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52

1

Inertia condition

P_GGLP / 113.1

2

Control gain setting

P_GSET / 113.0

3

Inertia

ratio

P_inEr /102.0

4

conversion ratio of Inertia ratio

P_inTr /104.0

5

Selection of real-time auto tuning

P_TUEn /110.1

6

Control level

P_CLEv /114.0

7

Integral gain

P_inTE /119.0

8

First gain FF compensation

P_GFF1/117.0

9

Second gain FF compensation

P_GFF2/118.0

10

Damping ratio

P_dAmP/103.0

Table 5.7.2

Speed control

Display order

Name

Parameter

name/

number

displayed on operation panel

1

Control gain level

P_GSET /129.0

2

Inertia ratio

P_inEr /102.0

3

Setting of auto tuning

P_ES7d /110.0

4

Selection of real-time auto tuning

P_TUEn /110.1

5

Control level

P_CLEv /130.0

6

Integral gain

P_inTE /133.0

7

First gain FF compensation

P_GFFS /132.0

8

Damping ratio

P_dAmP/103.0

Figure 5.7.1

Summary of Contents for SV-E3 Series

Page 1: ...otor and drive 24 3 1 Installation environment conditions 24 3 2 Dustproof and waterproof 24 3 3 Installation method and space 24 3 4 Dimensions of servo motor 26 3 5 Dimensions of servo drive 30 4 Wiring explanation for servo motor and drive 31 4 1 Wiring diagram 31 4 2 Drive connector and pins arrangement 33 4 3 Terminal arrangement and wiring color of motor connector 35 4 4 RS 485 communication...

Page 2: ...t 154 9 3 Troubleshooting 158 Appendix 161 Appendix 1 Recommended wire cable 161 Appendix 2 SV E3 positioner function 161 Appendix 3 SV E3 special I O setting 167 Appendix 4 Servo drive power connector L1 L2 B1 B2 U V W wiring 169 Appendix 5 SV E3 series absolute system description 170 Thank you for purchasing the HNC ELECTRIC products This Instruction Manual provides instructions for advanced use...

Page 3: ...nual for details 6 The latest information should be recorded in the instruction manual and manual will be updated accordingly If you need the latest version please contact the HNC ELECTRIC distributor 7 Without the approval of company it is forbidden to reprint some or all of the instruction manual 2 Confirm the following items before unpacking Check if the products are the ones you ordered Check ...

Page 4: ... not use the servo motor with its cable soaked in oil or water To prevent electric shock malfunction or damage Operate the switches and wiring with dry hand To prevent electric shock injury or fire Do not touch the keyway directly when using the motor with shaft end keyway To prevent injury Do not touch the motor and drive heat sink as they are very hot To prevent burns or parts damaged Do not dri...

Page 5: ... shock or fire Check the power specification To prevent fault The electromagnetic brake may not hold the servo motor shaft To ensure safety install a stopper on the machine side To prevent injury A sudden restart is made if an alarm is reset with the run signal on To prevent injury Connect the relay for emergency stop and for brake in series To prevent injury or malfunction Transportation and stor...

Page 6: ...eriod the repair cost will be charged on customer in the following cases 1 A failure caused by improper storing or handling repair and modification 2 A failure caused by the parts which have dropped down or damaged during transportation 3 A failure caused when the products have been used beyond the product specification 4 A failure caused by external factors such as inevitable accidents including ...

Page 7: ...r nameplate Servo driver nameplate Model name 1 Servo motor Detailed explanation of model naming take SE60 2 013L30B I1 as example SE is motor series 60 is motor flange size 2 is AC220V 013 means rated torque is 1 27NM M meas middle inertia 30 means rated speed is 3000rpm B means with brake I1 means incremental 17bits encoder ...

Page 8: ...8 2 Servo drive 1 2 Parts name of servo motor and drive Figure 1 1 4 Parts name of servo motor Figure 1 1 5 Parts name of servo drive ...

Page 9: ...W Middle inertia 003M30 SV E3P010A A 200W Low inertia 006L30 60 SV E3P020A A High inertia 006H30 400W Low inertia 013L30 SV E3P040A A High inertia 013H30 750W Low inertia 024L30 80 SV E3P075A A High inertia 024H30 1kW Middle inertia 050M20 130 SV E3P100A A Frame B High inertia 050H20 1 5kW Middle inertia 075M20 SV E3P150A A High inertia 075H20 2kW Middle inertia 100M20 SV E3P200A A ...

Page 10: ...nerative resistor cannot necessarily guarantee the performance When heating temperature is too high please increase the resistance or the permissible power 1 5 Selection of cables and connector accessories for HNC ELECTRIC products For 750W or less Items Usage Model name Remark 1 Connector for drive and motor Power connector CON 4P M75A for 750W or less 2 Power cable SV E3 CAB SE60 PWR T R50M Leng...

Page 11: ...or absolute Integrated battery box SV E3 CAB SE130 BOX T R30M Length 0 3m 7 50P pulse connector Pulse connector CON 50P 2 Product specifications 2 1 Servo drive specifications 2 1 1 Common specifications Table 2 1 1 Common specifications Items Specification Model Name SV E3P A 005 010 020 040 075 100 150 200 Common specification Applicable motor 50W 100W 200W 400W 750W 1kW 1 5kW 2kW Dimension W mm...

Page 12: ...erential 4Mpps Open collector 200kpps Input pulse signal form Pulse direction A B phase orthogonal phase difference pulse CW CCW pulse note 4 Command pulse multiplication A B A 1 65535 B 1 65535 1 1000 A B 1000 Smoothing FIR filter Pulse output Output pulse signal format Encoder position pulse is output in the following manner A B phase orthogonal phase difference pulse and Z phase pulse is output...

Page 13: ...nal phase difference pulse and Z phase pulse is output in EIA 422 differential format Z phase pulse is output through open collector Common Robust observer Provided Vibration control Provided Auto tuning Provided Encoder output division and multiplication Provided Tuning function setting Adjusted via software Protective function Hardware alarm overvoltage power supply error overcurrent overtempera...

Page 14: ...re is too high please choose the large and high power resistor Note 3 The brake is the dynamic brake function controlled by the software The brake function becomes invalid when the drive failure occurs or the power supply disconnect Note 4 Pulse command input is shown below Table 2 1 2 Parameter No 32 0 pulse command input mode Input signal Signal name The minimum necessary time range t1 t2 t3 t4 ...

Page 15: ...rature Note 6 Ambient temperature for 2kW drive Model name SV E3 2 1 2 Overload detection characteristics For SV E3 series servo drives when the motor torque exceeds the torque values in the overload detection characteristics overload protection will start which outputs overload alarm and the motor stops emergently Figure 2 1 1 Overload detection characteristics ...

Page 16: ...ge installation size mm 40 40 60 Mass Without brake kg 0 4 0 5 0 9 1 0 1 3 1 5 With brake 0 6 0 8 1 4 1 5 1 8 2 0 Common speci Rated output W 50 100 200 400 Rated torque N m 0 16 0 32 0 64 1 27 Max instantaneous torque N m 0 56 1 12 1 91 3 82 Rated current Arms 0 6 0 9 1 7 2 7 Max instantaneous current Arms 2 1 3 2 5 1 8 1 Rated speed r min 3000 3000 Max speed r min 6000 5000 Torque constant N m A...

Page 17: ...s 50 or less Release time ms 20 or less 15 or less Release voltage V 1VDC or more Ambient conditions Rated time Continuous Ambient temperature for use 0 40 Without condensation Ambient humidity for use 20 85 RH Without condensation Ambient temperature for storage 20 65 Highest temperature guaranteed 80 degrees 72hours Ambient humidity for storage 20 85 RH Without condensation Atmosphere for use st...

Page 18: ... 6 Rated speed r min 3000 2000 Max speed r min 4500 3000 Torque constant N m Arms 0 61 0 88 0 81 0 85 Induced voltage constant of each phase MV r min 21 33 30 9 28 4 29 6 Rated power change rate Without brake kW s 64 1 35 9 50 0 9 2 76 9 13 8 104 9 With brake 52 8 32 1 36 5 8 6 61 4 13 3 87 9 Mechanical time constant Without brake ms 0 53 0 94 0 76 4 17 0 60 3 32 0 58 With brake 0 64 1 06 1 05 4 4...

