Nidec Control Techniques Digitax-SF DA21223 Page 309 Instruction Manual Download

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Digitax SF

Instruction Ma

nual

7. Tuning

3. Tuning Parameters

1. Tuning

Function

To make the tuning operation easier, select the inertia condition suitable to your

equipment� The inertia conditions that you select will determine the Control Gain 1-2

combination and their ratio�

Parameter

113.1

Position Control Mode: Inertia conditions

Tuning Tip

Prioritize either stability or convergence according to the load and rigidity of your

equipment� Be aware of the trade-off between stability and convergence�

Settings

Intended Use

Effect

heavy-load, high fluctuation equipment

low-rigid equipment

robot arms etc�

（Default）

（moderate setting）

general transport machines

light-load equipment

equipment that demands high-speed

operation or settling-required

Difference in convergence characteristics depending on the inertia condition settings

Speed command value

Position

error

Inertia Condition

Better Stabili

Better Convergence

Summary of Contents for Control Techniques Digitax-SF DA21223

Page 1: ...Instruction Manual AC SERVO MOTOR and SERVO DRIVE Series Digitax SF Part Number 0478 0606 01 Issue 1 ...

Page 2: ...for the product use Please study this manual first and use the product properly and safely Before using the product be sure to carefully read the Safety Instructions After reading this manual please keep it for future reference Product specifications are subject to change without notice in the course of product improvement Apr 2019 ...

Page 3: ...iring and Timing Diagrams 4 Connections CN1 User I O Connector Pinout Options and Control Modes 5 Setting Parameters Setup Panel and Parameters 6 Operation Operation Options for Control Mode Internal Position Command Point Table and Homing 7 Tuning Tuning Control Block Diagrams Tuning Parameters 8 Troubleshooting Warnings Alarms and Troubleshooting 9 Appendices Absolute System Emergency Stop Syste...

Page 4: ... Important Safety Instructions 2 2 Overview 14 2 18 19 1 Installation 2 2 System Wiring 7 3 Timing Diagrams 24 1 Introduction 2 2 Position Control Mode 4 3 Velocity Control Mode 18 4 Torque Control Mode 22 5 Descriptions of CN1 Connector Signals 24 1 Overview 2 2 Setup Panel 3 3 Using the Setup Panel 6 27 5 Parameters 28 ...

Page 5: ...s and Remedies 8 4 Troubleshooting 17 1 Absolute System 2 2 Function 15 3 Technical Data 16 4 Status Display 17 5 How to set Pulse train command Input filter 33 0 32 Digitax SF Instruction Manual 1 Configuring Operating Mode 2 2 Position Control Mode 6 3 Velocity Control Mode 10 4 Torque Control Mode 15 5 Position Control Mode 18 ...

Page 6: ...6 MEMO Digitax SF Instruction Manual ...

Page 7: ...re Use １ Important Safety Instructions 2 １ Safety Precautions 2 2 Other Considerations and Precautions 10 3 Safety Standards 11 4 Maintenance and Inspection 13 2 Overview 14 １ Product Label 15 2 Danger Signs 16 ...

Page 8: ... precautions that users must follow are marked as follows The possible hazardous events are marked as follows Safety Precaution Prohibited Action Safety Precaution Mandatory Action Cautions and Dangers Electric shock hazard Burn hazard Fire hazard Injury hazard Failure and damage hazard Important safety information Hazards Competence of designers and installers This guide applies to products which...

Page 9: ...nt regulations such as national wiring regulations accident prevention regulations and electromagnetic compatibility EMC regulations Particular attention must be given to the cross sectional areas of conductors the selection of fuses or other protection and protective ground earth connections This guide contains instructions for achieving compliance with specific EMC standards All machinery to be ...

Page 10: ...ed correctly according to the relevant safety standards Access to equipment Access must be restricted to authorized personnel only Safety regulations which apply at the place of use must be complied with Environmental limits Instructions in this guide regarding transport storage installation and use of the equipment must be complied with including the specified environmental limits This includes t...

Page 11: ...mpering Electromagnetic compatibility EMC Installation instructions for a range of EMC environments are provided in an EMC datasheet If the installation is poorly designed or other equipment does not comply with suitable standards for EMC the product might cause or suffer from disturbance due to electromagnetic interaction with other equipment It is the responsibility of the installer to ensure th...

Page 12: ...s on top of them Do not let any part of cables become pinched or twisted Never touch the rotating component of the motor during operation Do not use the product where excessive vibration or impact load is present Do not use cables soaked in water or oil Do not handle wiring nor operate the motor with wet hands Do not touch the keyway if you are using a motor with a shaft end keyway DANGER Sign Pre...

Page 13: ...nance and Inspection Install external emergency stop circuitry so that the operation can be stopped and the power supply can be shut down immediately in case of emergency Never attempt to disassemble the product DANGER Sign Precautionary Measures If Not Observed 1 Before Use 1 Important Safety Instructions ...

Page 14: ... restart unexpectedly at any moment Take appropriate measures to ensure safety against an unexpected restart Do not use the product where it may be exposed to direct sunlight Do not apply impact load Do not use the built in brake of the motor for regular braking purposes It is a holding brake The holding brake is not a stopping device to secure the safety of the machine The machine requires a sepa...

Page 15: ...e present Do not hold the cables or motor shafts during transportation When transporting the drive and motor do not drop them or let them fall Additional Precautions Maintenance and Inspection Prior to disposal of the batteries insulate them with tape or other material Dispose of them following the local laws and regulations Sign Precautionary Measures If Not Observed 1 Before Use 1 Important Safe...

Page 16: ... damage due to product failure Applying voltage beyond the rated voltage of the product Be sure to have safety device or protection device installed before using your equipment Operations with the motor shaft not electrically grounded Depending on the device or installation environment bearing noise might be increased by galvanic corrosion of the motor bearings Perform careful check on grounding O...

Page 17: ...ur test conditions Such machinery or equipment must meet the safety standards for their final configurations Rating Motor Drive EU EC Directives Low Voltage Directive 1 EN60034 1 EN60034 5 EN61800 5 1 EMC Directive 2 EN61000 6 2 EN55011 Class A Group1 Machinery Directive N A N A UL Standards 1 1004 1 1004 6 File No E470950 508C File No E471456 CSA Standards C22 2 No 100 C22 2 No 14 South Korea Rad...

Page 18: ...scientific and medical equipment Radio frequency disturbance characteristics Limits and methods of measurement EN 61000 6 2 2005 Electromagnetic compatibility EMC Part 6 2 Generic standards Immunity for industrial environments Jon Holman White Vice President of Research and Development Nidec Control Techniques Ltd Date 13th June 2019 Newtown Powys UK These electronic drive products and motors are ...

Page 19: ...ct assumes the following operating conditions Ambient Temperature Average annual temperature of 30 not exceeding the rated temperature range Load Factor 80 max Operating Hours 20 hours a day Maintenance For safe use of the product perform regular inspections Check the following before each operation Check the following at least once a year 1 Before Use 1 Important Safety Instructions ...

Page 20: ... in the User Guide of your Digitax SF application product This is a high voltage product which can be hazardous Residual voltage exists at the terminals and inside the equipment even after power shutoff which is hazardous The product contains high temperature components It is prohibited to disassemble the product For optimal service life of the Digitax SF product use of the product under proper co...

Page 21: ... Motor Label Drive Label Drive Model Product Number Produced year and month Serial No S N A product number is indicated by 11 digits Specifications Motor Model Product Number Produced year and month Serial No S N Year A product number is indicated by 11 digits Serial No The product label is separated in two parts which are located shown in this picture Label 1 Label 2 Specifications Specifications...

Page 22: ...BLY LABEL Be sure to perform grounding with the screw located at this sign Do not remove the encoder cover Never attempt to repair or replace the encoder Any shock applied to the encoder cover may cause encoder failure Do not apply strong impact to the motor or its shaft Incorrect use of the drive may cause injury or damage Avoid misuse or improper handling of the drive or injury may result ...

Page 23: ...17 MEMO Digitax SF Instruction Manual 1 Before Use 2 Overview ...

Page 24: ... 2 1 Models 2 2 Names of parts 3 3 Specifications 4 50 W 5 100 W 7 200 W 9 400 W 11 750 W 13 1 kW 15 1 5 kW 18 2 kW 2 2 Encoder 21 1 Specifications 21 3 Drive 22 1 Model 22 2 Names of parts 23 3 Specifications 25 4 Dimensions 31 ...

Page 25: ... Brake Code Holding Brake N Without A With Voltage Code Specifications 2 AC200 V to 240 V Shaft end specifications Oil Seal Code Rated Output Oil Seal S P Straight Without K H Key Without T R Straight With L J Key With Encoder Code Specifications N 17 bit Incremental A 17 bit Absolute Control Number Flange Size Rotational Speed Inertia Rated Motor Speed Max rpm 2 000 3 000 rpm 3 000 6 000 rpm Low ...

Page 26: ...Flange Mounting hole Thrust direction Shaft Radial direction Frame Encoder Cover Oilseal Oilseal Encoder Connector Motor Power Connector Brake Connector Flange Mounting hole Thrust direction Shaft Radial direction Frame Encoder Cover Oilseal Oilseal 2 Names of parts MM102 MH102 Digitax SF Instruction Manual ...

Page 27: ...mables grinding fluid Insulation resistance 5 MΩ at 1 000 VDC Dielectric strength AC 1500 V for one minute across the primary and Ground Earth FG Operating altitude 1 000 m Vibration class V15 JEC2121 Vibration resistance 49 m s2 5 G Impact resistance 98 m s2 10 G Protective structure IP65 50 W to 750 W IP67 1 kW to 2 kW Electric shock protection ClassⅠ Mandatory grounding Overvoltage category Ⅱ I...

Page 28: ...tant Without brake ms 1 92 With brake 2 31 Electrical time constant ms 0 74 Rotor moment of inertia Without brake 10 4 kg m2 0 039 With brake 0 047 Item Unit Specifications Usage Holding Rated voltage V DC 24 V 10 Rated current A 0 25 Static friction torque N m 0 16 Engage time ms 35 Release time ms 20 Release voltage V DC 1 V Item Unit Specifications Radial N 68 Thrust N 58 0 5 0 0 0 1 0 3 0 4 0 ...

Page 29: ...eous maximum torque N m 1 12 Rated current stall current A 0 97 Instantaneous maximum current A 3 3 Rated revolving speed rpm 3 000 Maximum revolving speed rpm 6 000 Torque constant N m A 0 35 Induced voltage constant per phase mV rpm 12 3 Rated power rate Without brake kW s 16 5 With brake 14 6 Mechanical time constant Without brake ms 1 17 With brake 1 32 Electrical time constant ms 0 89 Rotor m...

Page 30: ...t brake kW s 28 2 With brake 23 5 Mechanical time constant Without brake ms 0 72 With brake 0 87 Electrical time constant ms 2 53 Rotor moment of inertia Without brake 10 4 kg m2 0 14 With brake 0 17 Item Unit Specifications Usage Holding Rated voltage V DC 24V 10 Rated current A 0 3 Static friction torque N m 1 27 Engage time ms 50 Release time ms 15 Release voltage V DC 1 V Item Unit Specificati...

Page 31: ... 1 With brake 8 6 Mechanical time constant Without brake ms 2 23 With brake 2 38 Electrical time constant ms 2 53 Rotor moment of inertia Without brake 10 4 kg m2 0 44 With brake 0 47 Item Unit Specifications Usage Holding Rated voltage V DC 24 V 10 Rated current A 0 3 Static friction torque N m 1 27 Engage time ms 50 Release time ms 15 Release voltage V DC 1 V Item Unit Specifications Radial N 24...

Page 32: ... brake kW s 69 4 With brake 61 8 Mechanical time constant Without brake ms 0 47 With brake 0 53 Electrical time constant ms 2 92 Rotor moment of inertia Without brake 10 4 kg m2 0 23 With brake 0 26 Item Unit Specifications Usage Holding Rated voltage V DC 24 V 10 Rated current A 0 3 Static friction torque N m 1 27 Engage time ms 50 Release time ms 15 Release voltage V DC 1 V Item Unit Specificati...

Page 33: ...per phase mV rpm 17 1 Rated power rate Without brake kW s 23 0 With brake 22 1 Mechanical time constant Without brake ms 1 42 With brake 1 47 Electrical time constant ms 2 92 Rotor moment of inertia Without brake 10 4 kg m2 0 71 With brake 0 73 Item Unit Specifications Usage Holding Rated voltage V DC 24 V 10 Rated current A 0 3 Static friction torque N m 1 27 Engage time ms 50 Release time ms 15 ...

Page 34: ...rake kW s 76 6 With brake 60 7 Mechanical time constant Without brake ms 0 40 With brake 0 50 Electrical time constant ms 4 60 Rotor moment of inertia Without brake 10 4 kg m2 0 74 With brake 0 94 Item Unit Specifications Usage Holding Rated voltage V DC 24 V 10 Rated current A 0 4 Static friction torque N m 2 39 Engage time ms 70 Release time ms 20 Release voltage V DC 1 V Item Unit Specification...

Page 35: ...0 Rated torque N m 2 39 Instantaneous maximum torque N m 7 1 Rated current stall current A 4 2 Instantaneous maximum current A 12 2 Rated revolving speed rpm 3 000 Maximum revolving speed rpm 6 000 Torque constant N m A 0 63 Induced voltage constant per phase mV rpm 21 9 Rated power rate Without brake kW s 35 4 With brake 31 6 Mechanical time constant Without brake ms 0 86 With brake 0 96 Electric...

Page 36: ...ke 36 5 Mechanical time constant Without brake ms 0 76 With brake 1 05 Electrical time constant ms 10 1 Rotor moment of inertia Without brake 10 4 kg m2 4 56 With brake 6 24 Item Unit Specifications Usage Holding Rated voltage V DC 24 V 10 Rated current A 1 0 Static friction torque N m 9 55 Engage time ms 120 Release time ms 30 Release voltage V DC 1 V Item Unit Specifications Radial N 490 Thrust ...

Page 37: ... 2 With brake 8 6 Mechanical time constant Without brake ms 4 17 With brake 4 43 Electrical time constant ms 10 1 Rotor moment of inertia Without brake 10 4 kg m2 24 9 With brake 26 4 Item Unit Specifications Usage Holding Rated voltage V DC 24 V 10 Rated current A 1 0 Static friction torque N m 9 55 Engage time ms 120 Release time ms 30 Release voltage V DC 1 V Item Unit Specifications Radial N 4...

Page 38: ...With brake 61 4 Mechanical time constant Without brake ms 0 60 With brake 0 75 Electrical time constant ms 12 2 Rotor moment of inertia Without brake 10 4 kg m2 6 67 With brake 8 35 Item Unit Specifications Usage Holding Rated voltage V DC 24 V 10 Rated current A 1 0 Static friction torque N m 9 55 Engage time ms 120 Release time ms 30 Release voltage V DC 1 V Item Unit Specifications Radial N 490...

Page 39: ... With brake 13 3 Mechanical time constant Without brake ms 3 32 With brake 3 46 Electrical time constant ms 12 2 Rotor moment of inertia Without brake 10 4 kg m2 37 12 With brake 38 65 Item Unit Specifications Usage Holding Rated voltage V DC 24 V 10 Rated current A 1 0 Static friction torque N m 9 55 Engage time ms 120 Release time ms 30 Release voltage V DC 1 V Item Unit Specifications Radial N ...

Page 40: ...th brake 87 9 Mechanical time constant Without brake ms 0 58 With brake 0 69 Electrical time constant ms 12 2 Rotor moment of inertia Without brake 10 4 kg m2 8 70 With brake 10 38 Item Unit Specifications Usage Holding Rated voltage V DC 24 V 10 Rated current A 1 0 Static friction torque N m 9 55 Engage time ms 120 Release time ms 30 Release voltage V DC 1 V Item Unit Specifications Radial N 490 ...

Page 41: ...direction CCW 2 Input output type Differential Communication specification Transmission method Half duplex asynchronous serial communication Communication speed 2 5 Mbps 1 Measurement conditions room temperature the motor not in motion battery voltage of 3 6 V 2 CCW when viewed from the load side shaft end Using the motor with rotations of 180 degrees or less will reduce the encoder s rotational a...

Page 42: ...1 2 750 W 4 M 102 2 1 kW 6 M 152 2 1 5 kW 8 MM202 2 2 kW Single or Three phase option depends on compatible motor 50 W to 750 W 1 kW 1 5 kW 2 kW Single phase Single phase Three phase Three phase Use a motor and the drive in a correct combination Drive Motor Combinations Drive Motor Motor Rated Output Power DA2YZ23 MY500 2 50 W DA2Z123 MY101 2 100 W DA21223 MX201 2 MZ201 2 200 W DA22423 MX401 2 MZ4...

Page 43: ...5 5 one location The recommended screw M5x12 mm with spring washer Setting panel Used for parameter setting tuning and status display CN3 PC communication connector Used for parameter settings tuning and status display in the dedicated software Digitax SF Connect CN1 User I O connector Control power input Command input Parallel I O and ABZ output CN2 Encoder connector Encoder connection Hazardous ...

Page 44: ...nd status display Motor power connector UVW Motor power output Main power connection B1 B2 Braking resistor connection L1 L2 L3 Single phase AC200 V input Hazardous voltage display LED This will be lit while there is residual hazardous voltage inside the drive Ground Earth FG Protective earth terminal Two terminals M4x8 mm screw with spring washer CN3 PC communication connector Used for parameter ...

Page 45: ...ries are added Control signal Input 8 point 24 VDC system opto coupler input insulation inputs whose functions are switched by the control mode Output 8 point 24 VDC system open collector output insulation outputs whose functions are switched by the control mode Analog signal Input Single ended 10 V input whose functions can be switched by the control mode Pulse signal Input RS 422 differential Op...

Page 46: ...le gases oil mist dust flammables grinding fluid Altitude 1 000 m Vibration 5 8 m s2 0 6 G 10 to 60 Hz no continuous operation allowed at resonant frequency Dielectric strength AC 1 500 V for one minute across the primary and Ground Earth FG Electric shock protection ClassⅠ mandatory grounding Overvoltage category Ⅱ Installation environment Pollution degree 2 Environmental Specification Digitax SF...

Page 47: ...N alarm reset position error counter clear motion start point selection 16 home position sensor input homing start Control output Alarm status servo status servo ready under torque limit brake release homing complete motion complete Operation mode Point table communication operation Smoothing filter FIR Filter Damping control Enabled Position Control Mode Item Specifications Analog Velocity Contro...

Page 48: ...Features Item Specifications Speed observer Available Auto tuning Available Encoder output Division Multiplication Available Tuning Function Setup Available through the Digitax SF setup software Digitax SF Connect Tuning with the setup panel on the drive front side Protective functions By hardware Overvoltage low voltage Overcurrent Abnormal temperature Overload Encoder error By software Overspeed...

