the ratio to the first gain Example When speed response 1 parameter 41 is 100Hz 100 of speed response 2 parameter 52 means 100Hz 80 of speed response 2 parameter 52 means 80Hz The same rule applies to position controller gain 2 parameter 51 and sp...

Page 121: ...time or to enhance the rigidity Do not use in regular cases Refer to section 7 3 Position gain and limit added when setting Control system setting parameter 56 No Name Setting range Initial value Change 56 Command follow up control selection 0 None 1 Command follow up control 2 Command follow up control with correction on stop 0 Power Use the parameter to select the command follow up control mode ...

Page 122: ...ethod i Use the servo analysis function of the PC loader option to determine the resonance point of the machine ii Specify the resonance frequency and damping amount of the resonance point of the machine in parameters 1 Resonance frequency Parameter 57 Notch filter 1 frequency 2 Depth Parameter 58 Notch filter 1 damping amount Too deep a damping amount may undermine stability of the control Avoid ...

Page 123: ... 5 0 to 200 0 Hz in 0 1 increments 200 0 Always 64 Anti resonance frequency 3 5 0 to 200 0 Hz in 0 1 increments 200 0 Always Use these parameters to specify anti resonance frequencies and suppress vibration of the workpiece dumping control The dumping control function becomes invalid with 200 0Hz factory setting Refer to section 7 1 Vibration control Control system setting parameters 65 through 79...

Page 124: ...e 80 For adjustment by manufacturer 1 Adjusted value 81 For adjustment by manufacturer 2 Adjusted value 82 For adjustment by manufacturer 3 Adjusted value 83 For adjustment by manufacturer 4 Adjusted value These are parameters for adjustment by the manufacturer Do not change them Parameters 84 through 99 for adjustment by manufacturer No Name Setting range Initial value Change 84 to 99 Not used 0 ...

Page 125: ...6 1 Basic adjustment 6 2 Application adjustment 6 3 Adjustment requiring high speed response ADJUSTMENT OF SERVO ...

Page 126: ...table Gain adjustment of parameter 7 OK Yes OK No Yes Yes No Yes Decrease the acceleration deceleration rate of command pulse or extend the acceleration deceleration time The torque limit functions 2 1 Assume the inertia ratio in monitor mode 09 load inertia ratio at the keypad panel If the inertia ratio is not assumed correctly 1 Fluctuation becomes large and the maximum value exceeds two times t...

Page 127: ...ally Item specified automatically Parameters automatically updated in the auto tuning mode are updated at real time In the semi auto tuning mode automatically updated parameters are fixed once they are set Parameters are automatically set when parameter 6 load inertia ratio or parameter 7 auto tuning gain is changed n Approximate measure for auto tuning gain parameter 7 setting Mechanical configur...

Page 128: ...ently Check the mechanical system for the following problems i Large backlash ii Deflection of belt No END START Parameter 7 cannot be increased due to vibration 1 Check the mechanical system No Use the servo analysis function to apply the notch filter Adjust parameter 7 again OK Yes Yes No Inertia ratio 100 times 2 Adjust the large inertia Yes Adjust the second gain Decrease the speed response pa...

Page 129: ...cify 1 to 3 for the auto tuning gain Change to the manual tuning mode Increase the speed response 1 gradually by one at a time Adjust position controller gain 1 and speed controller integration time 1 Specify 1 for parameter 5 Specify 100 0 for parameter 6 Specify 1 to 3 for parameter 7 Specify 2 for parameter 5 Increase the setting of parameter 41 gradually OK Yes No Increase the reduction gear r...

Page 130: ... Parameter 57 Notch filter 1 frequency 2 Depth à Parameter 58 Notch filter 1 damping amount If the damping amount is too large stability of the control system may be undermined Avoid specifying too large a value Gain dB Frequency Hz Resonance point 1 Resonance frequency 2 Depth Notch filter 1 damping amount Notch filter 1 frequency Activate the servo analysis function again The notch filter is app...

Page 131: ... the PC loader make adjustment as follows Note 1 Adjust the gain so as not to generate mechanical vibration or torque fluctuation Note 2 If mechanical rigidity is poor gradually increase the S curve filter parameter 43 to suppress vibration END Select manual tuning 6 2 End of application adjustment Increase position controller gain 1 Decrease speed controller integration time 1 Decrease the feed f...

Page 132: ...6 ADJUSTMENT OF SERVO 6 8 MEMO ...

Page 133: ...7 1 Vibration control 7 2 Command follow up control 7 3 Position gain and limit added when setting SPECIAL ADJUSTMENT ...

Page 134: ... the motor so that the entire machine vibrates due to the shocks during acceleration and deceleration With dumping control Because the torque is controlled during acceleration or deceleration of the motor shocks during acceleration and deceleration become moderate and vibration of the entire machine is suppressed even with those machines having relatively poor rigidity With dumping control vibrati...

Page 135: ...ike The machine itself vibrates due to the shock caused by movement or stopping of a part of the machine Vibration frequency is between 5 and 50Hz Vibration generates continuously without relations to movement or stopping Vibration synchronized to the rotation of the motor or machine generates The vibration frequency is smaller than 5Hz or larger than 50Hz The moving time is within the vibration p...

Page 136: ...st the gain of the servo according to the adjustment procedure described in Chapter 6 Check the anti resonance frequency Specify parameters 61 through 64 Check the effect Finely adjust parameters 61 through 64 2 3 5 6 Adjust the gain of the servo 1 Specify parameter 43 S curve time constant 4 If parameters related to the gain are adjusted after specifying the anti resonance frequency the anti reso...

Page 137: ...ke follow checking method i In other cases follow checking method ii i Measure vibration of the end of the arm directly using a laser displacement gauge or the like ii While reducing the settings of parameters 61 through 64 gradually from 200 0Hz maximum value visually check vibration to find the best value Vibration period Ts Time Vibration 1 Anti resonance frequency Ts Hz ...

Page 138: ...on 1 of the CONT input signal The anti resonance point may vary according to the arm length and the weight of the load In this case assign this function to the CONT input signal among parameters 10 through 14 and switch the anti resonance frequency setting Anti resonance frequency selection 1 Anti resonance frequency selection 0 Anti resonance frequency OFF OFF Parameter 61 OFF ON Parameter 62 ON ...