Page 19: ... 85 RH Without condensation Atmosphere for use storage Indoors Not subject to rainwater or direct sunlight free from corrosive gas flammable gas flammables grinding fluid oil mist or dust Insulation class Class B Insulation resistance 1000 VDC megger 5MΩ or more Dielectric strength 1500 VAC for 1 minute Altitude 1000m or less above sea level Vibration class V 15 JEC2121 Vibration resistance 49 m s...

Page 20: ... load Unit 50W 100W 200W 400W 750W 1kW 1 5kW 2kW Permissible radial load N 68 68 245 245 392 490 490 490 Permissible axial load N 58 58 98 98 147 196 196 196 2 2 3 N T characteristics Figure 2 2 2 N T characteristics ...

Page 21: ...21 ...

Page 22: ...17 bit SE 2 A1 17 bit Power supply voltage VCC DC 4 5V 5 5V Ripple voltage 5 or less External power supply BAT DC 2 4V 5 5V External capacitor CAP DC 2 4V 5 5V Current consumption 160mA Typ Inrush current are excluded State of low power consumption Typ 10µA The battery voltage is 3 6V at motor stop at room temperature ...

Page 23: ...ce to external magnetic field 2mT 20G or less Note 1 Up counting direction Look from the front flange rotate as counterclockwise that is CCW Note When the motor rotates under 180 degree single revolution accuracy decreases When use the motor with brake please follow the brake voltage specified in the manual When the brake voltage is under 12V or use under the reverse polarity single revolution acc...

Page 24: ...to IEC 34 5 International Electrotechnical Commission 3 3 Installation method and space Impact load The impact that the motor can stand should be less than 200m s2 20G Don t apply excessive impact load to the motor during transporting installing and disassembling And do not hold encoder cable and connector to transport the motor The pull claw device must be used when removing the belt pulley and c...

Page 25: ...25 ...

Page 26: ...will increase Consequently it will lead to overvoltage alarm malfunction caused by noise and components damage The service life of electrolytic capacitor is approx 5 to 6 years under the condition average annual temperature 30 load rate 80 and operation of less than 20 hours a day on average Additional instructions The motor shaft is covered with anti rust oil before leaving factory Please have th...

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Page 28: ...28 ...

Page 29: ...29 ...

Page 30: ...30 3 5 Dimensions of servo drive Same dimensions for SV E3 ...

Page 31: ...ut main circuit power supply should be wired from the same 200VAC main power supply Do not access switch between 24VDC power supply and drive If you need switch put it on the 200VAC cable of 24VDC input power supply A twisted pair shielded cable should be used when I O cable length is over 50cm The encoder cable should be less than 20m ...

Page 32: ...W or more than 1kW Breaker Switch off the power supply to protect power cord when overcurrent occurs Make sure to use the breaker between power supply and interference filter that conforms to IEC specification and UL recognition in accordance with the User manual Please use the breaker with leakage function recommended by HCFA in order to meet EMC standards Noise filter To prevent the outside inte...

Page 33: ... regenerative resistor 2 B2 N interface of regenerative resistor Single phase 200VAC input 3 L Primary Power 1 4 N Primary Power 2 Motor power output U V W 1 U Motor power U phase output 2 V Motor power V phase output 3 W Motor power W phase output Encoder CN2 1 VCC Encoder power supply 5V output 2 GND Signal grounding 3 NC 4 NC 5 D Encoder signal data input output 6 D Encoder signal data input ou...

Page 34: ...3P1KW or more Name Symbol Pin No Signal name Contents Regenerative resistance connection B1 B2 1 B1 P interface of regenerative resistor 2 B2 N interface of regenerative resistor Three phase 200VAC input L1 L2 L3 1 L1 Primary power 1 2 L2 Primary power 2 3 L3 Primary power 3 Motor power output U V W 1 U Motor power U phase output 2 V Motor power V phase output 3 W Motor power W phase output Encode...

Page 35: ...ing color of motor connector 4 3 1 Motor connector and pins arrangement 750W or less Figure 4 3 1 Motor connector and pins arrangement Table 4 3 1 Cable list For motor of 750W or less Name Cable Motor power input AWG18 Brake note 1 AWG22 Encoder Incremental Power supply AWG22 Signal AWG24 Encoder Absolute Power supply AWG22 Signal AWG24 Note 1 For the motor with brake Table 4 3 2 For the motor of ...

Page 36: ...low black point 2 D Serial communication data data White red point 3 D Serial communication data data White black point 4 VCC Encoder power supply 5V Orange red point 5 GND Signal ground Orange black point 6 SHIELD Shielded wires Black 1 For motor with brake 2 External capacitor and battery are taking GND as the reference potential 4 3 2 Motor connector and pins arrangement 1kW or more Figure 4 3 ...

Page 37: ...a data 7 IC Internal connection 3 8 IC Internal connection 3 9 GND Signal ground 10 NC 1 For motor with brake 2 External capacitor and battery are taking GND as the reference potential 3 Internal connection IC has been connected internally Do not connect it with any other wires 4 4 RS 485 communication wiring description The wiring between the drives and setting method of communication address are...

Page 38: ...chained connection should be performed between the drive connector CN1 and the upper controller Communication address setting When using multi station communication set the different communication address for each drive according to the following steps There are two setting methods by set panel and dedicated software Input 24V control power supply after wiring then operate as the following steps F...

Page 39: ... SET button the P in SAVE_P flicker When the parameter is stored in the EEPROM normally nr_End displays Notes Cut off the power supply to the servo drive Note1 Before restart the power supply the servo drive operates as the former communication address Set the communication address to the other drive as the same way described from to When the single axis drive are used in parallel please set the c...

Page 40: ...eration mode change The operation procedures of changing operation mode by set panel are shown below Turn on the control power to the drive the set panel will show Press the MODE button once it will show Speed feedback motor speed r min Press the MODE button once again it comes to the Status display mode and shows dP_St When press the MODE button again it will come to Alarm display mode Parameter ...

Page 41: ...41 Figure 5 3 1 ...

Page 42: ... when press UP or DOWN button When status displays press SET button to display its value Model code and serial number will be displayed after the status when press UP or DOWN button The status mark number will display alternatively Model code will be displayed in Pt_ AAA and serial number displayed on Ps_ AAA In the display _ AAA Jot indicates the motor drv indicates the drive and Enc indicates th...

Page 43: ... Display the motor position feedback by encoder according to command pulse Command position deviation pulse Display the difference value between the position command and position feedback according to command pulse Position command pulse Pulse command input position The command value input after division and multiplication smoothing in internal position command Encoder pulse Position feedback puls...

Page 44: ...when using absolute encoder Regenerative status Display regeneration status For details refer to 4 4 4 Regenerative status Main circuit voltage 0 1V Display the main circuit voltage reference value Display only in the model DA2 2 Model code of servo drive Display the model code of servo drive Model code of servo motor Display the model code of servo motor Model code of encoder Display the model co...

Page 45: ...hen press SHIFT button When the fifth digit flashes press SHIFT button and it comes to the next screen Press SHIFT button in Screen 3 Symbol display and it comes back to Screen 1 Display for lower 5 digits That is to say the screen changes the order of Screen 1 Display for lower 5 digits Screen 2 Display for upper 5 digits Screen 3 Symbol display Screen 1 Display for lower 5 digits on the left ind...

Page 46: ...put Output status in00 I1 SVON I1 Servo ON Input Input status in01 I2 RESET I2 Alarm reset input Input status in02 I3 HOLD VCRUN1 I3 Command input inhibit Internal speed command Start 1 Input status in03 I4 PCLR VCRUN2 I4 Deviation counter clearing input Internal speed command Start 2 Input status in04 I5 VCSEL1 I5 Reserved Internal speed command Speed command selection 1 Input status in05 I6 CCWL...

Page 47: ...istor ot01 Reserved fixed ot07 Reserved fixed in00 Regenerative voltage alarm When the DC voltage of main circuit reaches the regenerative voltage alarm the signal is ON which indicates the drive regeneration circuit may be on working state A regenerative resistor is recommended to be connected When voltage is less than regenerative threshold voltage the signal is ON in01 Regenerative threshold vo...