Page 49: ...must be added up If multiple drives are to share control power select a power source that will support the total inrush current of all connected drives 3 Braking resistor values do not guarantee optimal performance If the generated heat becomes too high increase the resistance value or select a resistor whose allowable power is large enough Whether or not a braking resistor installation is necessa...

Page 50: ...300 350 1 10 100 1000 Torque Detection Time s Torque Detection Time s Torque Detection Time s Torque Detection Time s Torque Detection Time s Torque Detection Time s Torque Detection Time s Torque Detection Time s Digitax SF drives provide overload protection overload alarm output and emergency stop upon alarm output in case of motor operation with load level above the overload detection curve sho...

Page 51: ... φ5 5 5 5 5 5 48 30 13 2 M5 160 150 5 mm φ5 5 5 35 φ5 5 5 5 5 5 40 30 2 M5 160 150 5 5 130 12 5 12 160 40 16 10 6 5 Ȫmm 2 Specifications 3 Drive Figure 1 Figure 2 4 Dimensions Mounting Dimension Mounting Dimension Digitax SF Instruction Manual ...

Page 52: ...50 5 19 160 30 10 6 68 mm 160 84 30 10 6 130 5 12 5 12 φ5 5 5 74 61 7 φ5 5 φ5 5 5 5 160 5 5 84 150 61 7 7 3 10 5 3 M5 1 5 mm Figure 3 Figure 4 Mounting Dimension Mounting Dimension Digitax SF Instruction Manual 2 Specifications 3 Drive 2 Specifications 3 Drive ...

Page 53: ...3 3 Preparation １ Installation 2 1 Motor Installation 3 5 2 System Wiring 7 1 System Wiring 8 12 15 15 17 4 Accessory Connector 20 5 Cables 23 3 Timing Diagrams 24 ...

Page 54: ...he product in an environment free from dust iron dust and chips Do not use the product near locations exposed to high temperatures continuous vibrations or excessive shock The control power and the host control device must share one power supply 24 VDC When performing maintenance be sure to isolate all power supplies beforehand Be aware of the residual voltage in the drive remaining for 5 minutes ...

Page 55: ...tor shaft has anti rust oil applied at the time of shipment Before installing the motor wipe off the oil completely Perform precise axis alignments Otherwise the motor operation will cause vibration or result in shorter service life of the motor Shock and Impact Force When transporting installing or removing the motor do not apply excessive impact force or load Do not hold the encoder unit cables ...

Page 56: ...cated above the motor shaft use an oil sealed motor so that no oil from the speed reducer permeates into the motor Types of Mounting and Oil Seal Digitax SF motors can be mounted in two different ways horizontally and vertically Observe the following precautions for motor installation Horizontal Installation To protect the motor from oil or water have the cable pull side downward Vertical Installa...

Page 57: ...ective casing use a fan or air conditioner so that the ambient temperature inside will not exceed 50 C The temperature of the heat sink at its surface may become 30 C or more higher than the ambient temperature Use heat resistant wiring materials and keep drives away from heat sensitive equipment and wiring The service life of each drive depends on the ambient temperatures of the internal electrol...

Page 58: ...inum brushed plate Hook the U shaped installation notch of the drive to the bolt that has been screwed in advance Tighten the mounting screws on the drive top Loosely screw all drives to the chassis first and then securely tighten them all together Tightening torque 1 4 to 1 6 N m Mounting Drives ３ Preparation 1 Installation ...

Page 59: ...ply Do not use the AC supply contactor installed on the AC Supply side to run or stop the motor Do not install a switch between the control power supply and the drive Install the switch on the primary input side of the control power supply For high voltage cables use wires of 600V withstand voltage or more For a CN1 connector cable use a shielded twisted pair cable of 2 m or less The encoder cable...

Page 60: ...braking unit To connect to the Emergency stop braking unit 1 System Wiring ３ Preparation 2 System Wiring For compliance with the stated EMC radio frequency emission standard the following conditions must be met The specified filter must be used The filter and the drive must be mounted close together on the same metal plate ensuring direct metallic contact with the plate the plate must have a condu...

Page 61: ...nnector Emergency stop braking unit To connect to the Emergency stop braking unit Wiring Pattern 2 For compliance with the stated EMC radio frequency emission standard the following conditions must be met The specified filter must be used The filter and the drive must be mounted close together on the same metal plate ensuring direct metallic contact with the plate the plate must have a conductive ...

Page 62: ...ergency stop braking unit To connect to the Emergency stop braking unit Wiring Pattern 3 ３ Preparation 2 System Wiring For compliance with the stated EMC radio frequency emission standard the following conditions must be met The specified filter must be used The filter and the drive must be mounted close together on the same metal plate ensuring direct metallic contact with the plate the plate mus...

Page 63: ... L3 Emergency stop braking unit To connect to the Emergency stop braking unit 1 kW only Wiring Pattern 4 For compliance with the stated EMC radio frequency emission standard the following conditions must be met The specified filter must be used The filter and the drive must be mounted close together on the same metal plate ensuring direct metallic contact with the plate the plate must have a condu...

Page 64: ...f UL wires and cables suitable for motor rated output are recommended High voltage cables and Ground Earth FG cables AWG18 600 V breakdown voltage or equivalent for 50 W to 750 W AWG14 600 V breakdown voltage or equivalent for 1 kW to 2 kW Motor power cables AWG18 300 V breakdown voltage or equivalent for 50 W to 750 W AWG14 300 V breakdown voltage or equivalent for 1 kW to 2 kW Encoder cables AWG...

Page 65: ... EMC connect the recommended surge absorber to the primary side of the AC supply OKAYA Electric Industries Co Ltd An equivalent product is acceptable Select the capacity and other characteristics according to your entire system configuration Included in Digitax SF drive s EMC testing Signal line EMC noise filter ferrite core To ensure compliance with EMC use the recommended signal line EMC noise f...

Page 66: ...a emergency stop brake Use the following circuit example when building a emergency stop brake circuit Select a cement resistor of 6 8 Ω 10 W Select coil surge protection relays with diode For wiring with the motor power line UL wires AWG18 600 V or equivalent are recommended Drive Motor Resistor with ceramic core Ensure correct polarity Relay Socket Grounding Since this product is ClassⅠdevice pro...

Page 67: ...power supply 5 V 8 SG Signal ground 9 No Connect 1 Only for a motor equipped with a brake 2 Connect the negative pole of the battery to SG Signal Ground Motor 3 Wiring to the Connectors Motor Connector Pinout Encoder Connector Incremental Housing 172168 1 Contact 170363 1 Tyko Electronics JAPAN Absolute Housing 172169 1 Contact 170363 1 Tyko Electronics JAPAN Brake Connector Housing 172165 1 Conta...

Page 68: ... No Connect 4 BAT External battery 2 5 D Serial communication data Data 6 D Serial communication data Data 7 8 No Connect ９ SG Signal ground 10 SHIELD Shield Motor Pin orientations are viewed this way Encoder Connector Brake Connector CM10 R2P D D7 DDK Motor Power Connector JL04V 2E18 10PE B R JAE Incremental Absolute CM10 R10P D D7 DDK Incremental Absolute Straight Plug CM10 SP10S D Right Angle P...

Page 69: ... 1 VBUS USB power supply 5 V 2 D USB data 3 D USB data 4 No Connect 5 GND USB signal ground User I O CN1 Route power and signal wiring suitable for your operation mode See Example of I O Wiring PC Communication Connector UC60SC MB 5ST Hirose Electric User I O Connector DF02R050NA1 JAE Motor Power Connector 2092 1325 WAGO JAPAN AC Supply Power Connector 2092 1422 WAGO JAPAN Encoder Connector 3E106 ...

Page 70: ...r 3E306 3200 008 3M Cable Connector Name Code Pin No Signal Description AC Supply L1L2 B1B2 1 B1 Braking resistor connection 2 B2 Braking resistor connection 3 L1 AC Supply power cable 1 4 L2 AC Supply power cable 2 Motor Power UVW 1 U Motor power U phase 2 V Motor power V phase 3 W Motor power W phase Encoder CN2 1 VCC Encoder power supply 5 V 2 GND Signal ground 3 4 No Connect 5 D Serial communi...

Page 71: ... AC Supply L1L2L3 B1B2 1 B1 Braking resistor connection 2 B2 Braking resistor connection 3 L1 AC Supply power cable 1 1 4 L2 AC Supply power cable 2 2 5 L3 AC Supply power cable 3 1 Motor Power UVW 1 U Motor power U phase 2 V Motor power V phase 3 W Motor power W phase Encoder CN2 1 VCC Encoder power supply 5 V 2 GND Signal ground 3 4 No Connect 5 D Serial communication data Data 6 D Serial commun...

Page 72: ...lease Orange colored part Connector release Locking latch Stripping cables with recommended tools Specialized Ferrule recommended For stranded wire a specialized ferrule helps you with wiring more safely and effectively Model Code Image Ferrule Insulated ferrule with sleeve 216 203 red sleeve for AWG18 216 206 blue sleeve for AWG14 Non insulated ferrule no sleeve 216 143 for AWG18 216 106 for AWG1...

Page 73: ... until you hear a clicking sound Motor power connector Hold the frame of the connector and keep pushing in until you hear a clicking sound AC Supply power connector The connector is fixed with the locking latch Push in the orange colored connector release Pull out the connector Motor power connector Keep pressing the top lever in the direction of the arrow and pull out the connector ...

Page 74: ...l it hits the round insertion slot the image to the left Release the pushbutton to finish the image in the middle Pull the wire slightly to verify that the wire connection is not loose the image to the right Pushbutton Pushbutton Wire disconnection AC Supply power connector Motor power connector While pushing in the pushbutton pull out the cable Pushbutton Pushbutton ３ Preparation 2 System Wiring ...

Page 75: ...Earth Ground FG cable 14 1015 105 600 V AWG16 wires can be used only for 1 kW motors Encoder Power 22 Signal 24 20276 80 30 V Shielded twisted pair cables of length not exceeding 20 m User I O 26 1007 80 300 V Shielded twisted pair cables Length not exceeding 2 m is recommended Braking resistor 18 1015 105 600 V Emergency stop brake 18 1015 105 600 V Mechanical Brake 18 2517 105 300 V 1 pair 2 cor...

Page 76: ... Servo OFF 31 Motor Brake Release 32 Emergency stop Brake Release 33 Deceleration Stop Status During Coast to stop 34 Delay time for Quick Stop Complete 35 Timing Diagram Overview 3 Timing Diagrams Signal Description Name Timing Diagrams Output Transistor Status I O Input Status and Internal Status Items related with motion timing Output Transistor I O Output Status OFF Open ON Close The contact p...

Page 77: ...r Clear Parameter execution T1 needs approximately 5 seconds for parameter initialization 2 SRDY turns ON when AC Supply and PRDY turns ON consecutively while Internal Error Status remains No Errors Signal Description Name Timing Diagrams Output Transistor Status I O Input Status and Internal Status Control Power DC24V AC Supply Power L1L2 or L1L2L3 Power Ready PRDY Servo Ready SRDY Servo On SVON ...

Page 78: ...s OFF until Motor Rotational Speed drops to 30 rpm or below 2 T1 is specified by Bake Release Delay Time No 238 0 Signal Description Name Timing Diagrams Output Transistor Status I O Input Status and Internal Status AC Supply Power L1L2 or L1L2L3 Servo Ready SRDY Servo On SVON Internal Error Status Motor Excitation Status Deceleration Stop Status Servo Status SERVO Motor Brake Release MBRK Alarm S...

Page 79: ...iming Diagrams Servo ON OFF Motor idling T1 is specified by Servo OFF Delay time No 237 0 Signal Description Name Timing Diagrams Output Transistor Status I O Input Status and Internal Status AC Supply Power L1L2 or L1L2L3 Servo Ready SRDY Servo On SVON Internal Error Status Motor Excitation Status Deceleration Stop Status Servo Status SERVO Motor Brake Release MBRK Alarm Status ALM ...

Page 80: ...uick stop or 1 short brake MBRK turns OFF when one of the following conditions is met a Deceleration Stop Status turns OFF b The rotational speed drops to the value specified by Deceleration stop Rotational speed to cancel No 227 0 or below Deceleration Stop Method No 224 0 0 coast to stop MBRK turns OFF when Motor Excitation Status becomes OFF Signal Description Name Timing Diagrams Output Transi...

Page 81: ...ny of the following alarms occurs MBRK turns OFF when the internal error status becomes ERROR a Encoder related errors b Control Power voltage drop error c Errors related to Inverter output part d Overvoltage error If any alarm except above four occurs the motion pattern will be exactly as this timing diagram suggests 4 Deceleration Stop behaves as follows depending on the error type a Encoder rel...

Page 82: ...Motor Excitation Status remains OFF until motor rotational speed drops to 30 rpm or below 2 T1 is specified by Brake release Delay time No 238 0 Signal Description Name Timing Diagrams Output Transistor Status I O Input Status and Internal Status AC Supply Power L1L2 or L1L2L3 Servo Ready SRDY Servo On SVON Reset RESET Internal Error Status Motor Excitation Status Deceleration Stop Status Servo St...

Page 83: ...n Digitax SF Instruction Manual 3 Timing Diagrams Alarm Reset Servo OFF Signal Description Name Timing Diagrams Output Transistor Status I O Input Status and Internal Status AC Supply Power L1L2 or L1L2L3 Servo Ready SRDY Servo On SVON Reset RESET Internal Error Status Motor Excitation Status Deceleration Stop Status Servo Status SERVO Motor Brake Release MBRK Alarm Status ALM ...

Page 84: ...e 1 MBRK turns OFF is when one of the following becomes true a Deceleration Stop completes or b Motor rotational speed after the time specified by Parameter No 234 0 elapses drops to the value specified by Parameter No 235 0 or below 2 If the deceleration stop method is quick stop the motor will remain excited during deceleration stop Signal Description Name Timing Diagrams Output Transistor Statu...

Page 85: ... after a stop per Deceleration Stop when Servo is OFF Emergency stop Brake Release Signal Description Name Timing Diagrams Output Transistor Status I O Input Status and Internal Status AC Supply Power L1L2 or L1L2L3 Servo On SVON Internal Error Status Motor Excitation Status Servo Status SERVO Emergency stop Brake Release DBRK Motor Brake Release MBRK Alarm Status ALM Motor Rotational Speed OFF 2 ...

Page 86: ...vo OFF No 224 0 and Deceleration Stop Method at Alarm ON are set to coast to stop Deceleration Stop Status During Coast to Stop Signal Description Name Timing Diagrams Output Transistor Status I O Input Status and Internal Status Servo On SVON Motor Excitation Status Deceleration Stop Status Servo Status SERVO Motor Brake Release MBRK Emergency stop Brake Release DBRK Motor Rotational Speed Brake ...

Page 87: ...nd the time amount set to Quick Brake Delay Time No 236 0 elapses 2 when DBRK output No 224 3 1 emergency stop brake after Deceleration Stop at Servo OFF ends Deceleration stop Method at Servo OFF No 224 2 quick stop Signal Description Name Timing Diagrams Output Transistor Status I O Input Status and Internal Status Servo On SVON Motor Excitation Status Deceleration Stop Status Servo Status SERVO...

Page 88: ... Setting Option 2 8 24V open collector Standard I O configuration 10 5V open collector Standard I O configuration 12 2 Internal Position Command 14 Standard I O Configuration 14 Optional I O Configuration 16 3 Velocity Control Mode 18 1 Analog Velocity Command 18 2 Internal Velocity Command 20 4 Torque Control Mode 22 1 Analog Torque Command 22 24 24 25 33 40 43 44 45 45 ...

Page 89: ...ned to the I O Control Mode Command Mode Command Input Signal Format Position Control Pulse Train Command dif Differential 24 24V open collector 5 5V open collector Internal Command i o 䐟䐠䐡䐢 I O Operation Velocity Control Analog Command volt Analog Voltage Internal Command i o 䐟䐠䐡 I O Operation Torque Control Analog Command volt Analog Voltage Select one of I O setup types Standard I O config...

Page 90: ...e control mode motion mode that you are using This is an output terminal such as Servo Status that connects to the host controller You can change the output logic Command Input The pinout depends on the control mode motion mode that you are using This is an input terminal that receives a command signal from the host controller such as Pulse Train Command or Analog Command Encoder Output A terminal...

Page 91: ...tion 36 OUT_A A phase 37 OUT_A A phase 38 OUT_B B phase 39 OUT_B B phase 40 OUT_Z Z phase 41 OUT_Z Z phase 42 SG Signal ground Pin No Signal Description 44 485 Data 43 485 Data 45 SG Signal ground Pin No Signal Description 12 COM I O power GND 13 MBRK Motor Brake release 14 SERVO Servo status 15 POSIN Positioning complete 17 T LIMIT Torque limiting 18 OCZ Encoder Z phase open collector 19 SRDY Ser...

Page 92: ... 50 mA 110 Ω SG SG RS 485 Host Controller SG 㻖5 㻖4 1 Control power 24V G24V and power for I O COM COM must share one common power supply 2 When driving a load containing inductance component such as a relay connect a protection circuit diode The motor brake cannot be driven directly Be sure to use a circuit that interfaces with a diode built in type relay Page 46 Connection to general purpose outp...

Page 93: ...te Torque limiting 18 OCZ Encoder Z phase open collector 19 SRDY Servo ready 20 SRDY Servo ready 21 ALM Alarm status 22 ALM Alarm status Pin No Signal Description 1 24V Control power 24V 2 G24V Control power GND 3 COM I O Power 24V 4 SVON Servo ON 5 RESET Alarm reset 6 HOLD Command input prohibited 7 PCLR Position Error counter clear 8 HOME Homing start 9 CCWL CCW drive limit switch input 10 CWL C...

Page 94: ...start 16 HEND OUTPUT䚷Homing complete MAX 50 mA 17 MEND T LIMIT RS 485 Host Controller SG 㻖5 㻖4 1 Control power 24V G24V and power for I O COM COM must share one common power supply 2 When driving a load containing inductance component such as a relay connect a protection circuit diode The motor brake cannot be driven directly Be sure to use a circuit that interfaces with a diode built in type rela...

Page 95: ...phase open collector 19 DBRK Emergency stop brake release 20 DBRK Emergency stop brake release 21 ALM Alarm status 22 ALM Alarm status Pin No Signal Description 1 24V Control power 24V 2 G24V Control power GND 3 COM I O Power 24V 4 SVON Servo ON 5 RESET Alarm reset 6 HOLD Command input prohibited 7 PCLR Position Error counter clear 8 E STOP Emergency stop 9 CCWL CCW drive limit switch input 10 CWL...