Page 139: ... 61 through 64 Anti resonance frequency Parameter 43 S curve time constant Approximate measure 10 Hz 10 msec 10 Hz to 20 Hz 5 msec 20 Hz 2 or 3 msec 5 Check the effect There are three checking methods i Check the vibration of the end of the arm using a laser displacement gauge or a similar measuring instrument ii Take the high speed motion picture of the end of the arm to check for vibration iii V...

Page 140: ...rding to the adjustment procedure described in Chapter 6 Check the anti resonance frequency Specify parameters 61 through 64 Check the effect Finely adjust parameters 61 through 64 2 3 5 6 Adjust the gain of the servo 1 Specify parameter 43 S curve time constant 4 If parameters related to the gain are adjusted after specifying the anti resonance frequency the anti resonance frequency must be speci...

Page 141: ...e resonance point Refer to page 5 52 Gain dB Frequency Hz Anti resonance point Note 1 Resonance point Note 2 There are resonance point and anti resonance point for the vibration of the machine The resonance point and anti resonance point are machine characteristics viewed from the motor Resonance point The end of the arm does not vibrate but the motor vibrates at the frequency Anti resonance point...

Page 142: ...on 1 of the CONT input signal The anti resonance point may vary according to the arm length and the weight of the load In this case assign this function to the CONT input signal among parameters 10 through 14 and switch the anti resonance frequency setting Anti resonance frequency selection 1 Anti resonance frequency selection 0 Anti resonance frequency OFF OFF Parameter 61 OFF ON Parameter 62 ON ...

Page 143: ...ximate measure 10 Hz 10 msec 10 Hz to 20 Hz 5 msec 20 Hz 2 or 3 msec 4 Check the effect There are three checking methods i Check the vibration of the end of the arm using a laser displacement gauge or a similar measuring instrument ii Take the high speed motion picture of the end of the arm to check for vibration iii Visually check 5 Finely adjust parameters 61 through 64 While checking the effect...

Page 144: ...se commands sent from the host controller are linear or in an S curve to assure smooth acceleration and deceleration 3 The pulse frequency updating period of the host controller is within several milliseconds If command follow up control is used for a system not satisfying all of the above conditions mechanical vibration may generate Command speed Feedback speed Time Speed The feedback speed follo...

Page 145: ...ion generates in both methods when the acceleration changes at 1 2 3 and 4 In case with correction on stop setting 2 position deviation caused by the acceleration change when the mechanical system is stopped is smaller Select no correction on stop setting 1 for operation patterns where changes from forward to reverse rotation continue In the command follow up control mode specify 10 or a larger va...

Page 146: ...in 1 increments 0 Always 55 Addition limit when setting 0 to 200 r min in 1 increments 0 Always The specified position gain parameter 54 is added to the position controller gain parameter 40 or 51 at speeds lower than the addition limit parameter 55 n Approximate measure of setting Position gain added when setting Parameter 54 0 5 times position controller gain 1 Parameter 40 Addition limit when s...

Page 147: ...8 1 Display 8 2 Function list 8 3 State display mode 8 4 Monitor mode 8 5 Parameter setting mode 8 6 Test running mode KEYPAD PANEL ...

Page 148: ... panel cannot be removed 1 Mode The keypad panel operation can be classified into four modes State display mode Indicates the servo amplifier status Monitor mode Monitors the servomotor speed and the input output signal status Parameter edit mode Edits the parameter setting Test running mode Operates the servomotor with the keypad operation List of 7 segment indications Supplement 0 1 2 3 4 5 6 7 ...

Page 149: ... Press more than 1 sec to store the data Selects the sub mode Decreases the figure 1 Selects the sub mode Increases the figure 1 Power on MODE MODE MODE MODE ESC ESC ESC ESC MODE MODE MODE MODE ESC ESC ESC ESC MODE MODE MODE MODE ESC ESC ESC ESC MODE MODE MODE MODE ESC ESC ESC ESC MODE MODE MODE MODE ESC ESC ESC ESC SHIFT SHIFT SHIFT SHIFT ENT ENT ENT ENT SHIFT SHIFT SHIFT SHIFT ENT ENT ENT ENT Pr...

Page 150: ...ue 3 Peak torque 4 Pulse string input frequency 5 Input signal 6 Output signal 7 OL thermal value 8 Regenerative resistor thermal value Monitor mode 9 Load inertia ratio Parameter setting mode 1 Parameter 1 Manual operation 2 Alarm reset 3 Alarm history initialization 4 Parameter initialization 5 Phase Z position adjustment Test running mode 6 Auto tuning gain setting ...

Page 151: ...anual operation mode test running The amplifier has detected an overtravel signal in positive direction and stops The amplifier has detected an overtravel signal in negative direction and stops The amplifier has received a forced stop signal and stops with the speed zero ENT 1 sec or more ESC When power is supplied to the servo amplifier the operation mode of the state display mode is displayed wi...

Page 152: ...er overheat Control power alarm 1 Initial error Control power alarm 2 Memory alarm Motor combination alarm Regenerative transistor overheat Encoder communication alarm CONT duplication Overload ENT 1 sec or more ESC Minor fault This type of failure occurs in cases such as for protection against overheats Action upon alarm The servomotor decelerates at the maximum performance and after being stoppe...

Page 153: ...indicated The indication can be scrolled by the and keys Detected history number 1 latest 9 earliest ENT 1 sec or more ESC Press SET Release SET Alarm code See 2 Alarm history indication A The alarm history can be deleted in the test operation mode Supplement Supplement Supplement Supplement ...

Page 154: ... Sub mode Sub mode indication 1 Feedback speed 2 Average torque 3 Peak torque 4 Pulse string input frequency 5 Input signal 6 Output signal 7 OL thermal value 8 Regenerative resistor thermal value Monitor mode 9 Load inertia ratio Only two figures are displayed in the monitor mode The SHIFT key does not shift the place Therefore the value may not indicate the actual motion To monitor detail data u...

Page 155: ...nt servomotor s load ratio The actual torque is displayed in the ratio to the rated torque The indication is in 10 increments The negative sign is not added Values smaller than 10 are rounded off Example 0 to 9 30 to 39 3 Peak torque Current servomotor s load ratio Peak value is displayed at two second intervals assuming the rated torque as 100 The indication is in 10 increments The negative sign ...