Page 48: ...e display value changes from in00_ to in00_A If in00_A displays a regenerative resistor is needed Operation panel displays as follow Need a regenerative resistor Do not need any regenerative resistor 5 5 Alarm display mode The following shows the operating procedures of alarm display Press the MODE button three times from the beginning dP_Err indicates the alarm display mode Press the SET button t...

Page 49: ... Overspeed 19 Encoder error communication 05 Speed deviation error 20 Encoder error multi rotation data 06 Position deviation error 21 Encoder error voltage drops 07 Overload error 22 Power error control power 08 Command overspeed error 23 Switch circuit error 09 Encoder pulse output frequency error 24 Overcurrent error 10 Internal position command overflow error Home position return failure 25 In...

Page 50: ...pply to the drive No need to restart the power supply to the drive The operating procedures of parameter change are shown below If parameters displayed the rightmost LCD will flash and it comes to the state that parameters can be input On the condition that parameter is beyond the range from 99999 to 99999 only for No 087 0 position deviation error detection value as said in Status display mode an...

Page 51: ...o FF1 gain It can also be optimized more easily in accordance with the order of integral gain FF2 gain damping ratio A_TunE Auto tuning mode will be displayed after press MODE button five times from the initial display status In auto tuning mode parameters which are set in Parameter setting mode can be displayed after the Simple adjustment and Fine adjustment Please follow the procedures below to ...

Page 52: ...sation P_GFF1 117 0 9 Second gain FF compensation P_GFF2 118 0 10 Damping ratio P_dAmP 103 0 Table 5 7 2 Speed control Display order Name Parameter name number displayed on operation panel 1 Control gain level P_GSET 129 0 2 Inertia ratio P_inEr 102 0 3 Setting of auto tuning P_ES7d 110 0 4 Selection of real time auto tuning P_TUEn 110 1 5 Control level P_CLEv 130 0 6 Integral gain P_inTE 133 0 7 ...

Page 53: ...e SAVE_P Parameter saving mode will be displayed on the panel if pressing MODE button six times from the beginning The new parameters set in Parameter setting and auto tuning mode can be written to EEPROM in the parameter saving ...

Page 54: ...hen change the parameters that need restarting 24VDC control power supply please restart the control power supply after the above procedures done The changed parameters become effective after restart control power supply For the models of 1kW or more power off the main circuit power supply and restart it after the screen display is off 5 9 Auxiliary function will display after press the MODE butto...

Page 55: ...parallel I O input become invalid Input the 24VDC control power and servo ON signal from I O connector Operating procedures 1 Display the according to the operating procedures as shown in Figure 5 9 1 Auxiliary function 2 Set the following three parameters by the set panel For the details of parameters please refer to Chapter 6 Parameter Description Table 5 9 1 Relevant parameter of JOG function N...

Page 56: ... or Down button simultaneously the motor will stop If the unexpected operating status happens switch off the main circuit power or make the servo OFF to stop the operation Figure 5 9 2 5 9 2 Parameter clearing function This function is to return the parameters to the factory settings After clearing the parameters restart the power supply and the parameters will change to the factory settings The p...

Page 57: ...ight side of parameter number are the ones that need to restart the drive control power supply after saving Yes will be displayed in the parameters of Whether to restart 24VDC power supply After saving the parameters in Parameter saving mode Whether to restart 24VDC power supply will be displayed for the parameters which are valid after restarting 24VDC power supply For the models of 750W or less ...

Page 58: ...1 147 0 Value 2 148 0 Torque limit output 144 1 Delay time for Servo off 237 0 Delay time for mechanical brake release 238 0 Selection of an encoder system 257 0 Encoder pulse output Rotation direction 272 1 Division and multiplication Numerator 276 0 Denominator 278 0 RS 485 communication Switch 8 0 Address 4 0 Communication speed 6 0 Stop bit 6 1 Parity 6 2 Minimum response time 11 0 Error detec...

Page 59: ... 0 Gain FF compensation 1 117 0 Gain FF compensation 2 118 0 Integral gain 119 0 Speed control mode Control gain set 129 0 Control level 130 0 Control gain 1 131 0 Gain FF compensation 1 132 0 Integral gain 133 0 Current control gain 193 0 Position command filter Filter 1 Selection 1 66 0 Smoothing filter 1 average moving times 80 0 Notch frequency 74 0 Notch width 75 0 High frequency gain 76 0 No...

Page 60: ...ction 32 1 Input logic 32 3 Division and multiplication Interpolation 32 2 Numerator 34 0 Denominator 36 0 Input filter 33 0 Feedforward Delay compensation 66 3 Positioning completion Determination method 64 0 Detection Range 68 0 Speed 69 0 Command input 70 0 Detection delay time 71 0 Internal position Operation mode 642 0 Overflow detection 643 0 Point table Point No output method 644 0 Operatio...

Page 61: ...60 0 Rotation direction 62 0 Input filter Switch 62 1 Numerator 48 0 Denominator 49 0 Input gain Numerator 50 0 Denominator 51 0 Speed limit CCW Numerator 52 0 Denominator 53 0 CW Numerator 54 0 Denominator 55 0 Smoothing filter Switch 77 0 Average travel time 78 0 Internal speed Command method 388 0 Acceleration time 390 0 Deceleration time 391 0 Speed 1 to 8 392 0 Analog torque Offset Adjustment...

Page 62: ... 485 multi station communication If using multi station communication refer to RS 485 communication wiring Setting different values for each axis Initial value 1 Setting range 1 to 32 Yes 008 0 Basic setting Selection of host communication mode Select host communication mode 0 Disable 1 RS 485 asynchronous serial communication When connecting RS 485 signal cable and using RS 485 asynchronous seria...

Page 63: ...etting range 0 or 1 Yes 032 3 Basic setting Selection of Pulse train input logic Select the logic for pulse train input 0 Positive logic Up counting from Low to High 1 Negative logic Downing counting from High to Low Initial setting 0 Positive logic Setting range 0 or 1 Yes 033 0r Basic setting Pulse command input filter selection The function of input filter is to reduce the fault caused by noise...

Page 64: ...0 Initial value Numerator Denominator 1000 1000 Setting range Numerator 1 to 65535 Denominator 1 to 65535 Setting range of Division multiplication ratio is from 0 001 to 1000 Normal operation is not guaranteed while division multiplication ratio is beyond setting range Yes 048 0 049 0 Adjustment Analog command input Filter parameter Numerator Denominator Low pass filter parameter for smoothing ana...

Page 65: ...l adjustment Adjust the corresponding analog speed command input to 0r min at the 0V input voltage setting method 1 Servo ON motor will rotate if offset exists 2 When rotating at the speed of 10r min or less set the value to 50 to confirm the operation CCW direction set to 50 CW direction set to 50 3 Set the offset value while observing the motor operation If rotate at CCW direction setting values...

Page 66: ...etion speed No 69 0 and positioning pulse train command input speed No 70 0 respectively positioning completion signal will be output The delay time from positioning completion to output positioning completion signal can be set in No 71 0 Initial setting 0 Setting range 0 or 1 No 065 0 Special setting With or without use of position difference error detection Select whether to use position differe...

Page 67: ...re is pulse input or residual pulse setting position difference will occur Initial setting Command smoothing filter 1 is 0 Not used Command smoothing filter 2 is 1 Used Setting range 0 or 1 066 3 Special setting With out the Feed forward delay compensation in position control mode Enable Disable Feed forward delay compensation in position control mode 0 Disable 1 Enable Note Generally set to 1 Do ...

Page 68: ... 0 Free run 1 zero clamp Initial setting 1 Setting range 0 or 1 No 067 3 Basic setting Selection of position difference counter status at drive restriction Select position difference counter status at drive restriction Note Do not modify the parameter while the servo is ON 0 Keep 1 Clear Initial setting 1 Setting range 0 or 1 No 068 0 Basic setting Positioning completion range As the reference of ...