Page 96: ...h input INPUT䚷CW run limit switch 16 WARN1 OUTPUT䚷㼃㼍㼞㼚㼕㼚㼓 MAX 50 mA RS 485 Host Controller SG 㻖5 㻖4 17 T LIMT 1 Control power 24V G24V and power for I O COM COM must share one common power supply 2 When driving a load containing inductance component such as a relay connect a protection circuit diode The motor brake cannot be driven directly Be sure to use a circuit that interfaces with a diode bui...

Page 97: ...B phase or CW Pin No Signal Description 36 OUT_A A phase 37 OUT_A A phase 38 OUT_B B phase 39 OUT_B B phase 40 OUT_Z Z phase 41 OUT_Z Z phase 42 SG Signal ground Pin No Signal Description 44 485 Data 43 485 Data 45 SG Signal ground QEP Quadrature encoder pulse Pin No Signal Description 12 COM I O power GND 13 MBRK Brake release 14 SERVO Servo status 15 POSIN Positioning complete 17 T LIMIT Torque ...

Page 98: ...elded 24 V 24 V Host SG SG SG Host SG RS 485 Host Controller SG 㻖5 㻖4 1 Control power 24V G24V and power for I O COM COM must share one common power supply 2 When driving a load containing inductance component such as a relay connect a protection circuit diode The motor brake cannot be driven directly Be sure to use a circuit that interfaces with a diode built in type relay Page 46 Connection to g...

Page 99: ...tion QEP B phase or CW Pin No Signal Description 36 OUT_A A phase 37 OUT_A A phase 38 OUT_B B phase 39 OUT_B B phase 40 OUT_Z Z phase 41 OUT_Z Z phase 42 SG Signal ground Pin No Signal Description 44 485 Data 43 485 Data 45 SG Signal ground QEP Quadrature encoder pulse Pin No Signal Description 12 COM I O power GND 13 MBRK Motor Brake release 14 SERVO Servo status 15 POSIN Positioning complete 17 ...

Page 100: ...V 5V Host SG SG SG Host SG RS 485 Host Controller SG 㻖5 㻖4 1 Control power 24V G24V and power for I O COM COM must share one common power supply 2 When driving a load containing inductance component such as a relay connect a protection circuit diode The motor brake cannot be driven directly Be sure to use a circuit that interfaces with a diode built in type relay Page 46 Connection to general purp...

Page 101: ...m Reset Position Error Counter Clear 6 PCSTART1 Start Forward Rotation 7 PCSEL1 Point No Select 1 8 PCSEL2 Point No Select 2 9 PCSEL3 Point No Select 3 10 PCSEL4 Point No Select 4 11 ORG Home position sensor Pin No Signal Description 36 OUT_A A phase 37 OUT_A A phase 38 OUT_B B phase 39 OUT_B B phase 40 OUT_Z Z phase 41 OUT_Z Z phase 42 SG Signal ground Pin No Signal Description 44 485 Data 43 485...

Page 102: ...ection 2 OUTPUT䚷Homing complete MAX 50 mA RS 485 Host Controller SG 㻖5 㻖4 1 Control power 24V G24V and power for I O COM COM must share one common power supply 2 When driving a load containing inductance component such as a relay connect a protection circuit diode The motor brake cannot be driven directly Be sure to use a circuit that interfaces with a diode built in type relay Page 46 Connection ...

Page 103: ...n error Counter Clear 6 PCSTART1 Start Forward Rotation 7 PCSEL1 Point No Select 1 8 PCSEL2 Point No Select 2 9 PCSEL3 Point No Select 3 10 HOME Homing start 11 TLSEL1 Torque limit Pin No Signal Description 12 COM I O power GND 13 PM1 Point No 1 14 PM2 Point No 2 15 PM3 Point No 3 16 HEND Homing complete 17 MEND T LIMIT Motion Complete Torque Limiting 18 OCZ Encoder Z phase open collector 19 SERVO...

Page 104: ...䚷Point table No selection 2 OUTPUT䚷Homing complete MAX 50 mA RS 485 Host Controller SG 㻖5 㻖4 1 Control power 24V G24V and power for I O COM COM must share one common power supply 2 When driving a load containing inductance component such as a relay connect a protection circuit diode The motor brake cannot be driven directly Be sure to use a circuit that interfaces with a diode built in type relay ...

Page 105: ...V 4 SVON Servo ON 5 RESET Alarm reset 6 HOLD Command input prohibited 9 CCWL CCW drive limit switch input 10 CWL CW drive limit switch input 11 TLSEL1 Torque Limit Pin No Signal Description 36 OUT_A A phase 37 OUT_A A phase 38 OUT_B B phase 39 OUT_B B phase 40 OUT_Z Z phase 41 OUT_Z Z phase 42 SG Signal ground Pin No Signal Description 44 485 Data 43 485 Data 45 SG Signal ground General Purpose In...

Page 106: ... Be sure to use a circuit that interfaces with a diode built in type relay Page 46 Connection to general purpose output signals 3 The output circuit configuration is an open collector Darlington transistor output Connects to relays and optical isolators Note that when the transistor is on connector emitter voltage VCE SAT is approximately 1V a standard TTL IC does not satisfy VIL and cannot be con...

Page 107: ...GND 3 COM I O Power 24V 4 SVON Servo ON 5 RESET Alarm reset 6 VCRUN1 Start 1 CCW rotation 7 VCRUN2 Start 2 CW rotation 8 VCSEL1 Speed Select 1 9 VCSEL2 Speed Select 2 10 VCSEL3 Speed Select 3 11 TLSEL1 Torque Limit Pin No Signal Description 12 COM I O power GND 13 MBRK Motor Brake release 14 SERVO Servo status 17 T LIMIT Torque limiting 18 OCZ Encoder Z phase open collector 19 SRDY Servo ready 20 ...

Page 108: ...mmand selection 1 RS 485 Host Controller SG 㻖5 㻖4 1 Control power 24V G24V and power for I O COM COM must share one common power supply 2 When driving a load containing inductance component such as a relay connect a protection circuit diode The motor brake cannot be driven directly Be sure to use a circuit that interfaces with a diode built in type relay Page 46 Connection to general purpose outpu...

Page 109: ... Power 24V 4 SVON Servo ON 5 RESET Alarm reset 6 HOLD Command input prohibited 9 CCWL CCW drive limit input switch 10 CWL CW drive limit input switch 11 TLSEL1 Torque Limit Pin No Signal Description 32 A_TRQ Analog Command 33 A_GND Analog Command Ground Pin No Signal Description 12 COM I O power GND 13 MBRK Motor Brake release 14 SERVO Servo status 17 T LIMIT Torque limiting 18 OCZ Encoder Z phase...

Page 110: ...or brake cannot be driven directly Be sure to use a circuit that interfaces with a diode built in type relay Page 46 Connection to general purpose output signals 3 The output circuit configuration is an open collector Darlington transistor output Connects to relays and optical isolators Note that when the transistor is on connector emitter voltage VCE SAT is approximately 1V a standard TTL IC does...

Page 111: ...7 1 Enables you to specify the deceleration method The initial setting is 1 short brake No 67 2 Enables you to specify the status after the motor stops The initial setting is 0 coast to stop No 67 3 You can select keep or clear the position error counter data The initial setting is 0 keep dif 24 5 volt volt PCSEL3 Point No Select 3 Open Close You can specify the Point No with a combination of PCSE...

Page 112: ...ve control power must share one common power supply 24V Drive control power COM A common power supply for optical isolators of general purpose input circuits dif 24 5 i o 䐟䐠䐡䐢 volt i o 䐟䐠䐡 volt Pin No 2 Interface Circuit PS page 45 Control Mode Signal Description P S T G24V Control power GND Drive control power Connect to the negative pole of the external DC power supply Power voltage DC24V 1...

Page 113: ... 䐟䐠䐡 volt Pin No 5 Interface Circuit PI page 45 Control Mode Signal Description P S T RESET Alarm Reset Close Resets an alarm TIP Be sure to turn off this signal after alarm reset execution Encoder product code and system alarms are not reset by this signal You must cycle control power of the drive dif 24 5 volt i o 䐟䐠䐡 volt RESET PCLR Alarm Clear Position Error Counter Clear Close Clears Alar...

Page 114: ...the pulse counter data to is be maintained while command input is prohibited dif 24 5 volt volt PCSTART1 Start Forward Rotation Close Starts motor operation Executes Motion or Homing per Point No specified with PCSEL1 4 TIP Be sure to turn off this signal after the motion is completed i o 䐟䐠䐡䐢 VCRUN1 Internal velocity Start 1 Close Motor rotates in CCW direction Motor Rotational Direction Pin N...

Page 115: ...L4 No 10 0 Homing Open Open Open Open 1 Close Open Open Open 2 Open Close Open Open 3 Close Close Open Open 4 Open Open Close Open 5 Close Open Close Open 6 Open Close Close Open 7 Close Close Close 8 Open Open Open Close 9 Close Open Open Close 10 Open Close Open Close 11 Close Close Open Close 12 Open Open Close Close 13 Close Open Close Close 14 Open Close Close Close 15 Close Close Close Close...

Page 116: ...ation of VCSEL1 VCSEL3 Target speed Pin No PCSEL1 No 7 PCSEL2 No 8 PCSEL3 No 9 0 Open Open Open 1 Close Open Open 2 Close Close Open 3 Close Close Open 4 Open Open Close 5 Close Open Close 6 Open Close Close 7 Close Close Close VCRUN1 Pin No 6 i o 䐟䐠䐡 HOME Start Homing Close Homing starts TIP Be sure to set this terminal to Open after homing is completed dif E STOP Emergency Stop Open The motor ...

Page 117: ...itch or 3 Enable CW CCW drive limit switch is selected No 67 1 Enables you to specify the deceleration method The initial setting is 1 short brake No 67 2 Enables you to specify the status after the motor stops The initial setting is 0 coast to stop No 67 3 You can select keep or clear the position error counter data The initial setting is 0 keep dif 24 5 volt volt PCSEL3 Point No Select 3 Open Cl...

Page 118: ...lows CW motion CCWL Pin No 9 dif 24 5 volt volt PCSEL4 Point No Select 4 Open Close You can specify the Point No with a combination of PCSEL1 PCSEL4 PCSEL1 Pin No 7 i o 䐟䐠䐡䐢 HOME Start Homing Close Homing starts TIP Be sure to turn off this signal after homing is completed i o 䐟䐠䐡䐢 VCSEL3 Speed Select 3 Open Close You can select the target speed setting with a combination of VCSEL1 VCSEL3 VC...

Page 119: ... applied Related Parameters No 144 0 Torque Limit is enabled when 1 enable is selected No 147 0 No 148 0 Set Torque Command Limit Values 1 and 2 dif 24 5 i o 䐟䐠䐡䐢 volt i o 䐟䐠䐡 volt ORG Home Sensor Open Home sensor has not been detected Close Home sensor has been detected Related Parameters No 645 0 Enables you to select home sensor front No 646 1 Enables you to change the polarity of home sen...

Page 120: ...i o 䐟䐠䐡 volt PM1 Point No 1 Open Close Outputs the started or completed Point No with a combination of PM1 PM3 Right after turning the power on for the drive or at Servo OFF or Homing all three are Open i e Point No 0 Point No Pin No PM1 No 7 PM2 No 8 PM3 No 9 0 8 etc Open Open Open 1 9 Close Open Open 2 10 Open Close Open 3 11 Close Close Open 4 12 Open Open Close 5 13 Close Open Close 6 14 Ope...

Page 121: ...rface Circuit PO Page 46 Control Mode Signal Description P S T POSIN Positioning Complete Open Positioning is not complete Close Positioning is complete dif 24 5 MEND Motion Complete Open Motor motion is not complete Close Ready to receive next motion directive after Point table motion and Testing motion complete In Servo Off state i o 䐟䐠䐡䐢 PM3 Point No 3 Open Close Outputs the started or compl...

Page 122: ...als Pin No 16 Interface Circuit PO Page 46 Control Mode Signal Description P S T HEND Homing Complete Open State of Home Lost During Homing Close State of Homing Complete dif 24 5 WARN1 Warning Open No warning Close A warning state is present 9 Appendix Warning Output dif 24 5 In Standard I O configuration In Optional I O configuration ...

Page 123: ... 5 i o 䐟䐠䐡䐢 volt i o 䐟䐠䐡 volt MEND T LIMIT Motion Complete Torque Limiting Close State of one of the following MEND Motion Complete Torque Limiting MEND Pin No 15 Related Parameters No 144 1 Enables you to select conditions for torque limiting TIP Use this signal as T LIMIT during press motion Otherwise use it as MEND For T LIMIT turn TLSEL1 Torque Limit ON For MEND turn TLSEL1 Torque Limit O...

Page 124: ...utput of Encoder Z phase TIP Z phase pulse is synchronized with A phase pulse and is output with the same width as A phase pulse Open collector output Related Parameters No 276 0 No 278 0 If Z phase pulse width is too small to be measured accurately by the host controller decrease frequency division ratio or rotational speed to increase the pulse width Pulse width ms 2 rotational speed rpm divisio...

Page 125: ...s independent of COM Cascade connection to multiple drives is possible dif 24 5 i o 䐟䐠䐡䐢 volt i o 䐟䐠䐡 volt SERVO Pin No 19 SERVO Pin No 20 Servo status Open Servo off status Close Servo on status TIP The emitter side of the output transistor is independent of COM Cascade connection to multiple drives is possible i o 䐟䐠䐡䐢 DBRK Pin No 19 DBRK Pin No 20 Emergency stop brake release Open Engag...

Page 126: ...S T ALM Pin No 21 ALM Pin No 22 Alarm Open In one of the following conditions An alarm is occurring Control power is not supplied to the drive Close The following conditions are met at the same time No alarm is occurring Control power is supplied to the drive TIP The emitter side of the output transistor is independent of COM Cascade connection to multiple drives is possible dif 24 5 i o 䐟䐠䐡䐢 v...

Page 127: ...rface Circuit CP page 47 Control Mode Signal Description P S T CMD_PLS Pulse A phase CCW Command signal input from the host controller to the drive Select command pulse train command signal to input No 32 0 Parameter No 32 0 Command Signal Form Input Signal 0 Pulse and Direction Pulse 1 QEP Quadrature Encoder Pulse A phase 2 CCW and CW CCW Related Parameters No 2 0 No 3 0 No 32 0 dif 24 5 Pin No 2...

Page 128: ... Pin No 49 50 Interface Circuit CP page 47 Control Mode Signal Description P S T CC_P 5V Pin No 49 CC_D 5V Pin No 50 5V Open collector power Command signal input from the host controller to the drive A power input terminal of 5V open collector CC P 5V Use this in combination with CMD_PLS CC D 5V Use this in combination with CMD_DIR 5 Pin No 31 Interface Circuit CP page 47 Control Mode Signal Descr...

Page 129: ...oltages 10V to 10V A_GND Pin No 33 is the reference point of electric potential volt Pin No 33 Interface Circuit CA page 48 Control Mode Signal Description P S T A_GND Analog Command Ground This is the reference point of electric potential for Analog command voltage input to Pin No 32 TIP If the analog velocity command circuit of the host controller is isolated from 24V control power supply connec...

Page 130: ... output OUT_Z Pin No 40 OUT_Z Pin No 41 Z phase output SG Pin No 42 Signal ground OUT_A OUT_A OUT_B OUT_B OUT_Z OUT_Z Differential output of encoder signal divided and multiplied equivalent to RS 422 SG Signal ground of the communication IC in the output circuit This signal is connected to signal ground inside the drive It is isolated from control power G24V COM Make the connection to signal groun...

Page 131: ... SG Pin No 45 Signal ground 485 485 RS 485 interface with the host controller For cascade connection be sure to connect a termination resistor of approximately 220 Ω to the end drive SG Signal ground of the drive communication IC It is connected to signal ground inside the drive Isolated from control power G24V COM Connect signal ground of the communication IC of the host controller dif 24 5 i o 䐟...

Page 132: ...al purpose input Pins No 4 11 SVON etc Drive 4 7kΩ 24V 10 1 24V 2 G24V General purpose output Pins No 13 18 MBRK etc 24V G24V 12 COM dif 24 5 i o 䐟䐠䐡䐢 volt i o 䐟䐠䐡 volt PI Connections to General Purpose Input Signal Control Mode P S T Pin No 3 Connect to terminal of I O power supply Use power supply of 24V 10 Pin No 4 to No 11 Connect to input devices such as switch open collector output tran...

Page 133: ...l isolators When the transistor is on connector emitter voltage VCE SAT is approximately 1V a standard TTL IC does not satisfy VIL and cannot be directly connected The maximum rating of output circuit is 30V 50mA Pin No 13 18 The emitter of output transistor is common to COM of control power Pin No 19 No 21 The emitter of output resistor is Pins No 20 and No 22 and independent of COM MAX 50mA Pins...

Page 134: ... signal lines from the AC Supply cable and the motor power cable 4 Adjust Pulse train command Input filter No 33 0 dif 24 5 Differential Max command pulse frequency 4Mpps 24V open collector Max command pulse frequency 200kpps Be sure to set Pulse train command Input filter No 33 0 to at least 7 5V open collector Max command pulse frequency 200kpps Be sure to set Pulse train command Input filter No...

Page 135: ...kΩ 1 4W or more and R must be 100 Ω to 200 Ω 1 4W or more so that command input voltage range is 10V to 10V Be sure to use shielded twisted pair cables as a noise countermeasure Isolation non isolation of the host analog command circuit and 24V control power If isolated Connect A GND with signal ground of the host controller Do not connect to GND of control power If not isolated Connect A_GND with...

Page 136: ...troller Approximately 220 Ω 1 4W or more Signal ground of the communication IC in the output circuit is connected to signal ground inside the drive Connect signal ground of communications IC of the host controller to Pin No 42 Be sure to use shielded twisted pair cable as a noise countermeasure SG Output A phase RS 422 Encoder signal output SG 36 OUT A 37 OUT A 38 OUT B 39 OUT B FG 40 OUT B 41 OUT...

Page 137: ...oximately 1 2 k Ω inside the host controller Be sure to connect a termination resistor of approximately 220 Ω Make the wiring between the host controller and the drive less than 3m Between drives make it less than 1m Signal ground of communication IC of the drive is connected to signal ground inside the drive Connect signal ground of communications IC of the host controller to Pin No 45 Be sure to...

Page 138: ...5 5 Settings １ Overview 2 3 3 4 4 5 6 7 17 19 20 21 22 23 24 27 28 30 34 39 52 64 68 76 82 84 88 96 98 ...