Page 156: ...is indicated 5 Input signal The ON OFF state of the sequence input signal supplied to the servo amplifier is displayed When the input signal is active the corresponding LED is lit 6 Output signal The ON OFF state of the sequence output signal supplied to the servo amplifier is displayed When the output signal is active the corresponding LED is lit ENT 1 sec or more ESC Pulse string frequency is 10...

Page 157: ...e regenerative load ratio is indicated assuming the regenerative resistance overheat alarm level as 100 When the value reaches 100 a regenerative resistance overheat alarm is issued The indication is in 99 is indicated for values larger than 99 9 Load inertia ratio The load inertia ratio recognized by the servo amplifier is indicated The indication is in times 99 is indicated for values larger tha...

Page 158: ...d editing methods for parameter are as follows Value indication The most significant digits that can be edited are indicated first Example Parameter 1 Setting range 1 to 32767 Initial value 8 Because the number of digits that can be edited is five 32767 is indicated first To clarify the number of digits of the value zero is not indicated at places that cannot be edited To move among the digits pre...

Page 159: ...imes simultaneously The stored value remains as it is The stored value blinks at about 0 5 second intervals Value beyond the specified range Values can be entered within the range from minimum to maximum specified for each parameter Values beyond the specified range cannot be entered Most significant digits Middle digits Least significant digits SHIFT SHIFT SHIFT SHIFT ENT ENT ENT ENT MODE MODE MO...

Page 160: ...r number Parameter 2 is read Press the ENT key to read the setting of parameter 2 The most significant digit of 00001 initial value is displayed SHIFT SHIFT SHIFT SHIFT ENT ENT ENT ENT MODE MODE MODE MODE ESC ESC ESC ESC While holding down the SHIFT key press the MODE key three times to blink the tens digit Change the value to 1 SHIFT SHIFT SHIFT SHIFT ENT ENT ENT ENT MODE MODE MODE MODE ESC ESC E...

Page 161: ... Test running mode 6 Auto tuning gain setting Parameter 7 1 Manual operation The servomotor rotates while a key on the keypad panel is pressed The servomotor speed is as per the setting of parameter 29 and the acceleration deceleration time is as per the setting of parameter 30 The servomotor rotates while the or key is held down System setting parameters 29 and 30 No Name Setting range Initial va...

Page 162: ...rn the power off then on again Cause of parameter initialization failure 1 Write protection selected at parameter 27 write protection of parameters Change parameter 27 write protection of parameters to 0 write enable 2 Active operation command RUN Turn off the operation command RUN System setting parameter 27 No Name Setting range Initial value Change 27 Parameter write protection 0 Write enable 1...

Page 163: ...5 pulse in 1 increments 0 Power 6 Auto tuning gain setting Parameter 7 auto tuning gain is refreshed at real time Unlike the other parameters an increase or decrease is reflected on the data immediately parameter 7 is not updated However parameter 7 is updated when the SET key is pressed in the data editing screen Cause of auto tuning gain setting failure Write protection selected at parameter 27 ...

Page 164: ...8 KEYPAD PANEL 8 18 MEMO ...

Page 165: ...INSPECTION AND MAINTENANCE 9 1 Inspection 9 2 Memory back up 9 3 Fault display 9 4 Maintenance and discharge ...

Page 166: ...e commercial power is supplied If attempted there is a risk of electric shock Inspection items are as follows Inspection item Device Description Servomotor Misalignment of mechanical coupling Direct exposure to water steam or oil Abnormal vibration Servo amplifier Loose screws of terminal block and fastening parts Excessive accumulation of dust Foreign odor damage due to heat breakage or external ...

Page 167: ...nning mode and press the ENT key After the initialization be sure to turn on power again The initialization is not allowed if rewrite is inhibited by parameter 27 The initialization is impossible while the motor is energized with the RUN signal on 2 Initialization of alarm detection history The alarm detection history is held at all times It can be initialized by the initialization of history in t...

Page 168: ...or failure is not displayed 3 Faults with alarm indication and remedy 1 Initial status After turning on commercial power for the servo amplifier either of 7 segment LEDs on the keypad panel lights up The CHARGE LED lights on the keypad panel If turning on power displays nothing contact us 7 segment LEDs 2 digits CHARGE LED Keypad panel ...

Page 169: ...s described by classification into the following three types 1 Servomotor does not rotate 2 Servomotor hunting 3 Positioning accuracy is poor If correct operation is not obtained after troubleshooting contact us If an alarm is indicated at the keypad panel of the servo amplifier refer to item 3 ...

Page 170: ...nals of the servo amplifier The direction of rotation does not change even if the phases are exchanged Connect the encoder cable to CN2 Take remedy according to fault indication and remedy described in item 3 If alarm is detected an alarm code blinks Unless 24VDC is supplied all control input signals are invalidated Yes Yes No Yes No No Yes No Refer to page 3 7 Action mode check Check the state of...

Page 171: ...ry setting The real time tuning function is valid for almost all mechanical configurations with some exceptions If it does not work notify us of the mechanical configuration where the servomotor drives Check if servomotor cables U V W are connected to the corresponding terminals of servo amplifier Does the motor hunt even after the motor output shaft is separated from mechanical system Changing th...

Page 172: ...he like is loose Examine mechanical configuration provided with keys Examine mechanical configuration provided with Schupan ring or the like Check if the backlash and other mechanical accuracy of the reduction gear are adequate Check the mechanical accuracy Check if there is an excess or shortage in the number of cumulative pulses monitored at the PC loader 1 Examine wiring Allow at least 10 cm fr...

Page 173: ...ormance and after being stopped it coasts to stop Major fault Minor fault Indication Description Page Indication Description Page Overcurrent 1 9 10 Undervoltage 9 16 Overcurrent 2 9 10 Overspeed 9 11 Regenerative resistor overheat 9 16 Overvoltage 9 11 Deviation limit 9 17 Encoder trouble 9 12 Amplifier overheat 9 17 Control power alarm 1 9 12 Encoder overheat 9 18 Control power alarm 2 9 12 Init...

Page 174: ...and remedy Common between overcurrent 1 and 2 Check if the grounding wire is connected correctly no Connect the grounding wire correctly yes Check if the U V and W motor power cables are connected correctly Check if they are exchanged no Connect the U V and W motor power cables correctly yes Contact us A short circuit across phases is probable Determine the location of the cause in the cable or in...