Page 69: ...ler this parameter is the pulse command input speed for judging positioning completion Initial setting 750W or less 0 pulse 160μs 0 pulse 160μs 1kW or more 0 pulse 200μs 0 pulse 200μs Setting range 0 to 32767 No 071 0 Basic setting Delay time of positioning completion detection Select the delay time from positioning completion to output signal to upper controller Initial value 750W or less 20 160μ...

Page 70: ...ease have settings within the permissible range When resonant occurs at constant move after acceleration or positioning after deceleration measuring the resonant frequency in torque command curve and setting a corresponding average movement number in position command smoothing filter1 moving average time No 80 or position command smoothing filter2 average movement number No 81 may inhibit resonanc...

Page 71: ...s valid to detect the speed deviation errors Normally it s effective When the speed deviation exceeds setting detection value speed deviation error occurs It is more difficult to detect speed deviation error if the value is greater Initial value 200 750W 524 pulse 160μs 1499 r min 1k 2kW 655 pulse 200μs 11499 r min Setting range 0 to 32767 No 091 0 Special setting Delay time of speed deviation err...

Page 72: ...114 0 Adjustment Control level position control Set control level of position control mode If traceability to command is slow or rigidity of drive system is low set the lower value If traceability to command is rapid or rigidity of drive system is high set the higher value When setting this parameter No 115 0 No 116 0 will be set automatically and No 113 0 becomes invalid When the inertia conditio...

Page 73: ...nge 45 to 5000 No 129 0 Adjustment Control gain level speed control Select control gain level in speed control mode If traceability to command is slow or rigidity of drive system is low set the lower value If traceability to command is rapid or rigidity of drive system is high set the higher value When setting this parameter No 131 0 133 0 will be set automatically and No 130 0 becomes invalid Ini...

Page 74: ...and limit Override 1 No 147 0 or 2 No 148 0 2 Torque command limit Override 2 No 148 0 Initial setting 0 All conditions Setting range 0 to 2 No 147 0 148 0 Basic setting Torque command limit override 1 2 It is valid when No 144 0 torque command limit override is set to 1 enable Set torque command limit override relative to rated torque ratio Tow torque limits could be set Initial value 3000 0 1 fo...

Page 75: ...mmand Initial value 5000 Hz Setting range 0 to 5000 No 169 0 Adjustment Torque command Notch filter width Set notch filter width of torque command Set the ratio relative to a frequency band with 0 notch depth and 3 dB attenuation rate The larger the value the greater the width of the notch Initial value 8 Setting range 0 to 16 No 170 0 Adjustment Torque command Notch filter depth Set the notch dep...

Page 76: ...ulse 160μs 50r min １kW 2kW 22 pulse 200μs 50r min Setting range 0 to 32767 No 228 0 Basic setting Operating time of deceleration stop at control power supply voltage drop Set the operating time of deceleration stop at control power supply voltage drop in motor rotation Initial value 62 160μs 10ms Setting range 0 to 16383 ms No 237 0 Basic setting Delay time at servo OFF Set the delay time between ...

Page 77: ...ation multiples of 4 and output frequency must less than 4Mpps Maximum value Yes 288 0 289 0 Adjustment Analog torque command input filter Denominator Numerator This parameter is for the low pass filter that smooths analog torque command input It s valid when No 302 1 1 enable When the value is small the smoothing becomes stronger but the traceability to command drops When the value is bigger the ...

Page 78: ... voltage CW rotation by negative input voltage Initial value 1 CCW rotation by positive input voltage Setting range 0 or 1 No 302 1 Basic setting Analog torque command Input filter option Enable Disable Input filter for Analog torque command It can be done by No 288 0 and No 289 0 0 Disable 1 Enable Initial value 1 Setting range 0 or 1 No 302 2 Basic setting Analog torque command Offset adjustment...

Page 79: ...to set internal speed command deceleration time No 392 0 399 0 are used to set the target speed Initial value 1000 ms Setting range 0 to 60000 No 391 0 Basic setting Internal speed command Deceleration time It is valid when control mode No 2 0 is set to 1 speed control mode command mode selection No 3 0 is set to 3 Internal generation command and internal speed command type No 388 0 is set to 1 tr...

Page 80: ...mand Overflow detection function 0 Disable 1 Enable To prevent the absolute position from disappearing when the target position exceeds the absolute position range in Point table or communication operation When 1 Enable is set and the target position ABS position command in operation command exceeds absolute position the alarm of internal position command overflow will occur When 0 Disable is set ...

Page 81: ...tion Setting range 0 to 1 No 646 1 Basic setting Home position sensor input polarity Set Home position sensor input polarity 0 When OFF detect Home position DOG front end 1 When ON detect Home position DOG front end Initial value 0 When OFF detect Home position DOG front end Setting range 0 to 1 No 646 2 Basic setting Home positon return Timeout option Enable Disable Home position return Timeout 0...

Page 82: ...5000 No 651 0 Special setting Home position Return Shift to home posi tion quantity Set shift quantity from the position where the Base signal was detected to the home position Initial value 0 Command unit Setting range 0 to 1 000 000 000 No 653 0 Special setting Home position return Home position data Set a position at the time of home position return complete Initial value 0 Command unit Setting...

Page 83: ...No 800 1 No 809 0 No 800 3 5 No 822 0 No 824 0 No 826 0 No 827 0 No 820 0 No 828 0 No 820 1 No 829 0 No 820 3 6 No 842 0 No 844 0 No 846 0 No 847 0 No 840 0 No 848 0 No 840 1 No 849 0 No 840 3 7 No 862 0 No 864 0 No 866 0 No 867 0 No 860 0 No 868 0 No 860 1 No 869 0 No 860 3 8 No 882 0 No 884 0 No 886 0 No 887 0 No 880 0 No 888 0 No 880 1 No 889 0 No 880 3 9 No 902 0 No 904 0 No 906 0 No 907 0 No ...

Page 84: ...e of parameter initialization Note 3 When ERROR and main circuit power supply PRDY is ON S RDY is ON 7 2 Servo OFF ON Note 1 About I O status C indicates the internal output circuit contact or external contact is close while O means open Note 2 The servo can be not ON when motor speed is less than 30rpm Note 3 T1 can be set in parameter No 238 0 Initial value 4msec value range 0 to 500msec ...

Page 85: ...ps Note 1 About I O status C indicates the internal output circuit contact and external contact is close while O means open Note 2 T1 can be set in parameter No 237 0 initial setting 0msec changeable range 0 to 500msec 7 3 2 Servo ON OFF motor rotates When servo OFF the deceleration stop release condition is to reach the speed release or after specified running time Parameter No 224 0 1 preference...

Page 86: ...brake will finish when it meets the conditions of deceleration stop at servo OFF ParameterNo 224 1 226 0 227 0 Note 4 MBRK will be OFF when the deceleration stop has completed or the motor speed is to reach the setting value specified in parameter No 227 0 If deceleration stop mode is selected to the free run parameter No 224 0 at servo OFF the MBRK will be OFF when motor excitation is OFF 7 4 At ...

Page 87: ...n the following alarms occur MBRK will be OFF right after internal alarm state is ERROR a Encoder error b Undervoltage of control power supply c Inverter output error Note 7 When the following alarms occur the deceleration stop will be in the following ways a If motor speed cannot be detected due to encoder error It will be OFF at the operation time in No 226 0 b Selection of deceleration stop at ...

Page 88: ...dicates the internal output circuit contact and external contact is close while O means open Note 2 The servo can be not ON when motor speed is less than 30rpm Note 3 T1 can be set in parameter No 238 0 Initial value 4msec value range 0 to 500msec 7 5 2 Alarm reset SVON OFF Figure 7 5 2 Alarm reset SVON OFF ...

Page 89: ...on modes Position control mode Pulse position command input 1 Wiring for user I O CN1 connector The following three kinds of signals can be input in position control mode Differential input 24V open collector input 5V open collector input 2 The setting of basic parameter 3 Test run Speed control mode Analog speed command input 1 Wiring for user I O CN1 connector 2 The setting of basic parameter 3 ...

Page 90: ...ers Point Table 8 1 2 Common parameter list Types Names No Reference Common parameters Control mode 2 0 Command mode 3 0 Operation mode 9 0 Torque command range Switch 144 0 Value 1 147 0 Value 2 148 0 Torque limit output 144 1 Delay time for servo OFF 237 0 Delay time for mechanical brake release 238 0 Absolute system 257 0 Encoder pulse output Rotation direction 257 0 Division and multiplication...