Page 139: ... functions and features Read this section carefully to become familiar with the setup methods functions and usages of the parameters then adjust the parameters to best suit your operating requirements Parameter Tuning Method Tuning with the Setup Panel on the front the drive Tuning with the setup software Digitax SF Connect Install it on the user supplied PC ...

Page 140: ...s button to select items and set values STATUS LED Control power LED Status ON Green ON Normal Red ON Alarm occurring OFF OFF Normal UP Button DOWN Button In each mode use these buttons to change the display item change data select the parameter execute operation and so forth Use to increase or to decrease a numeric value LEFT Button Use this button to move to higher order digits when changing the...

Page 141: ...t of the number is currently displayed sign first 5 digit or last 5 digit segment The last 5 digit sement is displayed first Selecting the digit to edit ex １ Positive number ex 2 Negative number ex 3 Model Code and Serial Number sign first 5 digits last 5 digits A positive number A negative number For negative numbers the preceeding period lights up Use button to move the blinking position to the ...

Page 142: ...e selected inertia Position Control Mode only Auto Tuning Mode This mode is used to set up the parameters required for auto tuning Not available in Torque Control Mode Parameter Saving Mode This mode enables you to save the parameters set up in Parameter Setting Mode or Auto Tuning Mode to EEPROM Auxiliary Function Mode You can perform JOG Operation to execute testing with no command input from th...

Page 143: ...select the mode you are to set up then press to see the sub menu Sub menu Main Menu Status Display Mode Alarm Display Mode Parameter Edit Mode Quick Tuning Mode Auto Tuning Mode Parameter Saving Mode Auxiliary Function Mode Turn the control power on Approximately 5 seconds Switch to the Status Display screen Normal End Abnormal End SET SET SET or Servo ON state Servo OFF state Speed feedback value...

Page 144: ...der Temperature reference value Encoder Battery Voltage Encoder Communication No of Retries Encoder Data Error Count Regeneration Status AC Supply Voltage reference value Drive Model Code Motor Model Code Encoder Model Code Drive Serial Number Motor Serial Number Encoder Serial Number I O Status Press for the direction of the flow Press for the reverse direction Sub menu I O Status Control Compone...

Page 145: ...he display of is fixed at OFF 1 I O Status The flow chart below illustrates the I O status of the CN1 connector The assignments of I O pins depend on each control mode Check each corresponding pin 4 Connections 4 5 6 7 8 9 10 11 Reserved 13 14 15 16 17 18 19 21 Reserved Input Signal Pin No Output Signal Pin No Status No 16 ...

Page 146: ...trol Components reference value positive negative Pulse count output from the host controller sign first 5 digits last 5 digits Speed derived from Pulse Train Command Input Position positive negative Current display signs Press to change the display command pulse Status No 24 Status No 33 Status No 35 5 Analog Velocity Command rpm Analog Velocity Command input from the host controller positive neg...

Page 147: ...ts last 5 digits Current display signs Press to change the display Status No 64 Status No 74 command pulse Indicates the motor angular position returned from the encoder 8 ABS Position Feedback 9 Command Position Error command pulse Indicates the difference between the position command value and position feedback value sign first 5 digits last 5 digits Current display signs Press to change the dis...

Page 148: ...Press to change the display sign first 5 digits last 5 digits Current display signs Press to change the display Status No 80 Status No 65 Indicates the motor angular position detected by encoder encoder pulse Indicates the difference between the position control value and the position feedback value sign first 5 digits last 5 digits Current display signs Press to change the display sign first 5 di...

Page 149: ...d Setting Status No 97 rpm Indicates the motor rotational speed detected by the encoder positive negative rpm Indicates the difference between the speed command value and the speed feedback value positive negative Indicates the value of motor output torque positive negative 15 Speed Feedback 16 Speed Error 17 Torque Command Value Status No 98 Status No 99 Status No 113 ...

Page 150: ... value to 100 rated torque use the following conversion formula 18 Load Factor 19 Estimated Inertia Ratio 20 Encoder Rotor Mechanical Angle Single Turn Load Factor digit 10 Indicates the estimated inertia ratio Indicates 250 in this example Status No 131 Status No 371 Status No 194 encoder pulse Indicates the cumulative value of the motor s multiple turns sign first 5 digits last 5 digits Current ...

Page 151: ...ample 22 Encoder Temperature 23 Encoder Battery Voltage Absolute encoder only Status No 205 Status No 206 24 Encoder Communication Retry Count 25 Encoder Data Error Counter count Indicates how many times encoder communication has been retried Indicates zero times in this example count Encoder Data Error Count Indicates zero times in this example Status No 216 Status No 218 ...

Page 152: ...ile the motor is decelerating you may need a braking resistor Determine if a braking resistor is necessary or not as described above 26 Regeneration Status ON OFF Regeneration voltage warning Indicates the AC Supply voltage has reached the warning level You need to connect a braking resistor to the drive Regeneration control output Indicates the operation status of the regenerative power processin...

Page 153: ...al 3 Using the Setup Panel 0 1 V AC Supply Power Voltage reference value positive negative Drive Motor Encoder Drive Motor Encoder 27 AC Supply Power Voltage 28 Model Code Drive Motor Encoder 29 Serial Number Drive Motor Encoder Status No 232 ...

Page 154: ... tab in Digitax SF Connect History No 9 Alarm that is occurring now 2 Alarm Display Mode When an alarm occurs the Setup Panel will automatically switch to the Alarm Display Mode Note that this does not happen in the following modes Parameter Setting Mode Quick Tuning Mode Auto Tuning Mode Parameter Saving Mode and Auxiliary Function Mode To switch to Alarm Display Mode from one of these modes pres...

Page 155: ...ensor Encoder overheat Voltage drop inside the drive No alarm System EEPROM data Product code Overspeed Speed Position Overload Command overspeed Encoder pulse Output frequency Internal Position Command overflow Homing failure Encoder multi turn counter overflow Overheat Overvoltage Power supply AC Supply Encoder communication warning Excessive position error Display Alarm Display Alarm Display 警告...

Page 156: ... shut down the control power without saving the setting changes will not take effect Parameter No Use to change the number of the parameter While you are editing the value the position that you selected blinks Change the value 3 Parameter Setting Mode In Parameter Setting Mode drive parameters can be checked and set up For details of each parameter see the Parameters Page 28 After editing paramete...

Page 157: ...meter No Tuning Control Gain Set Auto Switch Tuning Items 4 Quick Tuning Mode Position Control Mode Only Save the parameter settings in Parameter Saving mode to the drive If you shut down the drive without saving them the changes will not take effect For Tuning Procedures see 7 Tuning After editing parameter values proceed with Parameter Saving Mode ...

Page 158: ... Set Inertia Ratio Tuning Mode Select Switch Tuning Items Position Control Mode Control level Position Control Mode Integral Gain Position Control Mode Gain FF compensation 1 Position Control Mode Gain FF compensation 2 Damping ratio After editing parameter values proceed with Parameter Saving Mode Save the parameter settings in Parameter Saving mode to the drive If you shut down the drive without...

Page 159: ...de Control Gain Set Inertia Ratio Tuning Mode Select Switch Tuning Items Velocity Control Mode Control level Velocity Control Mode Integral gain Velocity Control Mode Gain FF compensation 1 Damping ratio Save the parameter settings in Parameter Saving mode to the drive If you shut down the drive without saving them the changes will not take effect After editing parameter values proceed with Parame...

Page 160: ...uning Mode Save the parameter settings in Parameter Saving mode to the drive If you shut down the drive without saving them the changes will not take effect If you changed parameters for which control power cycle is needed cycle power after the new parameter settings are saved Approximately 5 seconds Normal End Abnormal End Saving or Check in Alarm Display Mode Digitax SF Instruction Manual ...

Page 161: ...ssed P 26 The Parameter Clear function is used to reset all parameter settings to the factory default values Control power cycle is required Perform this operation in a Servo OFF state If operated in a Servo ON state an alarm will occur It is recommended to back up the current parameter settings using digitax SF Connect before executing Parameter Clear P 26 This function initializes the multi turn...

Page 162: ...CW rotation CW rotation Servo off with User I O 2 Rotational direction Modes and conditions that allow JOG Operation Control Mode Command Mode JOG Operation Position Control Pulse Train Command Yes Internal Position Command No Velocity Control Analog Velocity Command Yes Internal Velocity Command Yes Torque Control Analog Torque Command No JOG Operation related parameters No Parameter Default Rang...

Page 163: ...ds until the display changes to Whilst erasing Cycle control power to complete the Clear Parameter execution Use this in a Servo OFF state If used in a Servo ON state an alarm will occur Use this in a Servo OFF state If used in a Servo ON state an alarm will occur Press and hold for approximately 5 seconds until the display changes to Whilst erasing Cycle control power to complete the Clear Encode...

Page 164: ...drive alarm and input output gain tuning and setting filters point table operation test operation and homing System Requirements for Digitax SF Connect Connecting Drive and PC Product Specifications PC OS Windows XP SP3 32 bit Windows 7 32 bit 64 bit Windows 8 64 bit Language Japanese Chinese Simplified Chinese Traditional Korean and English Minimum CPU Pentium III 512 MHz Minimum Memory 256 MB 51...

Page 165: ... 0 Velocity Control Mode Control gain 1 131 0 Gain FF Compensation 1 132 0 Integral gain 133 0 No 2 0 Control Mode Settings Default Characteristics 0 to 2 0 Function Use Select Control Mode Settings Control Mode 0 Position Control Mode 1 Velocity Control Mode 2 Torque Control Mode Related To No 3 0 No 642 0 Characteristics Parameter Number Parameter Name Parameter Characteristics Group 1 red Group...

Page 166: ...Tuning Gain parameters that require Tuning Homing Used for positioning operation in Position Control Mode Torque Limit Used for configuring Torque limit used in all Control Modes Deceleration Stop Emergency Stop Quick Stop Used for configuring Stop processes in case of emergency or drive limit switch input active Vibration Control Parameters related to Vibration Control 3 Yellow Switch Parameters ...

Page 167: ...Delay time Encoder pulse output Error detection Frequency upper limit Delay time Encoder Overheat detection Switch Value Encoder Battery Voltage drop detection Switch Value Voltage dip Detection Delay time Name Switch Address Communication speed Stop bit Parity Minimum response time Name Acceleration time Deceleration time Target speed Name Setup Deceleration method Idling status Retaining positio...

Page 168: ...e conditions Operating time Cancellation speed Upon control power failure Switch Operating time Torque command limit Status during coast to stop Short brake operation after a stop Brake engagement Timing Delay time Rotational speed Name Smoothing filter Switch Moving average counter Extension Time Deceleration time Name Filter 1 Selection Smoothing 1 Moving average counter Notch frequency Notch wi...

Page 169: ...nd Input Detection delay time Positioning Complete Name Pulse ratio Interpolation Numerator Denominator Feed forward delay compensation Operation mode Overflow detection Point table Point number Output method Motion of point No 0 Command method Operation Enable Disable Position Rotational speed Acceleration time Deceleration time Dwell time Positioning completion Internal Position Name Re detectio...

Page 170: ...umerator Denominator Speed limit CCW Numerator Denominator CW Numerator Denominator Smoothing filter Switch Moving average time Analog Velocity Command Name Command method Acceleration time Deceleration time Target speed 1 to 8 Smoothing filter Switch Moving average time Internal Velocity Name Inertia ratio Damping ratio Tuning Mode switch Items Control gain set Control level Control gain 1 Gain F...

Page 171: ...se train command input Yes 2 Analog command Yes Yes 3 Internal command Yes Yes Related To No 3 0 No 642 0 No 4 0 RS 485 communication Address Settings Default Characteristics 1 to 32 1 Function Use Specify the address of the RS 485 communication Remark Set this parameter to a unique address for each drive Related To No 6 0 No 6 1 No 6 2 No 8 0 No 11 0 No 6 0 RS 485 communication Communication spee...

Page 172: ...5 communication 0 Disable 1 Enable Remark Select 0 if you are not using RS 485 communication Related To No 4 0 No 11 0 No 9 0 Operation mode Settings Default Characteristics 0 1 0 Function Use Select I O CN1 connector or Digitax SF Connect communication as I O signal input source Use this parameter to clear an alarm by using Digitax SF Connect Input source Settings I O CN1 Connector Digitax SF Con...

Page 173: ...rm output timing Settings Default Characteristics 0 1 0 Function Use Specify when to output an alarm Settings Output 0 After the motor decelerates to stop 1 Immediately after an alarm occurs Remark If Deceleration Stop Method when alarm is on No 233 0 coast to stop the alarm signal will be output regardless of this parameter setting No 32 0 Pulse train command Input pulse form Settings Default Cha...

Page 174: ...gic of how to input Pulse Train Command Settings Input Logic 0 Positive logic Count at the time of rising edge low to high 1 Negative logic Count at the time of falling edge high to low Remark For pulse and direction change the setting of this parameter will reverse the direction signal DIR logic Related To No 32 0 No32 1 No 33 0 Pulse train command Input filter Settings Default Characteristics 0 ...

Page 175: ...0 C A 1 4 No 36 0 16 384 32 768 131 072 4 4 096 10 000 2 500 4 096 1 024 4 000 1 000 131 072 is the pulse count per rotation of the motor The default setting values are assumed 131072 pulses of the host command pulse number per a rotation Remark Range of Pulse Ratio numerator denominator Pulse train command x0 001 to x1 000 Internal Position Command x1 to x1 000 Related To No 276 0 No 278 0 No 48 ...

Page 176: ...ost controller No 52 0 Analog velocity CCW speed limit numerator Range Default Characteristics 0 to 65 535 Maximum Rotational Speed of Motor No 53 0 Analog velocity CCW speed limit denominator 1 to 65 535 Function Use Analog velocity command CCW speed limit CCW Speed Limit Maximum rotational speed 52 0 53 0 No 54 0 Analog velocity CW speed limit numerator Range Default Characteristics 0 to 65 535 ...

Page 177: ...analog speed pulse train input Settings Negative Voltage Input Positive Voltage Input 0 CCW Rotation CW Rotation 1 CW Rotation CCW Rotation No 62 1 Analog velocity Input filter enable switch Settings Default Characteristics 0 1 1 Function Use Enable Disable Input filter for Analog Velocity Command This filter is a first order IIR filter Use it if there is too much noise in analog command Settings ...

Page 178: ...n error detection Select switch Settings Default Characteristics 0 to 3 1 Function Use Specify what to output when excessive position error is detected Settings Output selection 0 No detect No output 1 Alarm output 2 Warning output 3 Alarm and Warning output When using Torque command limit select 0 No output so that an alarm will not occur in a torque limit state Related To No 87 0 No 89 0 No 363 ...

Page 179: ...Remark If you are to use Smoothing 1 try Filter 4 Smoothing 2 first Related To No 81 0 No 66 3 Pulse train command Feed forward delay compensation Settings Default Characteristics 0 1 1 Function Use Enable Disable Feed Forward Delay Compensation in Position Control Mode Settings Feed forward delay compensation 0 Disable 1 Enable Remark Usually set 1 enable You can set this item only with Digitax S...

Page 180: ... Drive limit switch input Idling status 0 1 0 Function Use Select the deceleration method upon drive limit switch input and specify the idling state after the motor stopped its motion Use one of the following four combinations Possible Combinations Deceleration method 67 1 Idling status 67 2 1 0 Coast to stop 0 Coast to stop 2 １ Short Brake 3 ２ Quick Stop １ Zero Clamp 4 0 Coast to stop Prerequisit...

Page 181: ...e output to the host controller Related To No 64 0 No 69 0 No 70 0 No 71 0 No 69 0 Positioning complete Detection criteria Speed Range Default Characteristics 0 to 32 767 See below Function Use Set the upper limit for a speed to determine Positioning Complete Motor Capacity Default Units Conversion to Rotational Speed 50 W to７５０W 2 pulse 160 µs 5 72 rpm 1 kW to 2 kW 2 pulse 200 µs 4 58 rpm Veloc...

Page 182: ...mand 0 The setting value of No 70 0 Time Positioning Complete When positioning is complete the signal POSIN positioning complete will be output to the host controller No 71 0 Positioning complete Detection delay time Range Default Characteristics 0 to 65 000 See below Function Use Specify the delay time to output Positioning Complete signal POSIN to the host controller after Positioning Complete c...

Page 183: ...2 Function Use Set the width of notch of Position Command Filter 1 Setting Notch Width smaller narrower larger wider Prerequisite Position command filter 1 Type 66 0 2 Notch Related To No 66 0 No 74 0 No 79 0 7 Tuning No 76 0 Position command filter 1 High frequency gain Range Default Characteristics 50 to 200 100 Function Use Set the high frequency gain of Position Command Filter1 Setting Effect ...

Page 184: ...nd Smoothing filter Moving average time Range Default Characteristics 1 to 1 000 100 ms Function Use Set the value for Speed Command Smoothing Filter Moving Average Time in Velocity Control Mode however this will result in a delayed response Prerequisite Velocity command Smoothing filter switch 77 0 1 Enable Related To No 77 0 No 79 0 Position command filter 1 Notch depth Range Default Characteris...

Page 185: ...is item within the range acceptable to the equipment Check the vibration interval in waveforms of position error and torque command at settling time Calculate the moving average count as described below Using Filter 4 may reduce the resonant vibrations If suppression of the vibrations is not effective enough recalculate the moving average count based on the vibration interval and set it to Filter ...

Page 186: ...ion command filter 3 Selection Settings Default Characteristics 0 to 3 0 Function Use Set Position Command Filter 3 Settings Filter Type ０ None 1 Reserved Do not use 2 Notch 3 γ Notch Related To No 357 0 No 358 0 No 359 0 No 360 0 No 83 0 Position command filter 2 Notch frequency Range Default Characteristics 10 to 2 000 10 0 1Hz Function Use Set the notch frequency for Position command filter 2 P...

Page 187: ... gain for Position Command Filter 2 Setting Effect 50 x0 25 100 x1 200 x4 Smaller setting value gives better vibration suppression Larger setting value gives faster motion Prerequisite Position command filter 2 Type 82 0 3 γ Notch Related To No 82 0 No 83 0 No 86 0 No 86 0 Position command filter 2 Notch depth Range Default Characteristics 0 to 100 0 Function Use Specify the notch depth of Positio...

Page 188: ...ime 50 W to７５０W 250 160 µs 40 ms 1 kW to 2 kW 200 200 µs Prerequisite Position error detection Switch 65 0 1 Enable Related To No 65 0 No 87 0 No 90 0 Speed error detection Value Range Default Characteristics 0 to 32 767 See below Function Use This parameter sets a threshold value for a speed error detection The higher the value the less likely to detect a speed error Motor Capacity Default Spee...