Page 175: ...sing breakage Check if an external force functions to rotate Such as in vertical application Cause and remedy for overspeed Check if the trouble is eliminated Contact us Change the structure of the machine yes The setting of the response frequency has been too small to cause overshoot resulting in overspeed yes no Increase the setting of parameter No 7 auto tuning gain Indication on 7 segment LED ...

Page 176: ...ersists The internal control power of the servo amplifier is faulty The servo amplifier may be broken yes no Cause and remedy Common to control power alarms 1 and 2 Cause and remedy for control power alarm Check if the same alarm persists The servo amplifier is broken Contact us Turn the power off then on again Continue operation If the alarm persists contact us Indication on 7 segment LED 6 Contr...

Page 177: ...es Turn the power off then on again Check if the same alarm persists The servo amplifier may be broken Contact us Continue operation If the alarm persists contact us no Indication on 7 segment LED 8 Memory alarm Description of trouble yes Combination between the servo amplifier and the servomotor is incorrect Initialize parameters and turn the power off then on again Check if the same alarm persis...

Page 178: ...if the alarm is developed immediately after the power is turned on Cause and remedy for regenerative transistor overheat no Restore the power supply rating to within the specification value rated voltage 15 to 10 yes Check if regenerative resistor and regenerative resistor electronic thermal calculation parameter 25 are set suitably for the regenerative power Calculate the regenerative power If th...

Page 179: ...tructural faults such as a bent shaft and scratched bearing Check if the OL thermal value varies according to the speed The capacity must be selected according to the maximum speed Contact us Contact us Check if the alarm is developed during acceleration or deceleration The acceleration and deceleration frequencies are too high Examine the operation pattern and cycle time Check if the alarm persis...

Page 180: ... thermal calculation parameter 25 are set suitably for the regenerative power Calculate the regenerative power If the external regenerative resistor is unnecessary reset the parameter 25 setting to zero If a thin type external regenerative resistor is necessary change the setting to 1 If an external regenerative resistor is necessary reset the setting to zero and connect the thermistor signal to a...

Page 181: ...small 4 Check if the acceleration and deceleration time is too short no 1 Reset the P action command during rotation of the motor 2 Increase the maximum current limit setting 3 Increase the deviation limit width setting 4 Extend the acceleration and deceleration time yes Examine the mechanical configuration yes no The servo amplifier may be broken Contact us Turn the power off temporarily and afte...

Page 182: ...ed time Indication on 7 segment LED 19 Initial error Description of trouble Cause and remedy Turn the power on again Check if the same alarm persists yes no Cause and remedy for initial error Continue operation If the alarm persists contact us Check if the ambient temperature of the motor is 40 or lower Operate the motor at ambient temperatures not exceeding 40 no Check if an overload alarm is som...

Page 183: ... Ball screw feed vertical drive reduction speed ratio 1 2 4 Description of fault a Running duration years Was the motor operated normally even once b Frequency of alarm occurrence conditions à Example When a certain device operates the motor stops c Alarm display contents d Is the alarm reproducible e When does the alarm occur during acceleration during rotation at a constant speed or during decel...

Page 184: ...nuous rating 3 Power supply Do not repeatedly turn on and off the power supply to start and stop the servomotor If attempted the parts inside the servo amplifier will be broken 4 Radio noise No countermeasure is taken to the servo amplifier and servomotor against radio noise generation Therefore following devices may receive noises AM radios near the servo amplifier or servomotor Wired broadcast e...

Page 185: ...service life of the brake is approximately 20 000 operations at rated torque However no service life is set for the application as a holding means of the servomotor shaft There is no manual release lever for the servomotor brake 3 Large capacity capacitor built in servo amplifier The servo amplifier incorporates large capacity capacitors Contact us when replacement with new one is required 3 Disch...

Page 186: ...9 INSPECTION AND MAINTENANCE 9 22 MEMO ...

Page 187: ...PERIPHERAL DEVICE 10 1 Cable size 10 2 FAB ELB 10 3 Electromagnetic contactor 10 4 Surge adsorber 10 5 Power filter 10 6 AC reactor 10 7 External regenerative resistance 10 8 Option ...

Page 188: ...10 2 n Configuration of system with peripheral devices CN1 Connector for loader FAB ELB Refer to page 10 6 AC reactor Refer to page 10 12 External regenerative resistor Refer to page 10 14 Power filter Refer to page 10 10 ...

Page 189: ... OT EMG OT OT EMG OT OT 20 20 20 20 1 1 1 1 B A B A B A B A MP2 MP2 MP2 MP2 ONL 0 1 2 3 4 5 6 7 ONL 0 1 2 3 4 5 6 7 ONL 0 1 2 3 4 5 6 7 ONL 0 1 2 3 4 5 6 7 ERR 8 9 101112131415 ERR 8 9 101112131415 ERR 8 9 101112131415 ERR 8 9 101112131415 ONL 0 1 2 3 4 5 6 7 ONL 0 1 2 3 4 5 6 7 ONL 0 1 2 3 4 5 6 7 ONL 0 1 2 3 4 5 6 7 ERR 8 9 101112131415 ERR 8 9 101112131415 ERR 8 9 101112131415 ERR 8 9 101112131...

Page 190: ...Electric Wire Cable Maker s Association FSCL Used for main circuit The cable size is smaller than the 600V class poly vinyl cable and superior in flexibility Example Furukawa Electric s Baudrex n Twisted shielded cable for electronic devices and electric appliances Used for control circuit Cables are prone to radio noise and inductive noise even in the panel and therefore shielded cables should be...

Page 191: ...put output CN1 Digital input output signals of max 24VDC 50mA current flow in the cables Cable size CN1 AWG 26 26 core shielded cable Optional cable and connector kit are prepared refer to section 10 8 Option 3 Encoder cable CN2 4 M bps serial communication is made through the cable Use the following designated cable or optional cable refer to section 10 8 Option Servo amplifier type Cable size CN...

Page 192: ...breaker Input power supply Servo amplifier type Capacity W MCCB RYB500S3 ooo 50 RYB101S3 ooo 100 SA33B 3 RYB201S3 ooo 200 SA33B 5 RYB401S3 ooo 400 SA33B 10 3 phase 200V series RYB751S3 ooo 750 SA53B 15 RYB500S3 ooo6 50 RYB101S3 ooo6 100 SA33B 3 Single phase 100V series RYB201S3 ooo6 200 SA33B 5 Type of earth leakage breaker Input power supply Servo amplifier type Capacity W ELCB RYB500S3 ooo 50 RY...

