NS system Tango-B series User Manual Download

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Command

Description

Range

Min.

Max.

M26

* GENERAL-PURPOSE COUNTER EQUAL JUMP

If the counter value is equal to the designated number after "M29" is
executed, jump to the designated step. Otherwise, go to the next step.

[Example]

File Step Code

Data

Description

M23

+00000

Initial value of counter0 is set in "0"

G00

+1000

Move 10.00 mm

M24

Counter0 up by 1

M29

+00100

Compare counter0 with 100

M26

+19

If equal 100, go to step 19

M50

+14

If not equal 100, then go to step 14

M30

Program end

M27

* GENERAL-PURPOSE COUNTER ABOVE JUMP

If the counter value is greater than the designated number after "M29" is
executed, jump to the designated step. Otherwise, go to the next step.

[Example]

File Step Code

Data

Description

M23

+00000

Initial value of counter0 is set in "0"

G00

+1000

Move 10.00 mm

M24

Counter0 up by 1

M29

+00100

Compare counter0 with 100

M27

+19

If greater than 100, go to step 19

M50

+14

If not, go to step 14

M30

Program end

M28

* GENERAL-PURPOSE COUNTER BELOW JUMP

If the counter value is less than the designated number after "M29" is
executed, jump to the designated step. Otherwise, go to the next step.

[Example]

File Step Code

Data

Description

M23

+00000

Initial value of counter0 is set in "0"

G00

+1000

Move 10.00 mm

M24

Counter0 up by 1

M29

+00100

Compare counter0 with 100

M28

+14

If less than 100, go to step 14

M30

Program end

M19

* COUNTER SET BY EXTERNAL DECIMAL ROTARY SWITCH (optional)

The initial value of designated general-purpose counter (0~3) is set by

external decimal rotary switch speed unit. The setting value means the
counter number to be initialized.

Summary of Contents for Tango-B series

Page 1: ...l 1 AXIS AC SERVO DRIVE CONTROLLER TANGO B Series NS SYSTEM Co Ltd NS SYSTEM SinYong B D 4F 942 6 Ingye Dong Paldal Gu Suwon City Kyungki Do Korea Homepage www nssystem co kr TEL 82 31 235 7492 6 FAX 82 31 235 7497 ...

Page 2: ...RANCES 13 2 2 1 INSTALLATION OF SERVO AMPLIFIER 13 2 2 2 INSTALLATION OF SERVO MOTOR 14 2 2 3 ENVIRONMENTAL CONDITIONS 14 2 2 4 ALLOWABLE WEIGHT OF MOTOR SHAFT 14 2 2 5 AUXILIARY EQUIPMENTS AND WIRES 15 CHAPTER 3 PARTS IDENTIFICATION 16 3 1 PARTS IDENTIFICATION OF SERVO AMPLIFIER 16 3 1 1 PARTS IDENTIFICATION OF BOOK TYPE1 TYPE2 16 3 1 2 PARTS IDENTIFICATION OF BASE MOUNT TYPE1 TYPE2 16 3 1 3 SERV...

Page 3: ...44 7 1 SELECTION OF PROGRAM MODE 44 7 2 OPERATION OF THE LOADER 44 7 3 OPERATION OF THE SERVO KEY UNIT 46 7 4 DETAILED DESCRIPTION OF PROGRAM COMMANDS 47 CHAPTER 8 RUN READY MODE 64 8 1 STATUS DISPLAY 64 8 2 OPERATION 65 8 2 1 OPERATION OF THE LOADER 65 8 2 2 OPERATION OF THE EXTERNAL INPUT 66 8 3 SELECTION OF DISPLAY MODE BY THE SERVO KEY UNIT 67 CHAPTER 9 AUTO RUN MODE 68 9 1 START OF AUTO RUN 6...

Page 4: ...ARM STATUS 82 14 1 TYPE OF ERROR 82 14 2 DETAILED DESCRIPTION OF ERROR ITEMS 83 CHAPTER 15 SERVO GAIN TUNING 88 15 1 MANUAL GAIN TUNING 88 15 2 SEMI AUTO GAIN TUNING 89 15 3 FULL AUTO GAIN TUNING 89 CHAPTER 16 SIGNAL TIMING 90 16 1 POWER ON SEQUENCE 90 16 2 SERVO ON OFF SEQUENCE 90 16 3 BRAKE ON OFF SEQUENCE 90 CHAPTER 17 OPTIONS 91 17 1 ENCODER AND MOTOR CABLE 91 17 2 IN OUT CABLE 91 17 3 OPTIONA...

Page 5: ...L 101 21 5 1 DOWN LOAD 101 21 5 2 UP LOAD 101 21 6 COMMUNICATION CODES 102 APPENDIX 106 APPENDIX A SERVO MOTOR CONFIGURATIONS 107 APPENDIX B SERVO MOTOR CLASSIFICATION 108 APPENDIX C SERVO MOTOR SPECIFICATIONS AND CHARACTERISTICS 109 APPENDIX C 1 KANZ Q SERIES SERVO MOTOR SPECIFICATIONS 109 APPENDIX C 2 KAND S SERIES SERVO MOTOR SPECIFICATIONS 110 APPENDIX C 3 KANH F SERIES SERVO MOTOR SPECIFICATI...