Page 91: ...ng value of parameter 2 0 Display the setting value of parameter 2 0 The flickering bit is changeable Press button Press the UP or DOWN to input the parameters Confirm the parameter value Display in Speed control mode Press button once After setting the parameter on the RAM of the drive the display changes from flickering to light Press button once Return to the display of parameter No Delay time ...

Page 92: ...from external 24VDC For 1kW or more is supplied from internal Therefore the control power for models of 1kW or more can be ON OFF by switching on off the AC power supply of main circuit 8 2 Position control mode Pulse position command input 8 2 1 Wiring for user I O connector CN1 Differential input Name Symbol Terminal No Signal name Contents User I O 24V power supply input Parallel I O Pulse comm...

Page 93: ...A phase CCW 28 Reserved 29 Reserved 30 CMD_DIR Pulse command direction orthogonal phase difference B phase CW 31 CMD_DIR Pulse command direction orthogonal phase difference B phase CW 32 Reserved 33 Reserved 34 Reserved 35 Reserved 36 OUT_A Encoder A phase output 37 OUT_A Encoder A phase output 38 OUT_B Encoder B phase output 39 OUT_B Encoder B phase output 40 OUT_Z Encoder Z phase output 41 OUT_Z...

Page 94: ...oupler Please don t connect transistor directly because the voltage VCE SAT between collector and emitter is about 1V which cannot meet the required voltage VIL of TTL IC when transistor is ON Note 4 Terminal resistance must be connected as shown in the wiring diagram Note 5 Connect the signal ground on the host control device of output signal of the encoder The connection of signal ground and pow...

Page 95: ...nter clear input 8 Reserved 9 CCWL CCW drive input restriction 10 CWL CW drive input restriction 11 TLSEL1 Torque limit input 12 COM I O power supply GND 13 MBRK Brake release output 14 SERVO Servo status output 15 POSIN Position completion output 16 Reserved 17 T LIMIT Torque limit output 18 OCZ Encoder Z phase output open collector 19 SRDY Servo ready output 20 SRDY Servo ready output 21 ALM Ser...

Page 96: ...ut 38 OUT_B Encoder B phase output 39 OUT_B Encoder B phase output 40 OUT_Z Encoder Z phase output 41 OUT_Z Encoder Z phase output 42 SG Signal ground 43 485 RS 485 communication data 44 485 RS 485 communication data 45 SG Signal ground 46 NC2 Reserved Disconnected 47 Reserved 48 Reserved 49 Reserved 50 Reserved ...

Page 97: ...t 1V which cannot meet the required voltage VIL of TTL IC when transistor is ON Note 4 Terminal resistance must be connected as shown in the wiring diagram Note 5 Connect the signal ground on the host control device of output signal of the encoder The connection of signal ground and power supply GND may cause malfunction Note 6 If the pulse width of Z phase is too narrow to identify the host contr...

Page 98: ...e limit input 12 COM I O power supply GND 13 MBRK Brake release output 14 SERVO Servo status output 15 POSIN Position completion output 16 Reserved 17 T LIMIT Torque limit output 18 OCZ Encoder Z phase output open collector 19 SRDY Servo ready output 20 SRDY Servo ready output 21 ALM Servo alarm output 22 ALM Servo alarm output 23 NC1 Reserved Disconnected 24 Reserved 25 Reserved 26 CMD_PLS 5V for...

Page 99: ...UT_Z Encoder Z phase output 41 OUT_Z Encoder Z phase output 42 SG Signal ground 43 485 RS 485 communication data 44 485 RS 485 communication data 45 SG Signal ground 46 NC2 Reserved Disconnected 47 Reserved 48 Reserved 49 CC P 5V 5V for pulse command PLS Built in current limiting resistor 50 CC D 5V 5V for pulse command DIR Built in current limiting resistor ...

Page 100: ... 1V which cannot meet the required voltage VIL of TTL IC when transistor is ON Note 4 Terminal resistance must be connected as shown in the wiring diagram Note 5 Connect the signal ground on the host control device of output signal of the encoder The connection of signal ground and power supply GND may cause malfunction Note 6 If the pulse width of Z phase is too narrow to identify the host contro...

Page 101: ...Signal name The minimum necessary time range t1 t2 t3 t4 t5 t6 Positive direction Negative direction 0 Initial value Pulse direction Command pulse Pulse CMD_PLS Direction CMD_DIR 1 AB phase orthogonal phase pulse A phase CMD_PLS B phase CMD DIR 2 Positive direction pulse Negative direction pulse CCW CMD PLS CW CMD DIR Note 2 Set when 1 rotation pulse 131 072 of host control device and drive is dif...

Page 102: ...are connected properly before switch on the power to the drive and motor To prevent electric shock fire malfunction and injury Test run after setting the basic parameters If set the wrong basic parameters the motor will not run run unsteadily or lose control which may cause some injury or accidents Confirm the operation of the motor alone first before test run Remove the other connection to the me...

Page 103: ...og speed command input Name Symbol Pin No Signal name Contents User I O 24V power supply input Parallel I O Pulse command input ABZ output CN1 1 24V Drive control power supply 24V input 2 G24V Drive control power supply GND 3 COM I O power supply 24V input 4 SVON Servo ON input 5 RESET Alarm reset input 6 HOLD Command input restriction Zero speed clamp 7 Reserved 8 Reserved 9 CCWL CCW drive input ...

Page 104: ...Encoder A phase output 37 OUT_A Encoder A phase output 38 OUT_B Encoder B phase output 39 OUT_B Encoder B phase output 40 OUT_Z Encoder Z phase output 41 OUT_Z Encoder Z phase output 42 SG Signal ground 43 485 EIA 485 communication data 44 485 EIA 485 communication data 45 SG Signal ground 46 NC2 Reserved Disconnected 47 Reserved 48 Reserved 49 Reserved 50 Reserved ...

Page 105: ...tage VIL of TTL IC when transistor is ON Note 4 Terminal resistance must be connected as shown in the wiring diagram Note 5 Terminal resistance must be connected as shown in the wiring diagram Note 6 Connect the signal ground on the host control device of output signal of the encoder The connection of signal ground and power supply GND may cause malfunction Note 7 If the pulse width of Z phase is ...

Page 106: ...tor 60 0 Analog speed command Fixed offset value The motor speed is 0 r mi n by adjusting the command input to 0V Use it with parameter 62 2 62 0 Analog speed command Rotational direction For details refer to table 5 3 4 62 1 Analog speed command Selection of input filter Please use it with parameter 48 0 49 0 62 2 Analog speed command Selection of offset tuning method Please use it with parameter...

Page 107: ... setting the basic parameters If set the wrong basic parameters the motor will not run run unsteadily or lose control which may cause some injury or accidents Confirm the operation of the motor alone first before test run Remove the other connection to the mechanics The unexpected movements such as unstable action or lose control may cause tome injury or accidents Drive the motor after release the...

Page 108: ...pply 24V input 2 G24V Drive control power supply GND 3 COM I O power supply 24V input 4 SVON Servo ON input 5 RESET Alarm reset input 6 VCRUN1 Input internal speed command start 1 CCW ON 7 VCRUN2 Input internal speed command start 1 CW ON 8 VCSEL1 Input internal speed command Speed command selection 1 9 VCSEL2 Input internal speed command Speed command selection 2 10 VCSEL3 Input internal speed co...

Page 109: ... 37 OUT_A Encoder A phase output 38 OUT_B Encoder B phase output 39 OUT_B Encoder B phase output 40 OUT_Z Encoder Z phase output 41 OUT_Z Encoder Z phase output 42 SG Signal ground 43 485 EIA 485 communication data 44 485 EIA 485 communication data 45 SG Signal ground 46 NC2 Reserved Disconnected 47 Reserved 48 Reserved 49 Reserved 50 Reserved ...