Page 193: ...fier of 500kVA or smaller power supply capacity and 20m or more wiring lengths with the designated cable size For power supply capacities exceeding 500kVA connect an AC reactor Type of electromagnetic contactor Input power supply Servo amplifier type Capacity W MC RYB500S3 ooo 50 RYB101S3 ooo 100 RYB201S3 ooo 200 RYB401S3 ooo 400 3 phase 200V series RYB751S3 ooo 750 RYB500S3 ooo6 50 RYB101S3 ooo6 ...

Page 194: ...oltage suppression For control relay etc Type S1 B 0 made by Okaya Sangyo For electromagnetic contactor Type S2 A 0 made by Okaya Sangyo A non inductive capacitor and non inductive resistance are connected in series and sealed in epoxy resin S1 B 0 200 Ω 1 2 W 0 1 µF S2 A 0 500 Ω 1 2 W 0 2 µF S1 B 0 0 1 uF 200 AC250 V B Mounting leg Preparatory soldering 200 0 1u Series connection inflammable stru...

Page 195: ...turned off several hundreds or thousands of volts of counter electromotive force generates The surge suppressor suppresses these surge voltages Protection in AC circuit C R circuit Can be used for DC circuit Protection in DC circuit Diode Be careful of orientation of the diode Load Load ...

Page 196: ... the servo amplifier to the servomotor and ground the conduit grounding at several points is possible 4 Use a thick cable for grounding and make the cable as short as possible Connect the grounding cable from the individual equipment directly to a copper bar do not ground via any equipment 5 Avoid mutual connection of the following signals 6 Avoid binding together the main circuit and control circ...

Page 197: ... series RYB201S3 ooo6 200 FHF TA 5 250 Appearance The power filter suppresses high frequency voltage fluctuation caused by the servo amplifier on the commercial power supply The filter functions both in the primary and secondary circuits so that it protects the servo amplifier against high frequency voltage fluctuation in the primary power supply ５Ａ３Ｐｈａｓｅ３Ｐｈａｓｅ３Ｐｈａｓｅ３ＰｈａｓｅＡＣ２５０ＡＣ２５０ＡＣ...

Page 198: ...ifier is of a capacitor input type The AC reactor suppresses voltage distortion in the power supply system to prevent troubles from occurring in the devices connected to the same power supply system An imbalance in the source voltage increases harmonics Connect the AC reactor in the primary circuit of the servo amplifier A smaller rated current capacity type generates heat while the effect is smal...

Page 199: ...icable to the following guideline Guideline for suppression of harmonics for consumers contracting high voltage or special high voltage power September 1994 issued by Ministry of International Trade and Industry of Japan Connect to the servo amplifier an AC reactor or DC reactor specified in this manual If the applicable reactor is connected the regulation values set forth in the guideline for har...

Page 200: ...7W continuous WSR 401 T resistance 68 Ω 12W continuous 3 phase 200V series RYB751S3 ooo 750 Contact us separately WSR 751 T resistance 33 Ω 12W continuous RYB500S3 ooo6 50 RYB101S3 ooo6 100 Single phase 100V series RYB201S3 ooo6 200 Contact us separately WSR 751 T resistance 33 Ω 12W continuous When the regenerative resistor is installed to the side of RYB75153 VBC the resistance is 25W continuous...

Page 201: ... External regenerative resistor 0 Invalid n Connection of optional thin type external regenerative resistor WSR T Because the thin type external regenerative resistor is provided with no thermistor use the electronic thermal relay inside the servo amplifier to protect n Connection of optional external regenerative resistor WSR P DB P DB M24 CONT n Thermistor Assign external regenerative resistor o...

Page 202: ...21 22 23 24 25 26 Mark tube 1 2 3 4 5 6 7 8 9 10 11 12 13 15 14 16 17 18 19 20 21 22 23 24 25 26 Color Orange Gray White Yellow Pink Orange Gray White Yellow Pink Orange Gray White Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Red Black Wire color Mark 1 1 1 1 1 1 1 1 1 1 2 2 2 2 2 2 2 2 2 2 3 3 3 3 3 3 n Length Type L m 0 3...

Page 203: ... shell cover 58299 0600 Plug shell body 58300 0600 Plug mold cover 54181 0615 Plug mold cover 54182 0605 Cable clamp 58303 0000 Clamp screw 59832 0009 Made by Nihon Molex n Wire color Connector 1 1 2 3 4 5 6 Connector 2 1 2 3 4 5 6 1 Red Black Orange Orange White Sky blue Sky blue White Wire color 2 White Black Yellow Brown Red Blue n Length Type L m 0 5 WSC P06P05 5 0 0 1 0 WSC P06P10 10 0 0 2 0 ...

Page 204: ...onnector 1 Connector 2 Cap housing 350780 1 Cap housing 2 178128 3 Contact 350570 1 Contact 1 175218 5 Made by Nihon AMP Made by Nihon AMP n Wire color Connector 1 1 2 3 4 Connector 2 1 2 3 Round terminal Mark U V W E Mark U V W E Wire color Red White Black Green Yellow Wire color Red White Black Green Yellow n Length Type L m 0 5 WSC M04P05 5 0 0 1 0 WSC M04P10 10 0 0 2 0 WSC M04P20 20 0 0 The ma...

Page 205: ...nector 2 Cap housing 350781 1 Cap housing 2 178128 3 Contact 350570 3 Contact 1 175218 5 Made by Nihon AMP Made by Nihon AMP n Wire color Connector 1 1 2 3 4 5 6 Connector 2 1 2 3 Round terminal Mark U V W E Mark U V W E Wire color Red White Black Green Yellow Red Black Wire color Red White Black Green Yellow Red Black n Length Type L m 0 5 WSC M06P05 5 0 0 1 0 WSC M06P10 10 0 0 2 0 WSC M06P20 20 ...

Page 206: ...ype WSC S03P03 B Applicable to All models n Connector Connector Cap housing 1 178128 3 Contact 1 175218 5 Made by Nihon AMP n Wire color Connector 1 1 2 3 Mark L1 L2 L3 Wire color Red White Black n Length Type L m 0 3 WSC S03P03 B 3 0 0 L Connector ...