Page 189: ...e noise No 103 0 Tuning Damping ratio Range Default Characteristics 100 to 5 000 100 Function Use This parameter can be used for tuning to improve poor settling due to viscous friction or too large an inertia ratio Increasing or decreasing this parameter value in event of overshoot or undershoot respectively may make the settling time shorter The value of this parameter is estimated along with ine...

Page 190: ...ontal axis force ２ Offset Load Non horizontal axis force Use Offset Load Mode even for the case of axis force horizontal motion Prerequisite Position Control Mode Velocity Control Mode No 110 1 Tuning Items Settings Default Characteristics 0 to 2 0 Function Use Select Start or Stop for tuning depending on your choice of items to be estimated Settings Tuning Estimate items Inertia ratio Damping rat...

Page 191: ...ntrol Gain 2 116 0 If the above does not work lower the Control Gain Set Setting Command Response Rigidity Settling Time Possibility of Noise 5 slower lower longer lower 45 faster higher shorter higher Prerequisite Position Control Mode Remark Too large a value in this parameter may cause noise The default value varies depending on the setting of Position Control Mode Inertia conditions 113 1 If T...

Page 192: ...e the ratio of Control Gain 1 115 0 to Control Gain 2 116 0 which would be appropriate to equipment characteristics Settings Description 1 Heavy load equipment or equipment with substantial load fluctuation Equipment with low rigidity robot arms and so on 2 medium setting For example general transport machines 3 Light load equipment Equipment that demands high speed operation or requires settling ...

Page 193: ...d filter Notch filter such as 160 1 Decrease Position control mode Integral gain 119 0 Decrease Position control mode Control gain 2 116 0 If any of the above does not work decrease the Control Gain Set value Setting Command Response Rigidity Settling Time Possibility of Noise 5 slower lower longer lower 45 faster higher shorter higher Prerequisite Position Control Mode Remark Setting Control Leve...

Page 194: ...0 No 113 1 No 114 0 No 116 0 No 117 0 No 116 0 Tuning Position control mode Control gain 2 Range Default Characteristics 80 to 5 000 200 rad s Function Use Set Control Gain 2 for Position Control Mode Increasing this parameter value decreases the position error during command input Increasing the parameter value provides faster command response however too large a value may result in noise Set a v...

Page 195: ...g Set a relatively moderate value Prerequisite Position Control Mode Related To No 113 0 No 115 0 No 118 0 No 118 0 Tuning Position control mode Gain FF compensation 2 Range Default Characteristics 0 to 15 000 0 0 01 Function Use Set Feed Forward Compensation Rate Torque with respect to Control Gain 2 No 116 0 for Position Control Mode Using this value will reduce position errors during operation ...

Page 196: ...te Position Control Mode Remark This parameter will reset to the default if Inertia conditions 113 1 or Control Gain Set 113 0 is changed Related To No 113 0 Settings Default Characteristics 0 1 0 Function Use Enable Disable Auto Tuning for Control Gain Set Settings Selection 0 Disable 1 Enable Prerequisite Position Control Mode Remark Only Quick Tuning Mode with the Setup Panel This parameter is ...

Page 197: ...To No 120 0 No 129 0 Tuning Velocity control mode Control gain set Range Default Characteristics 1 to 46 15 Function Use Set the Control Gain Set for Velocity Control Mode With this Control gain 1 131 0 and Integral gain 133 0 will be set to the default together Noise Solutions Use Torque command filter Notch filter such as 160 1 Decrease Integral gain 133 0 If the above does not work lower the Co...

Page 198: ...of Control gain set 129 0 Related To No 129 0 No 131 0 No 133 0 No 162 0 No 131 0 Tuning Velocity control mode Control gain 1 Range Default Characteristics 100 to 6 000 399 rad s Function Use Set Control Gain 1 for Velocity Control Mode The larger this parameter is the smaller the speed error relative to the command the command being input will become Increasing this parameter value provides faste...

Page 199: ...fluctuation at the time of settling and reduce position errors This will result in rigid and sensitive motion Noise Solutions Use Torque command filter Notch filter such as 160 1 Decrease the value of Integral Gain Prerequisite Velocity Control Mode Remark This parameter will reset to the prearranged value if Inertia conditions or Control Gain Set is changed Related To No 129 0 No 130 0 No 131 0 N...

Page 200: ...nable Related To No 144 0 No 147 0 No 148 0 No 152 0 No 656 0 No 147 0 Torque command limit Value 1 Range Default Characteristics 0 to 65 535 See below No 148 0 Torque command limit Value 2 0 to 65 535 2 000 0 1 Function Use Set a torque command limit value as of the rated torque 100 Two torque command limits can be set with Value 1 and 2 When TLSEL1 Pin No 11 of the I O connector is open Value 1 ...

Page 201: ... To No 224 0 No 152 0 Analog torque Speed Limit Range Default Characteristics 0 to 10 000 See below Function Use Set the speed limit for Analog Torque Mode The default value of this parameter equals to the value of max rotation speed in the table below Motor Model Default rpm MM500 MY500 6 000 MM101 MY101 MX201 MZ201 MX401 MZ401 MX751 MZ751 MA201 MH201 5 000 MA401 MH401 MA751 MH751 4 500 MM102 MH1...

Page 202: ...Function Use Enable Disable Torque command Notch filter 2 Settings Torque command Notch filter 2 0 Disable 1 Enable Related To No 171 0 No 172 0 No 173 0 No 162 0 Torque command filter Low pass filter Time constant Range Default Characteristics 0 to 65 535 See below Function Use Set the primary IIR filter time constant of Torque command filter Low pass filter switch 160 0 1 Enable Condition for Ti...

Page 203: ... the case of multiple notch frequencies this item increases the notch width Setting Factor Notch Width 16 x2 large 12 x1 5 8 x1 4 x0 5 small Prerequisite Torque command filter Notch filter switch 160 1 1 Enable Related To No 160 1 No 168 0 No 170 0 No 170 0 Torque command filter Notch filter Depth Range Default Characteristics 0 to 256 0 Function Use Set the depth at the notch frequency of Torque ...

Page 204: ...the notch width is In the case of multiple notch frequencies this item increases the notch width Setting Factor Notch Width 16 x2 large 12 x1 5 8 x1 4 x0 5 small Prerequisite Torque command filter Notch filter 2 switch 160 3 1 Enable Related To No 160 3 No 171 0 No 173 0 No 173 0 Torque command filter Notch filter 2 Depth Range Default Characteristics 0 to 256 0 Function Use Set the depth at the n...

Page 205: ...p method in case of servo off while motor is rotating Settings Description ０ Coast to stop 1 Short brake 2 Quick stop 3 Emergency stop brake Related To No 151 0 No 224 1 No 224 3 No 225 2 No 226 0 No 227 0 No 229 0 No 232 1 No 232 2 No 236 0 No 239 0 No 224 1 Deceleration stop Release conditions Settings Default Characteristics 0 1 1 Function Use This parameter indicates conditions to cancel a dec...

Page 206: ...hether a warning is to be output or not in case of E stop input Settings Warning output ０ Disable 1 Enable No 225 1 Emergency stop Warning output timing Settings Default Characteristics 0 1 0 Function Use Specify when to output a warning in case of E stop input Settings Warning output timing ０ After the motor makes a deceleration stop 1 Immediately after the warning occurs Prerequisite Emergency s...

Page 207: ... parameter defines the rotational speed to cancel deceleration stop in case an alarm occurs or the Servo ON signal turns OFF It is used for a motor which is slowing down as specified with the deceleration stop method 224 0 Motor Capacity Default Units encoder pulse Conversion to Rotational Speed 50 W to 750 W 17 pulse 160 µs 50 rpm 1 kW to 2 kW 22 pulse 200 µs Prerequisite Deceleration stop Method...

Page 208: ...moothing Filter Disable Disable Enable Command waveform No 232 1 Deceleration stop Status during coast to stop Settings Default Characteristics 0 1 0 Function Use Select on or off for deceleration stop status during coast to stop Settings Deceleration stop status ０ OFF not consider as deceleration stop As soon as the servo status becomes OFF the motor brake release MBRK becomes open and the motor ...

Page 209: ...0 Function Use Set the timing for the brake to be engaged in a brake equipped motor That is set the timing to open MBRK Motor Brake Release Settings Timing ０ When the deceleration stop status is off or the motor rotation speed becomes lower than the setting of Deceleration stop Cancellation speed 227 0 1 When the deceleration stop status is off or the motor rotation speed becomes lower than the se...

Page 210: ...rating time 228 0 elapses the motor will be stopped by the group method Coast to stop Quick stop Short brake Emergency stop brake Alarm No Alarm Name and Group 0 System 1 EEPROM data 2 Product code 4 Overspeed 5 Speed 6 Position 7 Overload 8 Command overspeed 9 Encoder pulse output frequency 10 Positioning command overflow Homing failure 11 Encoder multi turn counter overflow 12 Overheat 14 Overvo...

Page 211: ...n opens while the motor is in motion or an alarm occurs and 2 the brake becomes engaged Motor Capacity Default Units Converted to Time 50 W to 750 W 0 160 µs 0 ms 1 kW to 2 kW 0 200 µs Prerequisite Timing of brake engagement 232 3 1 No 235 0 Deceleration Stop Brake engagement Rotational speed Range Default Characteristics 0 to 32 767 See below Function Use Set the motor rotational speed to engage ...

Page 212: ...parameter indicates the delay time the motor excitation off after the servo on signal SVON turns off By adjusting the timing to end motor excitation after the motor brake is engaged brake equipped axes such as vertical axis can be prevented from roll back Motor Capacity Default Units Converting to Time 50 W to 750 W 0 160 µs 0 ms 1 kW to 2 kW 0 200 µs Related To No 238 0 No 238 0 Brake release Del...

Page 213: ...ttings System Multi rotation counter Overflow detection 0 Incremental 1 Absolute disable 2 Absolute enable Using this parameter in absolute systems Setting 2 this is the usual setting Exceeding the encoder absolute value range of 4 294 967 296 to 4 294 967 295 32 767 multi turn data will result in Alarm No 11 encoder multi turn counter overflow If this happens correct the command such that motion ...

Page 214: ...Encoder Battery voltage drop detection Value Range Default Characteristics 0 to 100 24 0 1 V Function Use Set the value to detect voltage drop of the encoder Related To No 259 0 No 272 1 Encoder pulse output Rotational direction Settings Default Characteristics 0 1 0 Function Use Set the rotational direction of encoder pulse output This indicates the direction of counting pulses in ccw rotations S...

Page 215: ...se rev A Host Command Pulse count per rotation B Numerator No 276 0 C 1 4 Denominator No 278 0 16 384 4 096 32 768 131 072 4 10 000 2 500 4 096 1 024 4 000 1 000 131 072 is the pulse count per rotation of the motor The setting range of the ratio derived from these two parameters is 1 32 768 to 1 The default setting values are assumed 16 384 pulses of the host command pulse number per a rotation If...

Page 216: ...1 125 kHz Function Use Set the upper limit of the encoder pulse output frequency Select an appropriate value according to the signal input specification from the host controller Related To No 286 0 No 286 0 Encoder pulse output Error detection Delay time Range Default Characteristics 0 to 2 000 0 ms Function Use Set the detection delay time of encoder pulse output error Related To No 285 0 ...

Page 217: ...ot take effect if the ratio is 1 Related To No 302 1 No 290 0 Analog torque Input gain numerator Range Default Characteristics 0 to 65 535 See below 0 1 No 291 0 Analog torque Input gain denominator 1 to 65 535 Function Use Set the gain of analog torque command input With these two parameters you can adjust the gain of the host controller The motor torque is max when numerator denominator 1 and an...

Page 218: ...nge Default Characteristics 0 to 65 535 See below 0 1 No 295 0 Analog torque CW torque limit denominator 1 to 65 535 Function Use Set the CW torque limit of analog torque command 295 0 294 0 CW torque limit Instantaneous maximum torque Related To No 292 0 No 293 0 Default values of parameters No 292 0 293 0 294 0 and 295 0 The figures in the table below are applicable for both numerator and denomi...

Page 219: ...et observing the torque command value Prerequisite Analog speed command Offset tuning method 302 2 1 Manual tuning Remark Adjust this parameter with the motor alone Never adjust it while the motor is installed in any equipment Related To No 302 2 No 302 0 Analog torque Direction of rotation Settings Default Characteristics 0 1 1 Function Use Specify the rotational direction of analog torque comman...

Page 220: ...ally adjust the offset value such that torque command 0 at the input voltage at the time of servo on 1 Manual Tuning Manually adjust the offset value such that torque command 0 at 0 V input voltage No 305 0 Voltage dip Detection Delay time Range Default Characteristics 20 to 50 000 80 ms Function Use Set the delay time to the required voltage dip detection time of the AC supply Remark Detection of...

Page 221: ...sition command filter 3 High frequency gain Range Default Characteristics 50 to 200 100 Function Use Set the high frequency gain for Position Command Filter 3 Setting Effect 50 x0 25 100 x1 200 x4 Smaller setting value gives better vibration suppression Larger setting value gives faster motion Prerequisite Position command filter 3 Type 82 1 3 γ Notch Related To No 82 1 No 357 0 No 360 0 No 360 0 ...

Page 222: ...acceleration time for JOG operation This item indicates the amount of time for a speed command to change from 0 rpm to 1 000 rpm With the default setting it takes the rotational speed 3 000 ms to reach 3 000 rpm Related To JOG operation requires control power supply and the Servo ON signal input from the I O connector No 386 0 JOG operation Deceleration time Range Default Characteristics 0 to 60 0...

Page 223: ...With the default setting it takes the rotational speed 3 000 ms to reach 3 000 rpm Prerequisite The following three settings are necessary Control Mode 2 0 1 Velocity control mode Command Mode 3 0 3 Internal command mode Internal Velocity Command Method 388 0 1 Preset speed command Related To No 388 0 No 391 0 No 392 0 to 399 0 No 391 0 Internal velocity Deceleration time Range Default Characteris...

Page 224: ...CSEL1 Pin No 9 VCSEL2 Pin No 10 VCSEL3 1 Open Open Open 2 Closed Open Open 3 Open Closed Open 4 Closed Closed Open 5 Open Open Closed 6 Closed Open Closed 7 Open Closed Closed 8 Closed Closed Closed Closed Contact with COM Open No contact with COM The direction of rotation CCW CW controls with No 6 pins VCRUN1 and No 7 pins VCRUN2 of I O Prerequisite The following three settings are necessary Cont...

Page 225: ...of the encoder If Internal Position Command exceeds the absolute value range 1 073 741 823 or shift amount per one command exceeds the range 2 147 487 647 overflow will be detected resulting in Alarm No 10 Settings Overflow Detection ０ Disable 1 1 Enable 2 1 For repeating rotations only in one direction when you need absolute value of single turn angle set Absolute system 257 0 1 Multi turn counte...

Page 226: ...ing No 645 0 Homing Home reference signal selection Settings Default Characteristics 0 to 2 2 Function Use Select the signal that the home position will be referenced to Settings Reference Signal 1 0 Any user specified position 1 Stopper 2 Home sensor front end Starting point is located on the sensor Regardless of the Re detection of Home position sensor 645 3 setting this setting indicates a moti...

Page 227: ...se this parameter after detecting sensor front end to re detect the sensor front end at a speed specified with the homing creep speed parameter Settings Re detecting motion ０ Disable 1 Enable Sensor Origin Motion to detect sensor again Homing speed Speed HOMING Creep Speed Position Prerequisite Homing Home reference signal selection 645 0 ２ home sensor front end ...

Page 228: ...irection are opposite direction Homing direction is opposite of the Creep Motion direction Encoder Z phase Direction of Creep motion Creep Motion Oﬀset from home position When HOMING Home Reference Signal selection 645 0 2 home sensor front end AND HOMING Re detection of Home position sensor 645 3 1 enable Sensor Encoder Z phase Creep Motion Sensor Position Motion to re detect sensor Oﬀset from ho...

Page 229: ...efault Characteristics 0 1 0 Function Use Enable Disable Homing Timeout This item is a safety measure against collisions Settings Timeout ０ Disable 1 Enable When the time since homing started exceeds the setting of Timeout Time 659 0 Alarm No 10 internal position command overflow fault homing failure is output leading to servo off No 646 3 Homing Point table Motion of point No 0 Settings Default C...

Page 230: ...ng Related To No 656 0 No 647 1 Homing Creep speed enable switch Settings Default Characteristics 0 1 0 Function Use Enable Disable homing motion after home reference signal detection Set to 0 to only detect the home reference signal Set to 1 if any motion is intended after the reference signal detection Settings Motion afterwards ０ None 1 Move 0 None After home reference signal is detected the mo...

Page 231: ...ome signal is detected To improve accuracy to detect the home reference signal select a lower speed Prerequisite Homing Creep speed switch 647 1 １ Move Related To No 645 0 No 647 1 No 648 0 No 650 0 Homing Acceleration Deceleration time Range Default Characteristics 0 to 5 000 30 ms Function Use Set Acceleration Deceleration Time for homing This item indicates time amount for a speed to change 1 0...

Page 232: ... Function Use This parameter defines the ratio of torque command limit value during homing to the rated torque The parameter is used as a safety measure against collisions during Homing It is a torque command limit value in Homing by using stopper Prerequisite Homing Home Reference Signal selection 645 0 1 Stopper or Torque command limit switch 647 0 1 Enable Related To No 645 0 No 647 0 No 657 0 ...

Page 233: ...tion of Point Table Settings Running Motion ０ Single 1 Continuous No 720 3 No 740 3 to No 1020 3 Internal Position Point table Enable Disable Settings Default Characteristics 0 1 0 Function Use Enable Disable Point Table Settings Enable Disable ０ Disable The point number assigned disable is not executed and any subsequent point numbers assigned enable are executed 1 Enable The point number assigne...

Page 234: ... table Deceleration time Range Default Characteristics 0 to 5 000 30 ms Function Use Set the deceleration time for the Point Table This item indicates the amount of time for a speed command to change from 0 rpm to 1 000 rpm In the default setting it takes 90 ms for the rotational speed to change from 3 000 rpm to 0 rpm No 728 0 No 748 0 to No 1028 0 Internal Position Point table Dwell time Range D...

Page 235: ...807 0 No 800 0 No 808 0 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...

Page 236: ...66 Operation 2 3 4 6 6 10 10 13 4 Torque Control Mode 15 1 Analog Torque Command 15 5 Position Control Mode 18 1 Internal Position Command Point Table 18 Operation by User I O 26 ２ Homing 35 39 ...

Page 237: ...to execute positioning command preset in the drive with I O operation from the host controller Point table operation Page 18 I O operation Velocity Control 1 Analog Velocity Command 2 In this operating mode speed commands are issued from the host controller with analog voltage input Page 10 Analog voltage Internal Speed Command 3 This type of operating mode moves the machine according to the speed...