Page 110: ...ut 1V which cannot meet the required voltage VIL of TTL IC when transistor is ON Note 4 Terminal resistance must be connected as shown in the wiring diagram Note 5 Connect the signal ground on the host control device of output signal of the encoder The connection of signal ground and power supply GND may cause malfunction Note 6 If the pulse width of Z phase is too narrow to identify the host cont...

Page 111: ...d command from 1000 r mi n to 0 r mi n Points 8 4 3 Test run Internal speed command Before test run Table 8 4 4 Make sure all the wiring are connected properly before switch on the power to the drive and motor To prevent electric shock fire malfunction and injury Test run after setting the basic parameters If set the wrong basic parameters the motor will not run run unsteadily or lose control whic...

Page 112: ...rcuit AC power Table 8 4 6 Motor rotation direction of internal speed command Motor rotation direction Operation I 3 VCRUN1 I 4 VCRUN2 CCW ON OFF CW OFF ON Motor stop OFF OFF Motor stop ON ON Table 8 4 7 Motor rotation of internal speed command Target speed Operation I 5 VCSEL1 CN1 8 pins I 6 VCSEL2 CN1 9 pins I 7 VCSEL3 CN1 10 pins 1 OFF OFF OFF 2 ON OFF OFF 3 OFF ON OFF 4 ON ON OFF 5 OFF OFF ON ...

Page 113: ... output open collector 19 SRDY Servo ready output 20 SRDY Servo ready output 21 ALM Servo alarm output 22 ALM Servo alarm output 23 NC1 Reserved Disconnected 24 Reserved 25 Reserved 26 Reserved 27 Reserved 28 Reserved 29 Reserved 30 Reserved 31 Reserved 32 A_TRQ Analog torque command input 33 A_GND Analog speed command input ground 34 Reserved 35 Reserved 36 OUT_A Encoder A phase output 37 OUT_A E...

Page 114: ... Reserved 50 Reserved Note 1 Control power supply 24V G24V and I O power COM COM share the same power supply For the models of 750W or less Note 2 If there is drive inductive load relay please use protective circuits diode Note 3 Transistor output is an open collector output circuit of the Darlington connected It should be connected with relay or ...

Page 115: ...ctual usage For details refer to Chapter 6 Parameter Table 8 5 3 Parameters of analog torque command input Parameter No Parameter Description 152 0 Analog torque command Speed limit rpm Set the speed limit value 288 0 Analog torque command input filter Numerator Filter out the input command voltage interference Use it with parameter 302 1 289 0 Analog torque command input filter Denominator 290 0 ...

Page 116: ...orque limit value Numerator 1000 293 0 Analog torque command CCW torque limit value Denominator 3000 CW 294 0 Analog torque command CW torque limit value Numerator 1000 295 0 Analog torque command CW torque limit value Denominator 3000 Table 8 5 6 Parameter 302 0 settings and rotation direction of the motor Analog torque command input Value of parameter 62 0 Input analog command Positive voltage N...

Page 117: ...rnal position command Set the following parameter of control mode selection and command mode selection to come into the internal position command mode Use the locator to test run Table 8 6 1 Parameter of control mode change Internal position command Parameter No Parameter Description 2 0 Select control mode Set to 0 3 0 Select command mode Set to 3 8 6 1 Locator function Execute the positioning ac...

Page 118: ...e power supply voltage is 24VDC 10 100mA Typ 24VDC external power supply should meet the following condition Using SELV power supply SELV safety extra low voltage Reinforced insulation is needed for safety extra low voltage non dangerous voltage and dangerous voltage G24V 2 Drive control power supply GND Connect to GND of 24VDC external power supply COM 3 I O power supply 24V input Connect the com...

Page 119: ...PLS 27 Differential input Pulse direction pulse Orthogonal phase difference pulse A phase CCW CW Pulse CCW 5v 24v open collector circuit Pulse direction pulse Orthogonal phase difference pulse A phase CCW CW pulse CCW Differential input Max command pulse frequency 4Mpps Input pulse direction pulse from host control device differential input Input A phase of AB phase orthogonal difference pulse sig...

Page 120: ... input 5V 24V open collector circuit Max command pulse frequency 200kpps Input pulse direction of direction from host control device Input B phase of AB phase orthogonal difference pulse signal from host control device Input CCW CW of CW pulse from host control device A_SPE ED A_TR Q 32 Analog speed command input Analog torque command input Input speed or torque command in the voltage from 10V to ...

Page 121: ...f COM disconnected CCW direction drive is prohibited If the value is beyond the CCW direction movement range please make the wiring which can be disconnected with COM It is effective when 2 Enable CCW drive restriction or 3 Enable CW CCW drive restriction is selected in parameter No 67 0 Selection of Drive restriction options Initial value 0 Disable The deceleration can be selected in parameter No...

Page 122: ... set to 0 Point table When PCSEL1 to 4 is specified to point No and connected to COM point table No and home position reset can execute PCSEL1 Selection 1 of point No Specify the point No and home position reset to be executed According to the setting of parameter No 646 3 Point No 0 function selection when specifying the point No 0 you can select home position reset or point No Point No PCSEL1 PC...

Page 123: ...get speed can be switched by the combination of VCSEL1 VCSEL2 and VCSEL3 VCSEL1 Internal command selection 1 Enable when select 1 Trapezoid speed command in parameter No 388 0 Select the speed command of 8 phases as shown below according to the combination of speed command selection 1 to 3 Set acceleration deceleration time and target speed in parameter No 390 to No 399 0 Target speed VCSEL1 VCSEL...

Page 124: ...276 0 278 0 Encoder pulse output division and multiplication to reduce the division and multiplication Or reduce the speed to expand the pulse width Pulse width 1 speed division and multiplication 217 Note 1 OUT_A 36 Encoder A phase Output position A phase signal to host control device differential output OUT_A 37 Encoder A phase Output position A phase signal to host control device differential o...

Page 125: ... the home position reset is completed the connection with COM is closed circuit When the home position disappears or home position reset the connection with COM is open circuit PM1 Note 1 Point No output 1 According to the output signal allocated by the special I O setting Position control Internal regeneration command customized 1 Output the start or end of the Point NO Select the time and conten...

Page 126: ...prevent the injury and accidents caused by unexpected unstable operation and too much impact The following occasions may not be suitable for auto tuning The inertia is too small or too large or the load inertia changes a lot Mechanical rigidity is too low Speed is too low 300r min or less and acceleration deceleration is slow Unbalance load and friction is too large or the torque is too large or t...

Page 127: ...brate Set the smaller setting value in the beginning then increase the value slowly while confirm the operation For models of 750W or less select from 10 20 30 For models of 1kW or more select from 5 10 15 Auto tuning mode Parameter No 110 0 Select 1 standard mode in the condition that there s no unbalance in the horizontal axis Select 2 Unbalanced mode when there s the unbalance Procedures for au...

Page 128: ... to use of real time auto tuning Press once Selection whether to use of real time auto tuning Display the setting value of the parameter Initial value 0 The digit that can be changed will flicker Press twice Press the UP button to change the setting value 2 Select inertia ratio damping ratio Press once When the parameter is set to drive RAM the digit will change from flicker to ON Auto tuning begi...

Page 129: ...ting time And the response has also improved If higher vibration may occur Please adjust it to the required response in the absence of vibration Furthermore overshoot occurs if set the higher Gain FF compensation 1 Position control No 117 0 and improve the control level To avoid the overshoot adjust the control level after reducing the Gain FF compensation 1 Position control No 117 0 Figure 8 8 3 ...

Page 130: ...me is shorter But if too high overshoot may occur Please adjust it to the required response in the absence of overshoot Figure 8 8 5 Position deviation convergence difference set by Gain FF compensation 1 Gain FF compensation 2 adjustment The adjustment method of Gain FF compensation 2 Position control No 118 0 is shown below Please set the correct inertia ratio If the setting value is 10000 the p...

Page 131: ...o the value calculated by the cycle time of vibration The bigger the value is the longer the command delay time is Formula Parameter No 80 0 setting value Vibration cycle time s 6 250 750W or less Parameter No 80 0 setting value Vibration cycle time s 5 000 1Kw or more In this example the vibration cycle time is 39ms and the average order is 6250 0 039 243 The delay tie is 243 0 16ms 38 88ms Figur...