Page 207: ... Connector kit for encoder Type WSK P06P M Applicable to All models 42 5 Max 18 8 Unit mm Housing main body 54180 0611 Shell cover 58299 0600 Shell cover 58300 0600 Mold cover 54181 0615 Mold cover 54182 0605 Cable clamp 58303 0000 Clamp screw 59832 0009 Made by Nihon Molex The type of the connector kit is different from that of the optional cable The manufacturer of the connector is subject to ch...

Page 208: ...ifier side Type WSK S03P B Applicable to All models Series Connector kit for external regenerative resistor on amplifier side Type WSK R03P B Applicable to All models Housing 2 178128 3 Connector kit for servomotor power cable WSK M03P B Contact 1 175218 5 Housing 1 178128 3 Connector kit for power cable WSK S03P B Contact 1 175218 5 Housing 1 178128 3 Contact 1 175218 5 Connector kit for external...

Page 209: ...ody clamp side 350570 1 or 350689 3 Made by Nihon AMP Series Connector kit for servomotor power cable Type WSK M06P Applicable to Power cable for servomotors with brake 14 25 9 27 4 Unit mm Cap housing 350781 1 Socket 350570 1 Made by Nihon AMP The manufacturer of the connector is subject to change without notice The manufacturer of the connector is subject to change without notice ...

Page 210: ...C Withstand voltage 1 5 kVAC for 1 minute Thermistor Contact capacity 30 VDC 0 1 A The distance between the servo amplifier and external regenerative resistor must be within 10m Do not place flammable objects near the external regenerative resistor because it generates heat For connection of the external regenerative resistor refer to section 10 7 External regenerative resistor 182 5 1 5 172 1 100...

Page 211: ... voltage 2 5 kVAC for 1 minute Thermistor Contact capacity 30 VDC 0 1 A The distance between the servo amplifier and external regenerative resistor must be within 10m Do not place flammable objects near the external regenerative resistor because it generates heat For connection of the external regenerative resistor refer to section 10 7 External regenerative resistor 230 1 5 220 1 Thickness of the...

Page 212: ...or Type WSR 401 T WSR 751 T Applicable to 400 W or below WSR 401 T 750W WSR 751 T Item Specification Type WSR 401 T WSR 751 T Resistance 68 Ω 33 Ω Resistor Allowable power 12 W Continuous 12 W Continuous １３０２０ Use these two holes to mount on the right side of the servo amplifier Unit mm ...

Page 213: ...11 1 List of servomotor specifications 11 2 List of servo amplifier specifications 11 3 Speed torque characteristics 11 4 Dimensional drawing SPECIFICATIONS ...

Page 214: ...N m 0 159 0 318 0 637 1 27 2 39 Static friction torque N m 0 3 0 3 1 27 1 27 2 45 Rated voltage DC 24 V 10 Attraction time ms 35 35 40 40 60 Release time ms 10 10 20 20 25 Power consumption at 20 C W 6 1 6 1 7 3 7 3 8 5 Mass kg 0 62 0 72 1 7 2 3 4 2 n Gear head gear ratio 1 9 Gear head type GYN 500SAG G09 101SAG G09 201SAG G09 401SAG G09 751SAG G09 Actual speed reduction ratio 1 9 Rated speed of o...

Page 215: ... CA B 751DC1 CA B Rated output W 100 200 400 750 Rated torque N m 0 318 0 637 1 27 2 39 Static friction torque N m 0 318 1 27 1 27 2 39 Rated voltage DC 24 V 10 Attraction time ms 60 80 80 50 Release time ms 40 40 40 80 Power consumption at 20 C W 6 5 9 0 9 0 8 5 Mass kg 1 0 1 9 2 6 4 3 n Gear head gear ratio 1 9 Gear head type GYN 101CAG G09 201CAG G09 401CAG G09 751CAG G09 Actual speed reduction...

Page 216: ...on torque N m 0 3 0 3 1 27 Rated voltage DC 24 V 10 Attraction time ms 35 35 40 Release time ms 10 10 20 Power consumption at 20 C W 6 1 6 1 7 3 Mass kg 0 62 0 72 1 7 n Gear head gear ratio 1 9 Gear head type GYN 500SAG G09 101SAG G09 201SAG G09 Actual speed reduction ratio 1 9 Rated speed of output shaft r min 333 3 Max speed of output shaft r min 555 5 Rated torque of output shaft N m 1 23 2 45 ...

Page 217: ... that of motor 4 2 M size mm 45 45 Shape symbol ABJ ACJ Inertia of reduction gear 10 4 kg m2 0 0806 0 0800 14 100 Ratio of inertia of reduction gear to that of motor 2 2 1 5 M size mm 52 59 Shape symbol GCJ HDJ Inertia of reduction gear 10 4 kg m2 0 6529 0 6529 200 Ratio of inertia of reduction gear to that of motor 4 6 3 0 M size mm 52 59 Shape symbol GHJ HBJ Inertia of reduction gear 10 4 kg m2 ...

Page 218: ...on into motor shaft extension JL moment of inertia of motor rotor JM Moment of load inertia Within 100 times of moment of inertia of motor rotor Protective functions alarms Overcurrent 01 02 overspeed 03 overvoltage 04 encoder trouble 05 control power alarm 06 07 memory alarm 08 combination alarm 09 regenerative transistor overheat 10 encoder communication alarm 11 CONT duplication 12 overload 13 ...

Page 219: ... error 19 Installation site For indoors 1000m or below of site altitude under clean atmosphere no explosive hazardous gas and vapor is existing In the case of compliance with the European standard Pollution degree 2 overvoltage category II Ambient temperature and humidity 10 to 50 C 10 to 90 RH free from condensation Operating environment Vibration shock 4 9 m s2 0 5 G 19 6 m s2 2 G Others UL cUL ...

Page 220: ...ut continuously above the rated speed The servomotor uses the acceleration deceleration area for acceleration deceleration Toques above the rating cannot be output continuously If torques above the rating is output continuously the servomotor trips due to an overload The overload detecting time guidepost is as follows Overload detecting time Continuous output torque Overload detecting time 100 rat...