Page 6: ... inspection switch power off and wait for more than 10 minutes Then confirm the voltage is safe with voltage tester Otherwise you may get an electric shock Connect the servo amplifier and motor to ground class 3 There might be the electric shock or fire Operate the switches with dry hand to prevent from an electric shock The cables should not be damaged stressed loaded or pinched Otherwise you may...

Page 7: ...r and control enclosure walls or other equipment Provide adequate protection to prevent screws and other conductive matter oil and other combustible matter from entering the servo amplifier Securely attach the servo motor to the machine if attach insecurely the servo motor may come off during operation For safety of personnel always cover rotating and moving parts Never hit the servo motor or shaf...

Page 8: ...t change the wiring or do not remove the connector during being energized The electromagnetic brake on the servo motor is designed to hold the shaft and should not to be used for ordinary braking When power is restored after an instantaneous power failure keep away from the machine because the machine may be restarted suddenly Use a noise filter to minimize the influence of electromagnetic interfe...

Page 9: ...e system s malfunction makes it possible for users to make a fast correction Initial wiring check and corrective maintenance are easily performed by the exact check mode It provides the most smoothing acceleration deceleration by virtue of the S curve method Torque limit function for the protection of mechanical systems Mechanical systems are safely protected by the following functions Prevention ...

Page 10: ...G26 saved point positioning G99 block positioning G93 home return G31 BCD positioning Continuous running G22 continuous speed running G39 position compare jump Preparatory function G04 dwell G08 acc time G90 abs G91 inc G25 save position G29 compare position G92 set coordinate G94 set home position Program control M00 pause M10 M11 M12 M13 loop control M30 M31 end program M40 call subroutine M42 r...

Page 11: ...ed point positioning G99 block positioning G93 home return G31 BCD positioning Continuous running G22 continuous speed running G39 position compare jump Preparatory function G04 dwell G08 acc time G90 abs G91 inc G25 save position G29 compare position G92 set coordinate G94 set home position Program control M00 pause M10 M11 M12 M13 loop control M30 M31 end program M40 call subroutine M42 return t...

Page 12: ... positioning G99 block positioning G93 home return G31 BCD positioning Continuous running G22 continuous speed running G39 position compare jump Preparatory function G04 dwell G08 acc time G90 abs G91 inc G25 save position G29 compare position G92 set coordinate G94 set home position Program control M00 pause M10 M11 M12 M13 loop control M30 M31 end program M40 call subroutine M42 return to main M...

Page 13: ...ositioning G99 block positioning G93 home return G31 BCD positioning Continuous running G22 continuous speed running G39 position compare jump Preparatory function G04 dwell G08 acc time G90 abs G91 inc G25 save position G29 compare position G92 set coordinate G94 set home position Program control M00 pause M10 M11 M12 M13 loop control M30 M31 end program M40 call subroutine M42 return to main M50...

Page 14: ...NGO B04 KANZ 04B KANQ 04B KANF04 KAFN03 TANGO B06 KANZ 06B KAFX05 TANGO B08 KANZ 08B KANH05 KANF08 KAFX09 KAFN06 TANGO B12 KANZ 10B KAND10 KANH10 KAFN09 TANGO B18 KAND15 KANH15 KANF15 KAFX13 KAFN12 TANGO B24 KAND20 KANH20 KANF25 KAFX20 KAFN20 TANGO B30 KAND25 KAFX30S KAFN30 TANGO B35 KAND30 KAND45S KANH30 KANH40S KANF35S KAFX30 TANGO B40 KAND45 KANS40 KANH40 KANF35 KAFX45 TANGO B50 KAND50 KANS45 K...

Page 15: ...1 6 DIMENSIONS OF SERVO AMPLIFIER 1 6 1 DIMENSIONS OF BOOK TYPE1 TANGO B01 B02 B04 B06 1 6 2 DIMENSIONS OF BOOK TYPE2 TANGO B08 B12 B18 ...

Page 16: ...1 6 3 DIMENSIONS OF BASE MOUNT TYPE1 TANGO B24 B30 B35 1 6 4 DIMENSIONS OF BASE MOUNT TYPE2 TANGO B40 B50 B75 ...

Page 17: ...1 7 DIMENSIONS OF OPERATING LOADER Dimensions of panel loader Dimensions of handy loader Dimensions of panel loader cutting ...

Page 18: ...observed as the following figure Amplifier Mounted wall Ventilation If the ambient temperature excess the allowable temperature range 55 the cooling fan should be installed in the control box Since the ambient temperature has the close relationship with the lifetime keep it at the lower temperature as possible Install the servo amplifier under the following clearance conditions A B C D When instal...

Page 19: ...er load Otherwise it cause the vibration acoustic noise and damages The concentricity and gap should be less than 3 100mm The excessive external shock may break the motor bearing and encoder If the reducer pulley and coupling are used do not apply the excessive shock 50G and above to the motor shaft 2 2 3 ENVIRONMENTAL CONDITIONS Environment Servo Amplifier Servo Motor Ambient Temperature operate ...