Page 132: ... resonance But if increase too much it will cause some other vibration The maximum value is based on the following formula 8 9 Home position return 8 9 1 Overview The home position return is the operation of coordinating the command and mechanical coordinates within the drive When using the positioning function in the drive perform the home position return according to the actual needs Using incre...

Page 133: ...put 8 9 3 Types and parameter by home position return 1 Arbitrary position Use the following parameter items in the box when use the arbitrary position as the base signal For the details of parameters refer to 8 9 4 Parameter description For the examples of parameter setting method refer to 8 9 8 Parameter description for home position return Figure 8 9 1 2 Stopper Use the following parameter item...

Page 134: ...er to 8 9 4 Parameter description For the examples of parameter setting method refer to 8 9 8 Parameter description for home position return Figure 8 9 3 8 9 4 Parameter description The home position return can be done by the combination of parameter setting The home positon return is specified by the following combination of parameters No 645 0 Base signal 1 selection for Home position ...

Page 135: ...fter detecting the Home position DOG front end move the Home position return Phase Z invalidation distance No 657 0 then set the Encoder Phase Z for the home position No Name Unit 645 3 Home position Base signal 1 redetection The selection of redetection can be done after returning in the Home position return Creep speed when the Home position DOG frond end is detected by the Home position return ...

Page 136: ...e 8 9 5 Home position return direction Arbitrary position 2 Under the condition that home position base signal 1 is Stopper The operation direction that the home position return starts When the Base signal 2 selection for Home position is set to 1 Encoder Phase Z the direction is opposite to the one of the encoder phase Z detection Figure 8 9 6 is the example to set the home position travel distan...

Page 137: ... Phase Z the direction is same to the encoder phase Z detection direction Figure 6 9 4 is the example of setting home position travel distance after detecting phase Z The direction from home position base signal to home position travel distance should be set here as the start point of home position return is inside the home position sensor That is the direction from Start home position start to Ho...

Page 138: ...t table operation Set 0 Return to home position the home position return starts Set 1 Point table operation the operation of Point No 0 starts This parameter is used to start the home position return when there s no home position input HOME in I O No Name Unit 647 0 Home position return Torque limit option This is the safety function against the collision in home position return Enable Disable Hom...

Page 139: ... ms 1000rpm Set Acceleration Deceleration time for Home position return Set the acceleration time from speed 0 to 1000rpm and deceleration time from 1000 to 0rpm Setting range 0 5 000 Initial value 30 No Name Unit 651 0 Home position Return Shift to home position quantity Command unit Note 1 Set shift quantity from the position where the Base signal was detected to the home position In the situati...

Page 140: ...ition return Setting range 10 3 000 Initial value 500 0 1 No Name Unit 657 0 Home position return Phase Z invalidation distance Command unit Note 1 Set a distance from the positon where Base signal 1 for home position is detected to the position where Phase Z detection starts Setting range 0 1 000 000 000 Initial value 0 command unit No Name Unit 659 0 Home position return Timeout Time 10ms Set Ho...

Page 141: ...osed circuit O contact open circuit Figure 8 9 11 The start of home position return HOME 4 ORG home position sensor 11 pins Enter the home position sensor signal when have the home position return by home position sensor Have the setting as below Base signal 1 selection for Home position No 645 0 2 Home position DOG frond end Home position sensor input polarity No 646 1 Either polarity is Ok The i...

Page 142: ... torque limit Valid when positioner I O is set to Item 1 This parameter is valid when positioner I O is set to Item 1 For the setting of Item 1 refer to Appendix 3 SV E3 special I O setting Be ON either MEND or T LIMIT is ON This signal used in the device of torque limit including stopper is T LIMIT And the other operations is used as MEND signal As T LIMIT the torque limit TLSEL1 is ON and as MEN...

Page 143: ...o the machinery when use the Home position DOG front end as the base signal for home position Besides set the home position return direction No 646 0 from home position DOG sensor front end to home position DOG front end There is the danger of collision for the machinery if the home position direction is far away from the home position sensor 2 Please save the parameters after changing the command...

Page 144: ...ition return can start after confirming MEND is close ON at servo ON The home position return cannot start when the MEND is open OFF at servo ON Table 8 9 1 Parameters of home position return by user I O No Parameter Setting value Description 2 0 Control mode selection 0 Position control mode 3 0 Command mode selection 3 Internal generation command 9 0 Selection of Operation mode 0 I O 642 0 Inter...

Page 145: ... completed 8 9 7 Detailed description for home position return A Home position return with arbitrary position Home position return with the current position or Encoder phase Z near the current position Parameters Table 8 9 4 Parameters of home position return with arbitrary position No Parameter Setting 645 0 Base signal 1 selection for Home position Set 0 Arbitrary position 645 1 Base signal 2 se...

Page 146: ...re 8 9 18 Overview diagram with horizontal axis home position return with arbitrary position Note I O state C indicates the closed circuit for internal output circuit contact or external contact O indicates open circuit Figure 8 9 19 Timing chart home position return with arbitrary position When set the Action at home position return completion No 647 1 to No move it will not shift to the home pos...

Page 147: ...to No move it will not shift to the home position and end the action 3 Home position return at servo OFF The home position return with Move must be done at servo ON But if meet the following conditions the home position return can be done at servo OFF Table 8 9 6 No Parameter Setting value 645 0 Base signal 1 selection for Home position 0 Arbitrary position 647 1 Action at home position return com...

Page 148: ...uantity Set shift quantity from the position where the Base signal was detected to the home position 653 0 Home position return Home position data Set a position at the time of home position return complete 655 0 Home position return Press detection time Set the time at the time of press home position return 656 0 Home position return Torque limit value Set Torque limit value at the time of home p...

Page 149: ...to pressing detection time completion is the torque limit value of home position return No 647 0 The torque limit value T1 from home position return pressing detection time completion to home position return completion is the torque limit value for home position return when set the Home position return Torque limit option No 647 0 to 1 Enable If set to 0 Disable the toque limit value will return t...

Page 150: ...ift to the home position and end the action Torque limit value T0 returns to the normal setting after home position returns complete The torque limit value from home position return starts to pressing detection time completion is the torque limit value of home position return No 647 0 The torque limit value T1 from home position return pressing detection time completion to home position return com...

Page 151: ...o home position after detecting base signal for home position 648 0 Home position return Speed Set the speed before detecting home position DOG front end 649 0 Home position return Creep speed Set the speed after detecting home position DOG front end 650 0 Home position return Acceleration Deceleration time Set Acceleration Deceleration time for Home position return 651 0 Home position Return Shif...

Page 152: ... home position return completion No 647 1 to No move it will not shift to the home position and end the action When set Home position Base signal 1 redetection No 645 3 to Disable no backward action for detecting home position DOG front end When start the home position return on the home position sensor it will be back to home position DOG sensor front end and have the home position DOG front end ...

Page 153: ...detection No 645 3 to Disable no backward action for detecting home position DOG front end When start the home position return on the home position sensor it will be back to home position DOG sensor front end and have the home position DOG front end detection with home position return creep speed 3 About the exit of home position DOG sensor Set the Base signal 1 selection for Home position No 645 ...

Page 154: ...the Warning list If you want to consult with HNC ELECTRIC Corporation make a record of the alarm and contact with us 9 2 Alarm handling and alarm reset For alarm handling and resetting please refer to Warning List There are three ways for alarm reset It varies according to different alarm items The host control device sends reset clear signal RESET of CN1 5pin to the drive Restart drive control po...

Page 155: ...alue No 87 0 Check if the brake has been released Check whether the torque limit operates or not Reset 7 Overload error Position control error after operation starts 1 The motor does not operate 2 Motor operates for a short time 3 Alarm occurs after operation starts In operating 4 In operating alarm occurs at the same period The acceleration time is too short or no acceleration bump into other obj...

Page 156: ... occasion of deceleration Confirm the regenerative resistor warning on the setting panel and install the regenerative resistor if necessary Check the operation mode of command Use filter to slow down the deceleration Not only for the occasion of deceleration Check whether the main circuit voltage is outside the specified range Check if the voltage changes when driven Reset 15 Power supply error ma...