Page 238: ...ror Detection Name No P Switch 8 0 5 35 Address 4 0 5 34 Communication speed 6 0 5 34 Stop bit 6 1 5 35 Parity 6 2 5 35 Minimum response time 11 0 5 35 RS 485 Communications Name No P Setup 67 0 5 43 Deceleration method 67 1 5 43 Idling status 67 2 5 43 Retaining position error counter 67 3 5 43 Drive Limit Switch Input Name No P Upon Servo Off Method 224 0 5 68 DBRK output after stopping 224 3 5 ...

Page 239: ...ettings 0 Position control mode 1 Velocity control mode 2 Torque control mode Change Set Settings 1 Pulse train command 2 Analog command 3 Internal command Save the parameter settings in Parameter Saving mode to the drive If you shut down the drive without saving them the changes will not take effect Repeat these Steps for each parameter that you select example Change the settings of Control Mode ...

Page 240: ...o the drive EEPROM 1 Select the Parameter Tab Step3 Method 1 2 Cycle control power to ﬁnish so that the change that you just made will take eﬀect Method 2 1 Select the Communication Setttings tab 2 Click Disconnect Method 1 Click Disconnect under the quick tool bar Double click on Connection Status Oﬄine Online 1 Select the Communication Setup tab initial display 2 List of the compatible drives Se...

Page 241: ...000 pulse rev 36 0 Paired Pulse Ratio Denominator Set to pulse count of the host controller output divided by 4 Default 1 000 pulse rev Set the operating mode with the following parameters Pulse command input form see the table above and Minimum Time Interval see the table below Parameters No32 0 Positive direction command Negative direction command 0 Default Pulse and Direction PLS DIR 1 Quadratu...

Page 242: ...gic 32 3 Positioning Complete Determination Method Specify the conditions for Positioning Complete 5 Settings 64 0 Detection Criteria Range 68 0 Detection Criteria Speed 69 0 Detection Criteria Command input 70 0 Detection Time Delay 71 0 The following parameters are optional Configure them as necessary Parameter No 32 1 Command pulse from the controller Positive direction command Negative directi...

Page 243: ... No 32 3 will reverse the direction signal DIR logic Change the direction signal DIR when PLS is LOW where No 32 3 0 and PLS is HIGH where No 32 3 1 Quadrature phase Difference pulse A Phase B phase No 32 0 1 Parameter No 32 1 Parameter No 32 3 Command input waveform CCW CW 0 0 Default 1 1 Default 0 Default 1 No direction signal logic change by Parameter No 32 3 Positive or Negative pulse CCW CW N...

Page 244: ...been performed correctly Step 2 Turn on the control power to the drive Step 3 Turn on the AC Supply to the drive Step 4 Connect the SVON pin on CN1 connector to COM to turn the servo on Step 5 Input the position command pulse from the host controller in low frequency and run the motor at low speed around100 rpm Be sure that the actual rotational direction of the motor agrees with the direction set...

Page 245: ...lect CCW or CW 3 62 0 Input Filter Enable Switch Apply this parameter to filter the noise component of input command voltage 62 1 Numerator 48 0 Denominator 49 0 Input gain Numerator Set the rotational speed at max command input voltage 10 V 1 50 0 Denominator 51 0 Speed limit CCW Numerator Set the speed limit for CCW rotations 2 52 0 Denominator 53 0 CW Numerator Set the speed limit for CW rotati...

Page 246: ... Setting rpm 50 0 3 000 51 0 5 000 2 Example of Speed Limit Configuration Speed limit is configured with the following two parameters Numerator CCW No 52 0 CW No 54 0 desired max rotational speed limit Denominator CCW No 53 0 CW No 55 0 max rotational speed of the motor Example of setting the max rotational speed limit to 3 000 rpm for the motor of 5 000 rpm max rotational speed Direction of Rotat...

Page 247: ...ctly Step 2 Turn on the control power to the drive Step 3 Turn on the AC Supply to the drive Step 4 Connect the SVON pin of CN1 connector to COM to turn the servo on Step 5 Input the analog velocity command voltage with a low voltage to run the motor at a low speed Be sure that the actual rotational direction of the motor agrees with the direction setting Verify that the motor speed changes depend...

Page 248: ...al Configure them as necessary Name Explanation Parameter No Acceleration Time amount of time for speed command to increase the speed from 0 rpm to 1 000 rpm Default 1 000 ms 390 0 Deceleration Time amount of time for the speed command to decrease the speed from 1 000 rpm to 0 rpm Default 1 000 ms 391 0 Speed 1 to 8 Target speed Default See below 392 0 to 399 0 Smoothing Filter Enable Switch Apply...

Page 249: ... combinations of VCSEL1 VCSEL2 and VCSEL3 and turn either VCRUN1 or VCRUN2 ON The motor will rotate accordingly Refer to the following Motor Rotational Direction and Speed Settings to operate the motor Be sure that the actual rotational direction of the motor agrees with your direction setting Verify that has the rotational speed has reached your speed setting If vibration occurs increase the iner...

Page 250: ...h that the motor torque command becomes 0 0 1 when the command input is 0 V 302 2 Value 300 0 Direction of Rotation Select the CCW or CW 3 302 0 Input Filter Enable Switch Apply this parameter to filter the noise component of input command voltage 302 1 Numerator 288 0 Denominator 289 0 Input Gain Numerator Set the torque at the max command input voltage 10 V 1 290 0 Denominator 291 0 Torque Limit...

Page 251: ...00 291 0 3 000 2 Example of Torque Limit Configuration Torque Limit is configured with the following two parameters Numerator CCW No 292 0 CW No 294 0 desired torque limit Denominator CCW No 293 0 CW No 295 0 max torque limit of the motor Example Setting the max torque limit to 100 for the motor of the 300 max torque Direction of Rotation Parameter No Setting Unit 0 1 CCW 292 0 1 000 293 0 3 000 C...

Page 252: ...Turn on the control power to the drive Step 3 Turn on the AC Supply to the drive Step 4 Set Analog torque Speed limit No 152 to a sufficiently small value around 500 rpm Step 5 Connect the SVON pin of CN1 connector to COM to turn the servo on Step 6 Set Analog torque Speed limit No 152 to the value to be used in actual operation Step 7 Input the analog torque command voltage with a low voltage to ...

Page 253: ...operation can be done using Digitax SF Connect 1 Configuring Parameters 2 Creating Point Table and Testing To enable Positioner Drive set the point table parameters Use Digitax SF Connect for the point table configuration Page 20 Creating Point Table Test the point table operation with Digitax SF Connect before operation with user I O Digitax SF Connect Users Guide 3 Operation by User I O You can ...

Page 254: ...ion 1 2 Otherwise no need to be configured 1 The setting is 0 I O Operation upon drive power on You can set this item only with Digitax SF Connect not on the Setup Panel 2 You can specify output timing of subsequent point numbers upon motion complete The point number output format is illustrated at the bottom of the timing diagram below Example Point Table Setting and Timing Diagram of the Point N...

Page 255: ...et the following items for the point table Use Digitax SF Connect for editing point table Set and Write the point table you created to the drive Digitax SF Connect Users Manual Item Position Range Units 1 073 741 823 to 1 073 741 823 encoder pulse Description If Relative is selected as the Command method The position data will determine the shift amount A positive value indicates CCW rotation a ne...

Page 256: ...escription Set the wait time after Positioning Complete per the selected Point No Motion after the dwell time elapses Single Motion MEND will be ON Continuous Motion the motion per the next point number will start If Running Motion is Continuous and the dwell time is set to 0 the motion will be according to the speed specified by point numbers one after another continuously If the dwell time is se...

Page 257: ...t number s will be executed Example If Running Motion continuous and Dwell Time 1 or above for example 3ms then positioning will be executed according to each point The drive will wait for the target position to be reached then apply the dwell time and will then start the next motion Position Error Dwell Time No 1 Waiting for Positioning to Complete Positioning Complete No 1 Signal Name Descriptio...

Page 258: ...n specified by the point number has been complete when the position error falls in the range set by this parameter and then the Dwell time elapses the MEND motion end signal turns ON Timing Diagram Positioning complete and Dwell time Signal Name Description Chart Input PCSEL1 4 Input Output MEND PCSTART1 ON OFF Motion Complete OFF 0 rpm 0 pulse ON OFF ON 1 Actual motion Command Dwell Time Position...

Page 259: ...tational speed will change continuously per enabled point numbers before after the disabled point number Here is an example With the Point Table settings below if you specify Start signal input to Point No 1 Point No 2 won t be executed and Point No 1 and 3 will be continuously executed Point No Running operation Dwell Time Enable Disable 1 continuous ０ Enable 2 continuous optional Disable 3 singl...

Page 260: ...parameters correctly before testing Check motor motion first with no machine connected For a brake equipped motor be sure to disengage the brake before driving the motor Using Digitax SF Connect check motion per the point table that you created Digitax SF Connect Users Guide 3 Press Click 2 Select Digitax SF Connect as Command Type 1 Save the Point Table data to the drive 4 Enter a Point No to sta...

Page 261: ...he timing diagrams shown in the operation examples Step Description Explanation Step 1 Check if ready to start Check if MEND is closed If it s open wait Step 2 Select Point No Input PCSEL1 4 to specify a Point No to execute Step 3 Starting Positioner operation Wait for at least 10ms after PCSEL1 4 input and then change PCSTART1 from open to closed Start driving the system according to the command ...

Page 262: ... OFF State of Servo Input SVON Position Error 0 pulse 0 0 0 Dwell Time No 1 Positioning Complete No 1 1 10 msec min 10 msec min 17 msec typ 6 11 msec MAX 3 msec min 1 5 1 2 3 4 Signal Name Description Chart Parameter No 644 0 0 Parameter No 644 0 1 Parameter No 644 0 2 Waiting for Positioning Complete １ If you want to check the motion end signal MEND with the User I O output MEND T LIMIT turn T LI...

Page 263: ...3 000 200 100 100 50 Relative Single 20 enable ON Input PCSEL1 4 Input Output MEND PCSTART1 ON OFF OFF 0 rpm ON OFF ON Point No 1 Point No 2 Output PM1 3 1 1 1 2 OFF Input SVON Rotational Speed No 1 Acceleration Time No 1 Deceleration Time No 1 Dwell Time No 2 0 pulse 0 0 ı Dwell Time No 1 1 ON OFF ON OFF 2 2 2 Signal Name Description Chart State of Servo Select Point No Start Motor Rotational Spe...

Page 264: ...F 0 rpm ON OFF ON Ĳ Point No 1 Command Point No 2 Output PM1 3 1 1 1 2 OFF Input SVON 0 pulse 0 0 0 State of Servo Select Point No Start Motor Rotational Speed Position Error Motion Complete Point No Signal Name Description Chart Deceleration Time No 1 Deceleration Time No 2 Rotational Speed No 1 Rotational Speed No 2 Acceleration Time No 1 Dwell Time No 2 Dwell Time No 1 Waiting for Positioning C...

Page 265: ...on instructions per point numbers are executed with no interruptions and the rotational speed changes continuously Positioning motion will continue up to not including the point number whose Running Motion is single Set Running Motion of all enabled point numbers to continuous and specify the first point number for turning on CW drive signal PCSTART1 For this motion group set Dwell Time 1 ms Examp...

Page 266: ... Dwell Time ms Command Method Running Motion Positioning Complete pulse Enable Disable 1 5 000 300 100 200 0 Relative continuous 20 enable 2 3 000 200 disable disable 0 Relative continuous 20 enable 3 4 000 100 disable disable 20 Relative single 20 enable For the last enabled point number set Running Motion single The acceleration deceleration setting of the first point number that is selected upo...

Page 267: ...8 0 Torque limiting output 2 Set Torque command limit Value 2 No 148 0 Enable 144 1 Position Error Detection Switch Enable Disable the function to detect position error 65 0 Value To let the detection function work set a value larger than the distance between the target location of press motion and the workpiece 87 0 Delay time Specify how long a position error waits to be output after position er...

Page 268: ...e enable Example of Point Table Setting Press Motion P1 Specify the target location with high speed approach V1 Specify the speed of approaching to the workpiece P2 Specify the location across the workpiece V2 Specify the speed of pressing the workpiece P3 Destination ON OFF OFF ON ON ON ON Input PCSEL1 4 Input Internal MEND PCSTART1 OFF OFF 0 rpm ON ON OFF ON Output PM1 3 Input SVON 0 1 10 msec m...

Page 269: ...e torque limit value Step 6 Check Torque Limit Status Check the torque limit status with MEND T LIMIT and wait until it becomes closed Step 7 Clear Position Error Counter After MEND T LIMIT becomes closed wait for the desired press time then close RESET PCLR to execute Clear Position Error Counter Wait for at least 25 ms after RESET PCLR input and then reset RESET PCLR to open Step 8 Check if read...

Page 270: ...ne end Set HOMING Movement direction No 646 0 to the direction of moving from the front of the sensor towards the sensor front end Setting the homing direction to the leaving sensor direction to the left of sensor below may result in a collision to the machine end Parameter No 646 1 ０ Detecting the home sensor when ORG input OFF Parameter No 646 1 1 Detecting the home sensor when ORG input ON ORG ...

Page 271: ...st 10 ms after Step 3 In Option I O Setting Set HOME to closed at least 10 ms after Step 3 Step 5 Check Command Execution Wait for MEND to become open Open PCSTART or HOME after verifying that MEND is open Step 6 Check Operation Complete Use MEND to see if the motion command execution is complete MEND turning from open to closed indicates that the motion is complete Step 7 Check Homing Complete Af...

Page 272: ...d the indicator to the left of the Start button will turn green and the Current position cell will show the current position resulting from homing Start Stop Required Parameters Parameter No Name Setting 2 0 Control Mode 0 Position Control Mode 3 0 Command Mode 3 Internal Command Mode 9 0 Operation Mode 0 I O input 1 Digitax SF Connect 642 0 Internal Position Operation Mode 0 Point Table Set the o...

Page 273: ... depends on other conditions 10 msec min Signal Name I O Description Input Select Point No PCSEL1 4 Start Start Homing Chart Input 0 ON PCSTART1 HOME OFF OFF Home position sensor Input ORG Motor Rotation Speed Homing Complete Output HEND The value of parameter No 648 0 Motion Complete Output MEND 1 10 msec min 17 msec typ 2 0 rpm 11 msec max 3 msec min 3 msec min 11 msec max The value of parameter...

Page 274: ...n type to detect the stopper or the sensor Configure this part of homing so that homing will be as accurate as possible in the second segment of homing Rough Approach Lunge motion Careful Approach Creep motion Indicates a motion type to approach the home position slowly and accurately after the detection of stopper sensor or base signal This motion group includes the following motion to detect Z p...

Page 275: ...s Group Name Parameter No Homing Overall Home reference signal selection arbitrary position stopper sensor 645 0 Movement direction 646 0 Acceleration Deceleration time Common in Rough approach speed and Careful approach speed 650 0 Home position data 653 0 Careful approach Careful approach switch 647 1 Encoder Z phase Selection 645 1 Z phase disabled distance 657 0 Careful approach speed 649 0 Am...

Page 276: ...tion No 645 1 0 Careful Approach switch No 647 1 1 Shift to home amount No 651 0 any Z phase disabled distance No 657 0 0 Pattern 3 Parameters Settings Home reference signal selection No 645 0 0 Encoder Z phase selection No 645 1 1 Careful Approach switch No 647 1 1 Shift to home amount No 651 0 0 Z phase disabled distance No 657 0 0 Pattern 4 Parameters Settings Home reference signal selection No...

Page 277: ... Homing Overall Home reference signal selection arbitrary position stopper sensor 645 0 Movement direction 646 0 Acceleration Deceleration time Common in Rough approach speed and Careful approach speed 650 0 Home position data 653 0 Rough approach Rough approach speed 648 0 Stopper pressed detection time 655 0 Torque command limit Value 656 0 Careful approach Careful approach switch 647 1 Encoder ...

Page 278: ...ction No 645 0 1 Encoder Z phase selection No 645 1 0 Careful Approach switch No 647 1 1 Shift to home amount No 651 0 any Z phase disabled distance No 657 0 0 Pattern 9 Parameters Settings Home reference signal selection No 645 0 1 Encoder Z phase selection No 645 1 1 Careful Approach switch No 647 1 1 Shift to home amount No 651 0 0 Z phase disabled distance No 657 0 0 Pattern 10 Parameters Sett...

Page 279: ...Parameter No Homing Overall Home reference signal selection arbitrary position stopper sensor 645 0 Movement direction 646 0 Acceleration Deceleration time Common in Rough approach speed and Careful approach speed 650 0 Home position data 653 0 Rough approach Sensor polarity 646 1 Rough approach speed 648 0 Careful approach Careful approach switch 647 1 Encoder Z phase Selection 645 1 657 0 645 3 ...

Page 280: ...witch No 647 1 1 Shift to home amount No 651 0 any Z phase disabled distance No 657 0 0 Pattern 15 Parameters Settings Home reference signal selection No 645 0 2 Re detection of Home position sensor No 645 3 0 Encoder Z phase selection No 645 1 1 Careful Approach switch No 647 1 1 Shift to home amount No 651 0 0 Z phase disabled distance No 657 0 0 Pattern 16 Parameters Settings Home reference sig...

Page 281: ...ameters to define the homing patterns Refer to the patterns 19 to 24 to configure the parameters Group Name Parameter No Homing Overall Home reference signal selection arbitrary position stopper sensor 645 0 Movement direction 646 0 Acceleration Deceleration time Common in Rough approach speed and Careful approach speed 650 0 Home position data 653 0 Rough approach Sensor sensor polarity 646 1 Rou...

Page 282: ...sition sensor No 645 3 1 Encoder Z phase selection No 645 1 0 Careful Approach switch No 647 1 1 Shift to home amount No 651 0 any Z phase disabled distance No 657 0 0 Pattern 21 Parameters Settings Home reference signal selection No 645 0 2 Re detection of Home position sensor No 645 3 1 Encoder Z phase selection No 645 1 1 Careful Approach switch No 647 1 1 Shift to home amount No 651 0 0 Z phas...

Page 283: ...48 MEMO Digitax SF Instruction Manual 6 Operation 5 Position Control Mode ...

Page 284: ...Gain Set 27 Mode Switch 28 Tuning Items 28 2 Final Tuning 29 Inertia Ratio 29 Position Control Mode Control Gain 1 30 Position Control Mode Control Gain 2 31 Velocity Control Mode Control Gain 1 32 Position Control Mode Gain FF Compensation 1 33 Position Control Mode Gain FF Compensation 2 34 Integral Gain 35 3 Position Command Filter 36 Position Command Smoothing Filters 1 and 2 38 Position Comma...