Page 221: ...r operation at 3000 r min 2 Overload alarm detecting time for operation at 5000 r min 0 0 20 0 40 0 60 0 80 0 100 0 120 0 0 50 100 150 200 250 300 Load ratio Overload alarm detecting time s 0 0 20 0 40 0 60 0 80 0 100 0 120 0 0 50 100 150 200 250 300 Load ratio Overload alarm detecting time s ...

Page 222: ...m Continuous operation area Acceleration deceleration area GYS101DC1 CB 100 W 0 318 0 955 1 2 1 4 1 6 GYS201DC1 CA 200 W 0 1000 2000 3000 4000 5000 Speed r min 2 5 2 0 1 5 1 0 0 5 Torque N m Continuous operation area Acceleration deceleration area 0 637 1 91 3 0 3 5 4 0 0 1000 2000 3000 4000 5000 Speed r min 4 0 3 0 2 0 1 0 Torque N m Continuous operation area Acceleration deceleration area GYS401...

Page 223: ...1 11 n GYS type slim type 200V series 0 1000 2000 3000 4000 5000 Speed r min 10 0 8 0 6 0 4 0 2 0 Torque N m Continuous operation area Acceleration deceleration area GYS751DC1 CA 750 W 2 39 7 17 12 0 14 0 16 0 200V series ...

Page 224: ... 2 0 1 0 Torque N m Continuous operation area Acceleration deceleration area GYC401DC1 CA 400 W 1 27 3 82 5 0 6 0 7 0 8 0 0 1000 2000 3000 4000 5000 Speed r min 10 0 8 0 6 0 4 0 2 0 Torque N m Continuous operation area Acceleration deceleration area GYC751DC1 CA 750 W 2 39 7 17 12 0 14 0 16 0 GYC201DC1 CA 200 W 0 1000 2000 3000 4000 5000 Speed r min 2 5 2 0 1 5 1 0 0 5 Torque N m Continuous operat...

Page 225: ...0 W 0 159 0 478 0 6 0 7 0 8 0 1000 2000 3000 4000 5000 Speed r min 1 0 0 8 0 6 0 4 0 2 Torque N m Continuous operation area Acceleration deceleration area GYS101DC1 C6B 100 W 0 318 0 955 1 2 1 4 1 6 Torque N m GYS201DC1 C6B 200 W 0 1000 2000 3000 4000 5000 Speed r min 2 5 2 0 1 5 1 0 0 5 Continuous operation area Acceleration deceleration area 0 637 1 91 3 0 3 5 4 0 1 GYS500DC1 C8B can be powered ...

Page 226: ...11SPECIFICATIONS 11 14 MEMO ...

Page 227: ...C1 C6B 200W GYS500DC1 C8B 50W 3 phase 200V GYS101DC1 CB 100W 2 Mounting The standard mounting type of the servomotor is flange The servomotor with brake and gear head are similar 3 Wiring Motor power cable Servomotor The GYC and GYS servomotors are equipped with 0 3 m cable extension with connectors No wiring connectors come with the servomotor Optional cable and connector kit equipped with connec...

Page 228: ...t mm Unit mm Unit mm SIGNAL CABLE MOTOR POWER CABLE Mass 3 4 kg Shaft extension shape Overall length Dimension flange Mass Type φS L LL kg GYS500DC1 C8B 6h6 103 78 0 45 GYS101DC1 CB 8h6 121 96 0 55 GYS101DC1 C6B 8h6 121 96 0 55 Common with 100V series PROTECTIVE TUBE PROTECTIVE TUBE Overall length Dimension flange Mass Type L LL kg GYS201DC1 CA 126 5 96 5 1 2 GYS401DC1 CA 154 5 124 5 1 8 GYS201DC1...

Page 229: ...m Unit mm Unit mm Mass 3 4 kg Shaft extension shape Overall length Dimension flange Mass Type φS L LL kg GYS500DC1 C8B B 6h6 140 115 0 62 GYS101DC1 CB B 8h6 158 133 0 72 GYS101DC1 C6B B 8h6 158 133 0 72 Common with 100V series PROTECTIVE TUBE PROTECTIVE TUBE SIGNAL CABLE MOTOR POWER CABLE Overall length Dimension flange Mass Type L LL kg GYS201DC1 CA B 165 135 1 7 GYS401DC1 CA B 193 163 2 3 GYS201...

Page 230: ...ies motor standard type 100W 200W 400W 750W Unit mm Unit mm Mass 3 5 kg Overall length Dimension flange Mass Type L LL kg GYC201DC1 CA 112 82 1 3 GYC401DC1 CA 127 97 1 9 Unit mm Mass 0 75 kg PROTECTIVE TUBE PROTECTIVE TUBE PROTECTIVE TUBE ...

Page 231: ... series motor with brake 100W 200W 400W 750W Unit mm Unit mm Mass 4 3 kg Overall length Dimension flange Mass Type L LL kg GYC201DC1 CA B 143 5 113 5 1 9 GYC401DC1 CA B 158 5 128 5 2 6 Unit mm Mass 1 0 kg PROTECTIVE TUBE PROTECTIVE TUBE ...

Page 232: ...11SPECIFICATIONS 11 20 Series Gear head 1 9 1 25 for GYS series motor 50W 100W 200W 400W 750W Unit mm Mass 3 9 kg Unit mm Mass 0 7 kg Unit mm Mass 2 1 kg M4 DEPTH8 M5 DEPTH13 M6 DEPTH15 ...

Page 233: ...SPECIFICATIONS 11 11 21 Series Gear head 1 9 1 25 for GYC series motor 100W 200W 400W 750W Unit mm Mass 3 8 kg Unit mm Mass 0 72 kg Unit mm Mass 2 1 kg M4 DEPTH8 M5 DEPTH13 M6 DEPTH15 ...

Page 234: ...11SPECIFICATIONS 11 22 Servo amplifier Unit mm Unit mm Unit mm ...

Page 235: ...APPENDIXES Inertia moment calculation Load torque Timing chart ...

Page 236: ... x W 12 B 103 2 L 103 2 J y W 12 L 103 2 A 103 2 J z W 12 A 103 2 B 103 2 W ρ A 103 B 103 L 103 J x W2 12 B2 103 2 L 103 2 W1 12 B1 103 2 L 103 2 J y W2 12 A2 103 2 L 103 2 W1 12 A1 103 2 L 103 2 J z W2 12 A2 103 2 B2 103 2 W1 12 A1 103 2 B1 103 2 W2 ρ A2 103 B2 103 L 103 W1 ρ A1 103 B1 103 L 103 W ρ A1 103 B1 103 L 103 A2 103 B2 103 J z W 8 D2 103 2 D1 103 2 L 103 2 W 16 D2 103 2 W 12 J x J y D1 ...