Page 157: ...CFA distributor if have not been improved Restart control power supply and encoder clearing 21 Encoder error voltage drops Battery voltage is too low Battery drops When the battery is connected for the first time Check if the battery voltage drops Check if the battery and cable removed Initialize the encoder Restart control power supply and encoder clearing 22 Power supply error control power Volt...

Page 158: ...he following items if the drive does not operate and the motor does not rotate Figure 9 3 1 Status Description Reference items Troubleshooting 1 No display on setting panel Switch on the control power supply 24V DC but on any display on the setting panel Table 9 3 1 Troubleshooting 2 Servo not ON Even though is displayed on the setting panel the servo cannot start Table 9 3 2 Troubleshooting 3 Mot...

Page 159: ...ted in accordance with the connector installing method in the user s manual Drive itself failure Consult HCFA Corporation distributor Troubleshooting 3 Motor cannot rotate The servo is ON but the motor will not operate Table 9 3 3 Cause What to do Wrong parameter setting For setting all the basic parameters in all control modes refer to chapter 8 Table 8 2 4 Table 8 3 2 Table 8 4 2 and Table 8 5 2...

Page 160: ...roduct of No 33 Pulse command input position and host control device output No 65 Position command and No 67 Position feedback No 67 and parameter No 276 0 278 0 Encoder pulse output division and multiplication is consistent with the position feedback of host control device If inconsistent it may be interfered Then connect FG correctly and adjust parameter No 33 0 Please use shielded twisted pair ...

Page 161: ...res Main circuit DC power 750W or less Note 2 18 1015 105 Main circuit DC power 1KW or more Note 2 14 Note 1 1015 105 Communication between the drives Note 2 28 20539 80 Ribbon cable 10 cores Accessories 2 54mm spacing The length of cable depends on the actual situation Note 1 AWG16 cable can be used for 1kW motor Note 2 For multi axial drives Appendix 2 SV E3 positioner function 1 Overview This p...

Page 162: ...output 15 O3 MEND Action completion output 16 O4 HEND Home position return completion output 17 O5 T LIMIT Torque limit output 18 O6 OCZ Encoder Z phase output open collector 19 O7 SRDY Servo ready output 20 O7 SRDY Servo ready output 21 O8 ALM Servo alarm output 22 O8 ALM Servo alarm output 23 NC1 Reserved Disconnected 24 SP1 Reserved 25 SP2 Reserved 26 CMD_PLS Reserved 27 CMD_PLS Pulse command P...

Page 163: ...2 0 Select control mode Set to 0 3 0 Select command mode Set to 3 Selection method for different operation modes Table 2 3 Operation modes Internal position command Selection of operation modes No 642 0 Selection of operation modes No 9 0 Starting method Point table 0 0 I O input PCSTART1 Manual pulse input 2 Arbitrary I O input pulse command input 2 3 User I O description The user I O related to ...

Page 164: ...tion with COM is close OFF when open 1 MEND completion If the action of Point table and home position return completed and ready for the next operation it will become close circuit OFF when the operation from starts to pauses Make sure the MEND is close circuit before inputting PCSTART 1 The start command will be ignored when MEND is open circuit It is open circuit at servo OFF 2 HEND home positio...

Page 165: ... 741 823 Speed Set the motor speed at positioning And the setting value must not be outside the max speed of the motor rpm 1 max speed of the motor Acceleration time Set the acceleration time for the motor that is the time from 0rpm to 1000rpm ms 1000rpm 0 5000 Deceleration time Set the deceleration time for the motor that is the time from 1000rpm to 0rpm ms 1000rpm 0 5000 Dwell time Set the dwell...

Page 166: ...he command method For details refer to Parameter description Internal speed command Overflow detection option 3 4 Parameter description No Name Unit 642 0 Internal speed command Operation mode Set Operation mode for internal position command 0 Point Table 1 Communication operation 2 Manual pulse input No Name Unit 643 0 Internal speed command Overflow detection option Enable Disable Internal posit...

Page 167: ...details refer to 2 3 User I O description PM1 3 Point No output Appendix 3 SV E3 special I O setting 1 Preface The parallel I O setting changes automatically after setting the control mode and command mode for the drive 2 Special I O setting The parallel I O can be set specially based on the control mode and command mode The setting are shown below There is only the default I O setting when no spe...

Page 168: ...ction 1 47 I 9 Reserved 13 O1 MBRK Break release 14 O2 SERVO Servo status output 15 O3 POSIN Positioning completion output 16 O4 Reserved 17 O5 HEND Home position return completion 18 O6 MEND T LIMIT Operation completion torque limit 19 O7 OCZ Encoder phase Z output 21 O8 SRDY Servo ready 48 O9 ALM Alarm status Pin No Signal name Description Function 4 I 1 SVON Servo ON 5 I 2 RESET PCLR Alarm rese...

Page 169: ...while wiring 1 The crowbar is packed with the power connector at shipping 2 Cable connection procedures 18 O6 MEND T LIMIT Operation completion torque limit 19 O7 OCZ Encoder phase Z output 21 O8 SRDY Servo ready 48 O9 ALM Alarm status 1 Attach the crowbar to the handling slot on the upper portion removable ...

Page 170: ...system Use the motor equipped with the absolute encoder and drive with absolute specifications Connecting the encoder battery The upper controller can get the absolute data by RS 485 2 Applicable models Use the following motor and drive combination when using absolute system Table 1 Applicable motor and drive Output Drive 50W SV E3P005A2 A 100W SV E3P010A2 A 200W SV E3P020A2 A 2 Press down the cro...

Page 171: ...e set panel Refer to 5 Absolute encoder initialization for the operation procedures Table Parameter setting No Parameter Description Whether to restart the 24VDC power 4 0 Communication address Set the communication address of servo drive Set to 1 when not the multi station communication If using multi station communication set different values for each axis Initial value 1 Setting range 1 to 32 Y...

Page 172: ...iption Remark Battery CR AGB C23P Made by Panasonic Note 1 Series CR AG Nominal voltage 3 0V Nominal capacity 2400mAh Capacity at the temperature of 20 standard discharge current voltage 1 8V Standard discharge current 2 5mA Max continuous discharge current 1A At the temperature of 20 Appearance As shown in the Appearance Note 2 Weight 24g Temperature Working temperature 40 70 Storage temperature ...

Page 173: ...tuation For the operating and storage location Indoors free from rain and direct sunlight Free from the corrosive gas oil mist iron powder Good ventilation no moisture No excessive pollution and dust No vibration No impact to the battery 4 4 Battery change When the battery voltage is too low the alarm occurs At this time it is necessary to change the battery which should be done under the conditio...

Page 174: ...ters the changed parameters will be invalid when power ON next time 4 Switch off the control power 24V 2 Restart the power 1 Refer to 4 1 Battery box cable installation to connect the battery box to the encoder and turn on the control power 2 When restart the control power the encoder error will display on the set panel Simultaneously the multi rotation data error Er r 20 and encoder low voltage e...

Page 175: ...orming 6 operation procedures then 4 and 5 The setting completes 6 The servo drive moves to the home position cannot move to the home position by manual 1 The drive moves to the home position at servo ON Please note that the current absolute data will change as the encoder clearing will be done later 2 Servo OFF The alarm of will occur at servo ON 3 The absolute encoder setting completes after ope...

Page 176: ...ive 6 3 Communication command description The absolute data are recorded by Encoder rotor mechanical angle integrate The upper controller device get the Encoder rotor mechanical angle integrate that is the absolute data from the communication data GET_STATE_VALUE_4 The sending and receiving method are shown in the following data example Take the communication address target address 01 as the examp...

Page 177: ...s such as separation of power cable and encoder cable 21 Encoder low voltage error The multi rotation data changes sharply Check if the battery voltage is too low for the absolute or battery cable loosen For alarm details of the encoder refer to the Encoder on the Auxiliary function screen Table 10 Alarm details for the encoder No Alarm items Description handling ways 0 Speed error The multi rotat...

Page 178: ...EEPROM 6 Overheat alarm The encoder base circuit temperature is beyond the setting temperature 7 Battery low voltage error The battery voltage is below the specified value Note 1 Note 1 Confirm the battery voltage at power ON and then check it every one hour ...

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