Page 285: ...et appropriately Digitax SF features response models with two cutoff frequencies ω 1 Control Gain 1 and ω 2 Control Gain 2 Code EFFECT ω 1 Control Gain 1 Responsiveness at settling ω 2 Control Gain 2 Responsiveness during operation FF1 FF Compensation 1 Command compensation for ω 1 Increasing this item will improve the ω 1 response FF2 FF Compensation 2 Command compensation for ω 2 Increasing this...

Page 286: ... Velocity Control Mode Control Gain 1 Integral Gain If the Torque command filter Low pass filter auto setting 160 2 is set to 1 auto setting ON Torque command filter Low pass filter will be included in the gain set Inertia Condition Heavy Frequency Equipment Example Frequency Frequency Medium Light Higher stability Good for applications of large load fluctuation Robot Higher convergence Micro vibr...

Page 287: ... 0 Time constant 162 0 Width 169 0 Width 172 0 Depth 170 0 Depth 173 0 Torque command filter Position command filter 132 Load factor Digitax SF Connect only Current control Switch 193 0 Motor Pulse train command Encoder pulse output Input pulse form ３2 0 Rotational direction ３2 1 Input logic ３2 3 Input filter ３3 0 35 Velocity 33 Position pulse 160µs 50W 750W pulse 200µs 1kW 2kW Command pulse Feedf...

Page 288: ...average counter 78 0 Internal Velocity Command Numerator 276 0 Denominator 278 0 3 0 Command Mode Rotational direction 272 1 Input filter Input filter Input gain Speed limit Enable Switch 62 1 Numerator 48 0 Numerator 50 0 CCW Numerator 52 0 CW Numerator 54 0 Denominator 49 0 Denominator 51 0 CCW Denominator 53 0 CW Denominator 55 0 Acceleration time 390 0 Deceleration time 391 0 Speed 1 392 0 Spe...

Page 289: ... Numerator 288 0 Numerator 290 0 CCW Numerator 292 0 CW Numerator 294 0 Denominator 289 0 Denominator 291 0 CCW Denominator 293 0 CW Denominator 295 0 152 0 Speed limit Analog torque command input Offset value 300 0 Direction of Rotation ３02 0 offset tuning method ３02 2 Set the tuning parameters in Speed Control Mode first Switch to Torque Control Mode next to set other parameters Inertia ratio up...

Page 290: ...ly 2 3 4 To turn the servo ON connect the SVON pin on the CN1 connector to COM 5 Operate the motor at lower speeds according to the command pulse from the host controller 6 Start tuning with one of the following methods Any of the following may interrupt proper performance of Quick Tuning or Auto Tuning In those situations set the inertia ratio manually based on calculated values For optimal perfo...

Page 291: ...inal Tuning position control mode 1 Overview Position Control Mode Stage 1 Auto Tuning Page 17 Auto Tuning on Digitax SF Connect Page 22 Auto Tuning on Setup Panel Stage 2 Final Tuning Performed by Digitax SF Connect Page 20 Final Tuning Velocity control mode Velocity Control Mode Optimizing the settling time and error Suppressing vibration and noise Optimizing the settling time and error Suppress...

Page 292: ...or example decreasing the rotational speed to about 1 000 rpm Operation 2 Quick tuning Quick tuning or Visually check the actual motion Quick tuning or ణ ঔॽॱ Enter an inertia ratio value Select the inertia condition The following is desired Shorter settling time Better responsiveness Less vibration Automatic estimation of the inertia ratio Automatic setting of the control gain set Let the system m...

Page 293: ... Conﬁrm ZDYHIRUP PRQLWRU Conﬁrm Click 6HW Operation 2 Let the system move Change the inertia ratio 6HW Write to the drive Is the motor quiet The following is desired Shorter settling time Better responsiveness Less vibration Tuning complete Check the motor motion by test operation or external command input Repeat the system entire motion several times Click Click the Quick Tuning in the Tuning tab...

Page 294: ...Visually check the actual motion Conﬁrm DYHIRUP PRQLWRU Quick Tuning Click on the Quick Tuning check box Let the equipment system move Check the motor motion by test operation or external command input Repeat the system entire motion several times Stop the Quick tuning Select the appropriate inertia condition Start the Quick tuning Select the Tuning tab Check the motor motion by test operation or ...

Page 295: ...ion at the motion end Acceptable motion Gain FF compensation 1 Suppressing vibration at the motion end Tuning of Integral gain Operation 5 DYHIRUP PRQLWRU Integral gain Suppressing disturbance Conﬁrm DYHIRUP PRQLWRU Is the motor quiet Acceptablemotion No vibration Acceptable motion Torque command ﬁlter Notch ﬁlter Low pass ﬁlter Suppressing vibration and noise Position command ﬁlter Notch ﬁlter γ ...

Page 296: ...ion 6 Let the equipment system move Click ULWH Write to the drive Change Gain FF Compensation Change Control Gain Set 6HW Change Integral Gain 6HW Let the equipment system move Let the equipment system move Tuning complete Pages 41 Pages 36 Torque command ﬁlter Position command ﬁlter Check the motor motion by test operation or external command input Repeat the system entire motion several times Cl...

Page 297: ...set according to the inertia ratio automatically Set the Tuning Items Wait until the motion becomes stable If position error occurs Handle the error by for example decreasing the rotational speed to about 1 000 rpm Operation 2 Visually check the motion etc Performed by Digitax SF Connect Auto Tuning Mode Saving parameters Quick Tuning Mode Let the equipment system move Check the motor motion by te...

Page 298: ...ually enter the inertia ratio This is a sample image the inertia ratio is 250 Acceptable motion Final tuning Visually check the motion etc Conﬁrm Conﬁrm Let the equipment system move Is the motor quiet Shorter settling time Better responsiveness Less no vibration If you need to improve the response further gradually increase the control gain set within the range where the motor will not make noise...

Page 299: ... Tuning will start Select a value suitable for the load connected Change Tuning Items Set to 2 then starting a tuning Change Set to 0 then stop a tuning Check the motor motion by test operation or external command input Repeat the system entire motion several times Stop tuning once you verify that the motion has become stable Shorter settling time Better responsiveness Less no vibration The follow...

Page 300: ...XQLQJ And or Visually check the actual motion or Set Control Gain Set to 5 Enter the inertia ratio Set Control Gain Set to 5 Setting Tuning Mode Let the equipment system move If abnormal vibration with loud noise occurs Decrease the inertia ratio Set Inertia Condition to 1 If position error occurs Handle the error by for example decreasing the rotational speed to about 1 000 rpm Check the motor mo...

Page 301: ...et Write to the drive Acceptable motion Is the motor quiet Final tuning Tuning complete Click Click Check the motor motion by test operation or external command input Repeat the system entire motion several times And or Visually check the actual motion DYHIRUP PRQLWRU Starting tuning with a low setting of the controller gain set will enable successful tuning with no vibrations and low noise Change...

Page 302: ...or motion by test operation or external command input Repeat the system entire motion several times Wait for the inertia ratio estimate to converge Stop Click Click Click Shorter settling time Better responsiveness Starting tuning with a low setting of the controller gain set will enable successful tuning with no vibrations and low noise And or Visually check the actual motion DYHIRUP PRQLWRU Manu...

Page 303: ...n DYHIRUP PRQLWRU DYHIRUP PRQLWRU Torque command ﬁlter Notch ﬁlter Low pass ﬁlter Suppressing disturbance Start Final Tuning Operation 3 Conﬁrm Is the motor quiet Tuning of Control Gain Set Tuning of command Responsiveness Control Gain Set Suppressing vibration and noise Page 27 Pages 41 DYHIRUP PRQLWRU And or Visually check the actual motion DYHIRUP PRQLWRU Torque command ﬁlter Notch ﬁlter Low pa...

Page 304: ... ULWH Change Control Gain Set Change Integral Gain Set Let the equipment system move Tuning complete Pages 41 Acceptable motion Click Click Click Check the motor motion by test operation or external command input Repeat the system entire motion several times And or Visually check the motion etc DYHIRUP PRQLWRU Torque command ﬁlter Notch ﬁlter Low pass ﬁlter Final Tuning Write to the drive ...

Page 305: ... set according to the inertia ratio automatically Set the Tuning Items Wait until the motion becomes stable If position error occurs Handle the error by for example decreasing the rotational speed to about 1 000 rpm Operation 2 Visually check the motion etc Performed by Digitax SF Connect Auto Tuning Mode Saving parameters Quick Tuning Mode Let the equipment system move Check the motor motion by t...

Page 306: ...otion by test operation or external command input Repeat the system entire motion several times If you need to improve the response further gradually increase the control gain set within the range where the motor will not make noise and perform tuning each time The following is desired Shorter settling time Better responsiveness In the parameter saving mode save the parameters to EEPROM in the dri...

Page 307: ...PROM in the drive If you shut down the drive without saving the parameters the setting changes will not take eﬀect Shorter settling time Better responsiveness Less no vibration The following is desired Visually check the motion etc After you change the value to 0 and then press the SET button Tuning will stop You can change the value when this starts blinking Check the motor motion by test operati...

Page 308: ...ing 2 Tuning Procedure 2 Tuning Procedure Conﬁrm Select items to measure Click Select the Tuning tab Capture waveform Check the machine motion Select measurement conditions 6WDWH WHP tab tab tab Start Measuring DYHIRUP PRQLWRU DYHIRUP 5HFRUG Confirm ...

Page 309: ...ioritize either stability or convergence according to the load and rigidity of your equipment Be aware of the trade off between stability and convergence Settings Intended Use Effect 1 heavy load high fluctuation equipment low rigid equipment robot arms etc 2 Default moderate setting general transport machines 3 light load equipment equipment that demands high speed operation or settling required ...

Page 310: ...creasing the value check the resulting operation to avoid oscillation or vibration Tuning Tip Set the value to 5 first to fix the inertia ratio Gradually increase the setting value while watching the motion If noise occurs use a notch filter or decrease the low pass filter setting Page 42 Torque Command Filter Notch filter Page 43 Torque Command Low Pass Filter 2 This is when Low pass filter auto ...

Page 311: ...de Unbalanced load such as gravity is present Remark Use the Unbalanced Load Mode even for the case of balanced load horizontal axis motion Prerequisite Position Control Mode Velocity Control Mode Function Setting the item s to be estimated during tuning Parameter 110 1 Settings Tuning Estimate items Inertia ratio Damping ratio 0 Tuning Stop Default Do not estimate Do not estimate 1 Tuning Start E...

Page 312: ...he load moment of inertia The inertia ratio used in Digitax SF includes the motor rotor inertia 100 Example inertia ratio 200 motor rotor inertia 100 output axis load 100 inertia ratio 1100 motor rotor inertia 100 output axis load 1000 Inertia ratio load inertia Rotor inertia Rotor inertia 100 Parameter 102 0 Default 250 Setting range 100 10 000 Remark Settings that are not right for the equipment...

Page 313: ... a value smaller than the value of Control Gain 2 116 0 Making a change to any of the following will also change other tuning parameters such as Control Gain 2 to the prearranged parameter set all at once Control Gain Set 113 0 Inertia conditions 113 1 Control Level 114 0 Tuning Tip ｔ Differences in Position Error Convergence Position Control Mode Control Gain 1 High Low Velocity command value Pos...

Page 314: ... Tuning Tip Use this parameter when the load inertia or the load fluctuation is large The responsiveness will be improved and the movement will be smoother Noise Solutions Use Torque command filter Notch filter such as 160 1 Lower Torque command filter Low pass filter constant 162 0 Lower Integral gain 119 0 Differences in Position error Convergence Position Control Mode Control Gain 2 Velocity co...

Page 315: ... 0 Tuning Tip Use this parameter when the load inertia or the load fluctuation is large The responsiveness will be improved and the movement will be smoother Noise Solutions Use Torque command filter Notch filter such as 160 1 Lower Torque command filter Low pass filter constant 162 0 Lower Integral gain 133 0 When no improvement have been seen if these and method had been performed please decreas...

Page 316: ... nor undershooting Tuning Tip Set the following before adjusting this parameter Inertia ratio 102 0 Control gain set 113 0 Control level 114 0 Control Gain 1 115 0 and Control Gain 2 116 Setting this parameter too low will result in undershooting Target the value which would make the settling time shorter Too high a value of this parameter will result in overshooting Set relatively a moderate valu...

Page 317: ... Manual 7 Tuning 3 Tuning Parameters Function Parameter 118 0 Default 0 0 01 Setting range 0 15 000 Remark Tuning Tip Differences in Position Error Convergence Position Control Mode Gain FF Compensation 2 Velocity command value Position error High Low ...

Page 318: ...hin the range of no noise to achieve your desired responsiveness Tuning Tip Adjust the integral gain after setting the control level or adjust Control Gain 1 and 2 each and FF compensation Noise Solutions Use Torque command filter Notch filter such as 160 1 Decrease the value of Integral Gain If noise occurs decrease the setting of this parameter or apply a torque command notch filter Page 42 Torq...

Page 319: ... Overview Refer to Smoothing Position Command Smoothing Filter Effective in smoothing the position command and suppressing vibration at the time of positioning 38 Filter Overview Refer to Notch 37 39 γ Notch 37 40 Apply the following notch filters if the machine end point is still vibrating after sufficient tuning was performed and the smoothing filter was set Up to four levels of Position command...

Page 320: ...y aﬀect the lower level ﬁlter Check the frequency and width again When setting the second level ﬁlter change the notch depth accordingly Decreasing the notch depth may reduce vibration Further adjust within the acceptable range of position error Write to Drive Setup Complete Notch ﬁlter Page 39 Setting Position command ﬁlter Find the best frequency that will suppress the vibration Step 1 Coarse tu...

Page 321: ...on command filter 1 Type 66 0 and Position command filter 4 Switch 66 1 to 1 Measure the vibration frequency on the torque command waveform or position error and set Position command filter 1 and 4 Smoothing 1 and 2 Moving average count 80 0 and 81 0 to the value derived from the vibration frequency Calculation formula Motor Output Capacity Moving Average Count Derived from Vibration Frequency 50 ...

Page 322: ...8 Depth Default 0 79 0 86 0 360 0 Setting range 0 100 Remark Tuning Tip Check the following before applying the filter The command from the host controller is reasonable The equipment is installed firmly and properly The gain parameters such as inertia ratio are properly set The command smoothing filters 2 and 1 are set The integral gain has been decreased and vibrations are unlikely to occur 5 Se...

Page 323: ...able The equipment is installed firmly and properly The gain parameters such as inertia ratio are properly set The command smoothing filter 2 and 1 are set The integral gain has been decreased and vibrations are unlikely to occur 5 Setting List of Parameters Position Commandγ Notch Filter High Frequency Gain t Position error is low very effective in suppressing vibration Torque Command Value or AB...

Page 324: ...oving vibration elements from torque command and suppressing noise and vibration 42 Low pass Torque Command Low Pass Filter This filter is effective in smoothing the position command and suppressing vibration at the time of positioning 43 Block Diagram of Torque Command Filter with Details Torque command filter Filter 1 Select Select Select Filter 2 Filter 3 Notch Low pass Notch 2 Torque command l...

Page 325: ...nd set the value of Notch filter frequency 168 0 to be a vibration frequency Calculate the vibration frequency using the waveform of for example the torque command when vibration is occurring In the case of multiple vibration frequencies set the second level notch filter Alternatively use this filter together with the low pass filter 160 0 160 2 162 0 or increase Notch filter Width 169 0 If applyi...

Page 326: ...er value means getting closer to the control range of the response model another type of vibration will occur Tuning Tip Set Torque command filter Notch filter switch 160 1 1 enable A rough estimate of possible max value for the filter can be obtained as follows 0 1 to 0 2 max ω １ ω ２ ωｑ s or below Position Control Mode Velocity Control Mode ω 1 Control Gain 1 115 0 Control Gain 1 131 0 ω 2 Contro...

Page 327: ...vestigate vibration frequency 5 Click Frequency display The x axis unit will be changed from time ms to frequency Hz The display unit of the graph in the range between the 1st and 2nd cursors will be converted to frequency When the x axis unit on the graph is switched to frequency the cursor colors will change The table will show the frequency in red on column A and blue on column B 6 Read the pea...

Page 328: ...urn to the waveform monitor The filter that you just set will be shown on the list 11 Tip for Notch Filter Setup When you are setting a notch filter use the initial value for the notch width and check the effect first After setting the notch filter start the equipment verify the filter effect and lower the notch frequency gradually Measure the waveforms to find the best filter conditions such as f...

Page 329: ...46 MEMO Digitax SF Instruction Manual 7 Tuning ...

Page 330: ...8 8 Troubleshooting 2 2 4 5 5 6 8 8 9 17 18 19 20 21 22 23 ...

Page 331: ... SF Connect Digitax SF Connect Instruction Manual When a warning occurs the drive STATUS LED blinks green In addition the Setup Panel will automatically display the corresponding warning No When an alarm occurs the drive STATUS LED changes from solid green to solid red In addition the Setup Panel will automatically display the alarm No Note that the above does not happen in the following modes Par...

Page 332: ... the Setup Panel Alarm No Alarm that is occurring now Alarm history Alarm No History No 0 Now Alarm time stamp hours If you press during alarm log display alarm occurrence hours will be displayed The alarm occurrence hours are as same as the cumulative operating hours displayed under the Alarm tab in Digitax SF Connect History No 9 Alarm that is occurring now ...

Page 333: ...ntrol power to the drive and start Digitax SF Connect For information on the warning alarm check Alarm currently occurring under the Alarm tab If you are not sure what to do contact the supplier with the alarm number and its description for help Digitax SF Connect Instruction Manual Step 1 Select the Alarm tab in Digitax SF Connect Step 2 See Current alarm and Cause for the alarm and What to do wi...

Page 334: ...e user I O WARN1 warning becomes closed 4 Connections Descriptions CN1 connector signals During warning output the warning number will appear on the Setup Panel Warning status output with the RS 485 communication 9 Appendices Status Display There are 4 ways to output warnings １ I O 2 Setup Panel Output 3 RS 485 Communication 4 Digitax SF Connect 1 Warning Output 2 Warnings and Remedies Select the ...

Page 335: ...arning No 901 Encoder battery voltage drop error detection Symptom and Possible Cause The battery voltage of the absolute encoder has dropped below the voltage set by Encoder Battery voltage drop detection Value 268 0 Remedy Replace the battery in the absolute encoder Check the Encoder Battery voltage drop detection Value 268 0 Reset Method After eliminating the cause then input RESET signal to th...