Page 237: ...03 2 GL2 W Mass of movable part kg BP Lead of thread mm GL Reduction ratio no unit J1 W 1 2π BP 103 2 GL2 W Total mass of moving parts kg D Diameter of pinion mm Diameter of sprocket mm GL Reduction ratio no unit J3 W 4 D 103 2 GL2 W Total mass of moving parts kg D Diameter of roll mm GL Reduction ratio no unit J4 W L 103 2 GL2 J J Moment of inertia around CG of body W Mass of body kg L Distance b...

Page 238: ...t kg W2 Mass of counter weight kg GL Reduction ratio no unit F Thrust force kg When lifting vertically TL µ 1 W1 W2 9 81 2 π η BP 103 GL TL µ 1 W1 W2 9 81 2 π η BP 103 GL TL W1 W2 9 81 2 π η BP 103 GL When lowering vertically When stopping vertically TL µ W F 9 81 η GL 1 103 D 2 µ Coefficient of friction D Diameter mm W W1 Mass of moving part kg W2 Mass of counter weight kg GL Reduction ratio no u...

Page 239: ...ait at least one minute before turning the power on again after turning it off Internal control power Main power supply Amplifier initialization RUN RDY Pulse string command 700 ms About 1 sec About 4 ms ON ON OFF OFF Not supplied Supplied No energization Energization No energization Energization ...

Page 240: ...ontroller Applied Released 1 Pulse string command Rotation speed Applied 2 Released 1 When the active brake is released it takes the releasing time until the brake is released 2 When the released brake is applied it takes the sucking time until the brake is applied 3 The releasing time is specified in the specification list of the brake incorporated motor 4 The sucking time is specified in the spe...

Page 241: ...mand Rotation speed Applied 2 Released 1 When the active brake is released it takes the releasing time until the brake is released 2 When the released brake is applied it takes the sucking time until the brake is applied 3 The releasing time is specified in the specification list of the brake incorporated motor 4 The sucking time is specified in the specification list of the brake incorporated mot...

Page 242: ...eased Applied ＯＦＦ Reset ＯＮＯＮ Released Applied Amplifier overheat Regenerative resistor overheat Deviation limit Encoder overheat Initial error Indication Description Detection of minor fault Undervoltage Overcurrent 1 Indication Description Overcurrent 2 Overspeed Overvoltage Encoder trouble Control power alarm 1 Control power alarm 2 Memory alarm Motor combination alarm Regenerative transistor o...

Page 243: ...the brake when overheat of the external regenerative resistor is detected Build the program so that the brake is released when overheat is removed from the external regenerative resistor The brake is for retention purpose Because application of the brake during rotation reduces the life avoid repetitive application Operation command RUN ＯＦＦＯＮ Overheat of external regenerative resistor Brake Appli...

Page 244: ...tor separate installation type is not equipped with the connector for connection with the amplifier The external regenerative resistor connector WSK R03P B is necessary For power supply wiring For external regenerative resistor For motor power supply Main circuit connector Control input output wiring connector Encoder wiring connector amplifier side Encoder wiring connector on motor side Motor pow...

Page 245: ... Z offset 0 to 65535 pulse in 1 increments 0 19 Zero deviation width 1 to 10000 pulse in 1 increments 200 20 Deviation limit width 10 to 65535 x 100 pulse in 1 increments 10000 21 Zero speed width 10 to 5000 r min in 1 increments 50 22 Positioning end judgment time 0 000 to 1 000 sec in 0 001 increments 0 000 23 Max current limit 0 to 300 in 1 increments 300 24 Undervoltage alarm detection 0 No de...

Page 246: ...0 in 1 increments 100 53 Speed adjustor integration time 2 30 to 200 in 1 increments 100 54 Position gain added when setting 0 to 100 red sec in 1 increments 0 55 Addition limit when setting 0 to 200 r min in 1 increments 0 56 Command follow up control selection 0 None 1 Command follow up control 2 Command follow up control with correction on stop 0 57 Notch filter 1 frequency 10 to 200 x 10Hz in ...

Page 247: ...9 17 18 Encoder overheat 9 18 19 Initial error 9 18 Alarm reset 8 16 Anti resonance frequency 5 53 Anti resonance frequency selection 5 27 Appearance of product Servo amplifier 1 8 Servomotor 1 7 Assembling the GYN gear head 2 6 Auto tuning 5 11 Auto tuning gain 5 13 Auto tuning gain setting 8 17 C Cable size 10 4 Cable stress 2 4 Close mounting 2 9 Command follow up control 7 12 Command pulse com...

Page 248: ...oad inertia ratio 5 12 8 11 M Main circuit terminals 3 6 Major fault 5 29 Manual operation 8 15 Manual tuning 5 11 Max current limit 5 37 Memory back up 9 3 Minor fault 5 29 Mounting Servo amplifier 2 0 Servomotor 2 2 N Notch filter 5 52 Number of pulses output per each revolution 5 32 O OL thermal value 8 11 Operating environment Servo amplifier 2 8 Servo motor 2 2 Operation command RUN 5 18 Oper...

Page 249: ...nt 5 48 Semi auto tuning 5 11 Sequence input output terminal 3 7 Servomotor does not rotate 9 6 Servomotor hunting 9 7 7 segment indication 8 2 Speed controller integration time 1 5 46 Speed controller integration time 2 5 50 Speed response 1 5 46 Speed response 2 5 50 Speed setting filter 5 49 Speed torque characteristics 11 8 Storage temperature Servo amplifier 2 8 Servomotor 2 2 Storing the val...

Page 250: ...APPENDIXES Appendix 16 MEMO ...

Page 251: ...APPENDIXES Appendix 17 MEMO ...

Page 252: ...ystems Company Gate City Ohsaki East Tower 11 2 Osaki 1 chome Shinagawa ku Tokyo 141 0032 Japan Phone 81 3 5435 7139 Fax 81 3 5435 7460 Information in this manual is subject to change without notice 2002 4 CM Printed on recycled paper ...

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