Page 336: ...ction Value 363 0 and Position error warning detection Delay time 365 0 Reset Method After eliminating the cause then input RESET signal to the RESET terminal on the connector CN1 Warning No 903 Encoder communication warning Symptom and Possible Cause Failed to obtain ABS encoder temperature and battery voltage data Remedy Check for wire disconnection or loose connection of pins Keep the cable len...

Page 337: ... 12 10 Positioning command overflow Homing failure 12 11 Encoder multi turn counter overflow 12 12 Overheat 12 14 Overvoltage 13 15 Power supply AC Supply 13 16 Encoder received data 14 17 Encoder no response 14 18 Encoder circuit 14 19 Encoder communication 14 20 Encoder multi turn data 14 21 Encoder voltage drop 15 22 Voltage control power 15 23 Switch circuit 15 24 Overcurrent 15 25 Inverter 1 ...

Page 338: ...larm No 2 Product code Symptom and Possible Cause Unable to read the product code The drive motor pairing was wrong The encoder cable was not connected to the drive correctly This includes wiring disconnection Remedy Check the motor drive pairing Check the encoder cable connections Reset Method Alarm No 4 Overspeed Symptom and Possible Cause The motor rotational speed exceeded the rated maximum ro...

Page 339: ...osition Symptom and Possible Cause Position Control Error The acceleration time was too short There was wrong connection or disconnection of the motor power cable or encoder cable Position error detection Value 87 0 was not appropriate Remedy Adjust the tuning parameters Check the command from the host controller Check the wiring Check the setting of Position error detection Value 87 0 Verify that...

Page 340: ...or power cable connections 3 Verify that the user selected motor capacity is appropriate Verify that the brake is disengaged Verify that the deceleration ratio is appropriate 4 During Acceleration Check the acceleration time torque wave form and load ratio Not During Acceleration Verify that there are no obstacles inside the work area of the equipment 5 Check the torque waveforms and load ratio Ch...

Page 341: ... exceeded the 2 147 483 647 range Homing failed and timed out Remedy Select a value different from the current setting of Internal Position Overflow detection 643 0 Adjust the parameters such that the shift amount will be within the 1 073 741 823 range Adjust the shift amount of Positioner motion inching and test each one Adjust the Homing related parameters Reset Method Alarm No 11 Encoder multi ...

Page 342: ...nge SVON signal was input without AC supply being present Anomaly of the regenerative control circuit operating time lasted longer than a specific amount of time Regeneration ON status too long Remedy If the alarm occurred between servo on and operation startup Verify that the AC Supply is connected to the drive Check the AC supply Check the timing of AC Supply input and SVON signal input If the a...

Page 343: ...heck for noise interference Use a shielded twist pair cable Keep the encoder cable away from the motor power cable Connect Ground Earth FG firmly Use ferrite core for motor power cable and encoder cable If any of the above didn t resolve the issue please contact the supplier of the drive Reset Method Alarm No 18 Encoder circuit Symptom and Possible Cause The battery voltage of the absolute encoder...

Page 344: ... No 15 Power supply Check all the alarms that are occurring This alarm will not remain in the alarm history Reset Method Alarm No 23 Switch circuit Symptom and Possible Cause Control circuit has failed Remedy Please contact the supplier of the drive Reset Method Alarm No 24 Overcurrent Symptom and Possible Cause Anomaly of motor control current inside of the drive has been detected Remedy Check th...

Page 345: ...rent sensor was high Anomaly of the current sensor has been detected Remedy Check the installation method and environment If any of the above didn t resolve the issue please contact the supplier of the drive Reset Method Alarm No 28 Encoder overheat Symptom and Possible Cause The encoder PCB temperature has reached the upper limit Remedy Check the installation method and environment of the motor D...

Page 346: ... Panel does not light up 18 Problem Symptom Refer to Problem 2 No current flows to the motor The Setup Panel shows but the servo cannot be enabled 19 Problem Symptom Refer to Problem 3 No motor rotation The motor does not rotate although the servo is on 20 Problem Symptom Refer to Problem 4 Unstable motor motion The motor motion is unstable 21 Problem Symptom Refer to Problem 5 Positional disturba...

Page 347: ...t the 24 VDC to the user I O connector Connect the 24 VDC to Pin 1 and Pin 3 and GND to Pin 2 and Pin 12 respectively Loose user I O connector Connect the user I O connector firmly The control power voltage is low Check the control power supply voltage capacity The drive has failed Please contact the supplier of the drive Control power 24 VDC is being supplied but the Setup Panel does not light up...

Page 348: ...ignal of the host connector to the user I O connector The AC Supply is not present Alarm No 15 is displayed Verify that CHARGE LED is on If it is off verify that the AC supply connections are not loose and the voltage is present The motor power connector is loose Connect the Motor Power connector firmly The drive has failed Please contact the supplier of the drive The Setup Panel shows but the ser...

Page 349: ...as pulse ratio It is possible that the motor is rotating very slowly The command input pins of user I O connector are not connected correctly Check for correct I O connections 4 Connections No command input is allowed Open HOLD and COM pins of the user I O Torque command limit is not set correctly Verify that Torque command limit Value 1 and Value 2 147 0 148 0 are set correctly CCW CW drive limit...

Page 350: ...he waveform monitor in Digitax SF Connect check the command from the host controller Check for proper connection of the I O connector Tuning is incomplete Adjust the parameters The motor rotates with no host command input In Position Control Mode Set Pulse train command Input filter 33 0 to an appropriate value In Velocity Control Mode Adjust Analog velocity Offset value 60 0 In Torque Control Mod...

Page 351: ... Position feedback agree If not adjust the tuning parameters The host controller is not obtaining encoder Z phase correctly Check the command from the host controller Use Digitax SF Connect to measure the waveforms of Status No 33 Pulse Train Command Input position or Status No 49 Analog Velocity Command Input to verify that a normal command is input Verify that the host controller is obtaining Z ...

Page 352: ... motor are resonating For low frequency vibration adjust the position command smoothing filter For high frequency vibration adjust the low pass filter or notch filter Motor load is substantially large Alarm No 7 is displayed Set the inertia condition parameter to Heavy Keep adjusting the Position Command Smoothing Filter to smooth the command until the vibration at the time of acceleration becomes...

Page 353: ...24 MEMO 8 Troubleshooting Digitx SF Instruction Manual ...

Page 354: ...attery 4 4 Absolute Encoder Cable 6 5 Initializing Absolute Encoder 7 6 Obtaining Absolute Data 11 7 Alarm 13 15 15 16 16 4 Status Display 17 1 Introduction 17 2 List of Status Variables 18 3 Details of Each Status Variable 19 5 How to set Pulse the train command Input filter 33 0 32 ...

Page 355: ...igure an absolute system prepare the following items A motor equipped with absolute encoder and a drive that supports absolute system A backup battery Page 4 Backup Batteries An absolute encoder Cable Page 6 Absolute Encoder Cable １ Absolute System Select the model code that support absolute systems Motor Product Code By using the absolute system you do not have to perform Homing after cycling pow...

Page 356: ...irst and then connect the absolute encoder cable Refer to the figure below ２ Be sure of the right connecting polarity and connect the backup battery correctly Page 4 Backup Batteries ３ After connecting the battery secure the battery to the absolute encoder cable by using a cable tie Page 5 Securing the battery ４ Initialize the absolute encoder Page 7 Initialing Absolute Encoder Battery for backup ...

Page 357: ... 23 environment Maximum Continuous Discharge Current 500 mA Under the 23 C environment Dimensions See the figure below Exterior Insulation tubing Terminal Housing DF3 2S 2C Contact DF3E 2428SCFC Lead wire UL 1007 AWG26 Red Black Connector Hirose Electric Mass 17 g Temperature Range Operating temperature 40 to 70 No condensation Recommended Storage Conditions Temperature 10 to 30 Humidity 60 RH or ...

Page 358: ...ning tool Holding strength of the cable tie should be 11 6 to 44 2 N 2 Protecting the Battery Connector Part Protect the exposed part of the battery connector terminal with a heat shrink tube Be careful not to connect the battery the wrong way round Do not attempt to disassemble the battery Do not short circuit the battery Never attempt to charge the recommended battery Dispose of used batteries a...

Page 359: ...6 9 Appendices Digitax SF Instruction Manual 1 Absolute System 4 Absolute Encoder Cable Recommended Products You can purchase recommended cables from your supplier 3 Preparation ...

Page 360: ...or the first time or using it after replacing the motor you need to initialize the encoder Use the Encoder Clear function by using the Setup Panel or Digitax SF Connect to initialize the encoder And then restart your drive Only multi turn data will be initialized and single turn absolute data will not Initialize the absolute encoder before performing homing ...

Page 361: ...nges to 䣕䣇䣖 Turn the control power on and verify that S oﬀ is displayed 䣏䣑䣆䣇 Turn on the control power and verify that Alarm 18 is displayed N Y ŕŶųůġŰůġŵũŦġŤŰůŵųŰŭġűŰŸŦųĭ ŢůťġŵũŦůġŷŦųŪŧźġŵũŢŵġ ȨŔĮŰŧŧȩ ġ ŪŴġťŪŴűŭŢźŦťį Execute Encoder Clear while the Servo is OFF Operation with the Servo being ON will cause an alarm At the same time Alarms 20 and 21 occur Step 1 Is the target axis near the home pos...

Page 362: ...ep 2 Step 3A Is the target axis near the home position Turn the servo ON then move it by host command inching or jogging Digitax SF Connect Operation Manual Setting Auxiliary Function Mode 5 Conﬁrm Step 3B Connect all cables and wires Connect the battery to the encoder as well Can you move it close to the home position manually Manual motion Command Input motion Set Parameter No 257 0 to 1 or 2 Mu...

Page 363: ...ncoder 3 Click on Get Encoder Status 7 Cycle the control power 6 Click Yes 4 Check one of the boxes 5 Click Clear encoder Until checking the boxes the encoder clear button does not work 1 Under the Auxiliary functions tab select Encoder 2 Click on Show Encoder Status 3 Verify that this value is 0 Step 3B Conﬁrm Turn on the control power and start communicating with the drive by using Digitax SF Co...

Page 364: ... initial value 1 Range 1 32 Communication Switch 8 0 Enable or disable RS 485 Communication Select １ Minimum response time 11 0 Adjust response timing from the drive Adjust it to satisfy the communication specification of the host controller The initial value 3 ms Range 0 255 ms Example of communication commands to obtain absolute data Transmit data 24 01 00 11 00 C3 0A 94 Response data 26 01 80 1...

Page 365: ...turn data Start Digitax SF Connect and start communicating with the drive 1 Display the Status monitor view 2 Select Encoder Rotor mechanical angle integrated value 3 Set the sampling cycle and then click 6WRS UHFRUGLQJ 6WDUW UHFRUGLQJ Data capture continues until you click Use the Auxiliary functions tab 1 Under the Auxiliary functions tab select Encoder 2 Click on Get Encoder Status ３ Encoder da...

Page 366: ... reset Check for the encoder cable connection problems such as poor pin contact Take noise countermeasures For example separate the motor power cable from the encoder cable 21 Encoder voltage drop Multi turn data being reset due to low battery voltage Check for low battery voltage and loose connection of the battery cable Initialize the encoder 7 Alarm By using Digitax SF Connect you can check ala...

Page 367: ... upon the control power OFF 5 EEPROM error The saved data in EEPROM is corrupted 6 Overheat warning The temperature of the encoder board exceeded the user specified temperature 7 Battery voltage drop warning The battery voltage 1 dropped below the user specified value The battery voltage is checked at the time of power turning on and every hour afterwards The user specified voltage is not displaye...

Page 368: ... stop Brake after a stop No 224 3 DBRK output after stopping No related parameters No 224 0 Deceleration stop Method upon Servo Oﬀ 0 Coast to Stop Servo OFF triggers a deceleration stop and motor motion stops Opened E STOP Opening User I O SVON or E Stop triggers Servo OFF to stop the motor motion OR Servo OFF While driving the motor Deceleration Stop Related to Related to Brake operation No 232 3...

Page 369: ...nsulation Insulation Internal power supply 䣕䣖䣃䣖䣗䣕䣕䣇䣎䣇䣅䣖䣅䣐䢵䣕䣇䣖䣏䣑䣆䣇䣕䣇䣎䣇䣅䣖 Voltage detection Inrush current protection Over current detection Gate drive V W U Fuse P L1 L2 Fuse L3 N CN2 Interface circuit MPU I O Pulse train command input Control power DC 24 V I Opower supply 24 V Encoder output Analog command input USB RS 485 CN3 CN1 B1 B2 FG Interface circuit Input ﬁlter SG Interface circuit ...

Page 370: ...control block based on the pulses equivalent to single turn of the motor which is 17 bit It is a pulse value resulting from division multiplication in the drive Unit of Command pulse This unit is based on pulse count corresponding to single turn of the motor in the host controller s perspective This is a pre division multiplication value Status Alarm Units Bytes Signed Status No Hexadecimal number...

Page 371: ...ommand pulse Absolute Position Feedback 76 command pulse Command Position Error 78 command pulse ABS Position Error 80 command pulse Speed Command Value 97 rpm Speed Feedback 98 rpm Speed Error 99 rpm Torque Command Value 113 0 1 Load Factor 131 digit Load Factor 1 132 Encoder Rotor mechanical angle single turn value 194 encoder pulse Encoder Rotor mechanical angle integrated value 195 encoder pul...

Page 372: ...atus of the alarm occurring inside of the drive Transmit data 24 01 00 11 00 00 E3 BB 8 Troubleshooting Transmit data Response data Alarm status Error detection Encoder Received data Encoder no response Encoder circuitry Encoder communication Encoder multi turn data Encoder voltage drop Voltage control power Switch circuitry Overcurrent Inverter 1 Inverter 2 Current sensor Encoder error overheat V...

Page 373: ...ecimal number 16 10 2 no Description This item indicates the I O Status of the CN1 connector You can check the I O Status under waveform monitor and status monitor in Digitax SF Connect waveform monitor displays total value of I O bits in decimal status monitor displays I O bits in binary Encoder z phase output OCZ is always fixed to 0 Transmit data 24 01 00 10 00 10 C6 BA Transmit data Response d...

Page 374: ...ceed 85 Transmit data 24 01 00 10 00 18 47 B2 Status Pulse Train Command Input position Units Bytes Signed Status No Hexadecimal number 33 21 command pulse 4 yes Description The pulse count being output from the host controller is returned Transmit data 24 01 00 11 00 21 D7 F8 Transmit data Response data Warning status Error detection Warning No Encoder overheat detection Encoder battery voltage d...

Page 375: ...atus No Hexadecimal number 64 40 2 no Description Indicates whether positioning is completed or not 0 Not completed 1 Completed Transmit data 24 01 00 10 00 40 9C 4F Status Internal Command Value Units Bytes Signed Status No Hexadecimal number 65 41 encoder pulse 4 yes Description Indicates the command value being input to the position loop This is a value of the pulse command input position or a ...

Page 376: ...e will be shorter and vibration will be suppressed so the specifications for the equipment will be satisfied To check resonant frequency in case of equipment vibration by using waveforms of position error or torque limit value To see whether vibration was suppressed by checking waveforms after specifying the vibration frequency for the following position command filters Filter 1 Smoothing filter 1...

Page 377: ... the value of ABS Positioning Feedback Status No 76 Transmit data 24 01 00 10 00 50 B9 4E Status Speed Command Value Units Bytes Signed Status No Hexadecimal number 97 61 rpm 2 yes Description Indicates the command value being input from the position loop in Position Control mode or analog speed command in Analog Speed Control mode to the speed loop While tuning by measuring this value waveform da...

Page 378: ...e Units Bytes Signed Status No Hexadecimal number 113 71 0 1 2 yes Description Indicates the value of torque command The value of 1 000 equals to the rated torque You can check the torque range during acceleration time and compare to the rated torque and the instantaneous maximum torque RMS torque Keep this below the rated torque Instantaneous torque Use the motor such that this will be approximat...

Page 379: ...r mechanical angle single turn value Units Bytes Signed Status No Hexadecimal number 194 C2 encoder pulse 4 no Description Indicates single turn data of the motor It is presented in 0 131 072 17bit This value is an absolute value Transmit data 24 01 00 11 00 C2 1A B5 Status Encoder rotor mechanical angle integrated value Units Bytes Signed Status No Hexadecimal number 195 C3 encoder pulse 4 yes De...

Page 380: ... 24 01 00 10 00 CE EC 09 Status Encoder communication retry times Units Bytes Signed Status No Hexadecimal number 216 D8 times 2 no Description Indicates the communication retry count upon encoder communication error Transmit data 24 01 00 10 00 D8 9E FE Status Encoder Data Error Counter Units Bytes Signed Status No Hexadecimal number 218 DA times 2 no Description Indicates the cumulative count of...

Page 381: ...age for reference only Transmit data 24 01 00 10 00 E8 A8 AD Relations between RS 485 Communication Command and Bit Tables ー 15 Transmit data Response data Error detection Regeneration Status 14 13 12 11 10 9 8 7 5 4 3 2 1 0 0 1 ーーーーーーー 0 1 0 1 ーーーーー bit byte byte 24 01 00 10 00 E4 69 21 24 01 80 10 Output Input Regeneration control output 9 8 0 Output Input 6 Regeneration voltage warnin...

Page 382: ... Status No Hexadecimal number 288 120 4 no Description Indicates the logic I O input status inside the drive RS 485 Communication only Use this item while operating the motor with the point table in Internal Position Command mode using RS 485 communication with the host controller Communications Manual RS 485 Transmit data 24 01 00 11 01 20 F4 E8 Transmit data Response data Logic I O input status ...

Page 383: ...xadecimal number 296 128 4 no Description Indicates the logic I O output status of the drive RS 485 Communication only Use this during the point table operation in Internal Position Command mode by using RS 485 communication from the host controller Communications Manual RS 485 Transmit data 24 01 00 11 01 28 75 E0 Transmit data Response data Logic I O output status Error detection Reserved Motion...

Page 384: ...ppendices 4 Status Display 4 Status Display Status Inertia Ratio Estimate Units Bytes Signed Status No Hexadecimal number 371 173 no Description This item indicates the inertia ratio value estimated in auto tuning Transmit data 24 01 00 10 01 73 A9 4E ...

Page 385: ...tting Passing pulse width ns 8 600 500 kHz 9 800 10 1 000 11 1 200 12 1 600 250 kHz 13 2 000 14 2 300 15 3 100 When the input frequency is high select a small passing pulse width To improve noise resistance select a larger passing pulse width Set the passing pulse width to be 1 3 to 1 2 of the input pulse width Example Input pulse of 2MHz with 50 duty cycle Because the input pulse width is 250ns s...

Page 386: ...Digitax SF Instruction Manual 0478 0606 01 ...

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