Page 20: ... 250V 5A TANGO B18 250V 30A TANGO B50 250V 75A TANGO B04 250V 10A TANGO B24 250V 30A TANGO B75 250V 100A TANGO B06 250V 15A TANGO B30 250V 40A TANGO BH1 250V 150A TANGO B08 250V 15A TANGO B35 250V 40A Amplifier Rating Amplifier Rating Amplifier Rating TANGO B01 250V 5A TANGO B12 250V 20A TANGO B40 250V 50A TANGO B02 250V 5A TANGO B18 250V 30A TANGO B50 250V 75A TANGO B04 250V 10A TANGO B24 250V 30...

Page 21: ...NIT 7 Segment display Servo key unit CN1 Control I O connector CN2 Loader connector CN3 Servo motor encoder connector CN4 R S T E AC input power P B Regenerative brake U V W FG Servo motor power CN6 Communication connector CN7 MPG external encoder connector CN8 Analog input connector CN1 Control I O connector CN2 Loader connector CN3 Servo motor encoder connector CN4 R S T E AC input power U V W F...

Page 22: ... 1 Number 1 Screen left Manual move CW 2 Number 2 SHIFT Delete one character backward SHIFT 2 Instruction command F code Screen down Manual jog speed 3 Number 3 SHIFT Copy program file 4 Number 4 Screen right Manual move CCW SHIFT 4 Instruction command G code SHIFT Clear program file 5 Number 5 ESC Return to the previous state 6 Number 6 RUN Automatic Operation Start SHIFT 6 Instruction command M ...

Page 23: ...CHAPTER 4 SIGNALS AND WIRING 4 1 CONNECTION DIAGRAM OF BOOK TYPE1 TYPE2 4 2 CONNECTION DIAGRAM OF BASE MOUNT TYPE1 TYPE2 ...

Page 24: ...ze the influence of electromagnetic interference 4 The diode for protection of reverse voltage is installed on the internal circuit Pin No Symbol Signal Name Pin No Symbol Signal Name Pin No Symbol Signal Name 1 OUT6 Output 6 10 OUTCOM Output common 19 OUT7 Output 7 2 OUT3 Output 3 11 OUT5 Output 5 20 OUT4 Output 4 3 OUT0 Output 0 12 OUT2 Output 2 21 OUT1 Output 1 4 24V 24V 13 NC Not connect 22 NC...

Page 25: ...on In manual mode this input determines manual speed when the setting value is 1 or 2 0 General purpose input 1 One Touch type of external stop input restart by run input 2 Lock type of external stop input restart by itself off Off Manual high speed On Manual jog low speed I IN2 8 INPUT 2 RESET Setup 22 I2 RS determines it s function 0 General purpose input 1 One Touch type of external reset input...

Page 26: ...MANUAL MOVE Setup 28 I8 LM determines it s function 0 General purpose input 1 External left CW manual move input I IN9 24 INPUT 9 RIGHT CCW MANUAL MOVE Setup 29 I9 RM determines it s function 0 General purpose input 1 External right CCW manual move input I IN10 15 INPUT 10 BCD BIT 0 Basically it is used for general purpose input When BCD function is used it is used for bit 0 position of BCD input ...

Page 27: ...or output O OUT3 2 OUTPUT 3 SERVO ON MONITOR Setup 34 O3 SO determines it s function 0 General purpose output 1 Servo on monitor output O OUT4 20 OUTPUT 4 HOMING MONITOR Setup 35 O4 HM determines it s function 0 General purpose output 1 Homing monitor output O OUT5 11 OUTPUT 5 BRAKE OUTPUT Setup 36 O5 BK determines it s function 0 General purpose output 1 Brake output O OUT6 1 OUTPUT 6 It is used ...

Page 28: ... 1 25 AWG16 TANGO B24 3 5 AWG12 TANGO B75 8 AWG8 TANGO B06 1 25 AWG16 TANGO B30 5 5 AWG10 TANGO BH1 13 AWG6 TANGO B08 2 AWG14 TANGO B35 5 5 AWG10 Amplifier Wire TANGO B35 or less 2 AWG14 TANGO B40 B50 B75 BH1 3 5 AWG12 Amplifier Wire Amplifier Wire Amplifier Wire TANGO B01 1 25 AWG16 TANGO B12 2 AWG14 TANGO B40 5 5 AWG10 TANGO B02 1 25 AWG16 TANGO B18 3 5 AWG12 TANGO B50 5 5 AWG10 TANGO B04 1 25 A...

Page 29: ... notifying the last setup line to the user the screen displays as follows 7 9 X X X X X 0 0 0 0 0 0 E N D OF F I L E The last line B Selection of the set up number The screen displays the contents of selected setup number if the desired number is typed when the cursor is placed at the first letter of the number by using the button LEFT RIGHT C Input of the setup value If the cursor is placed at th...

Page 30: ...st figure is toggled by the UP key 5 Select the digit of LED sequentially by DOWN key The value of selected digit is blinking 6 Push the UP key the value of selected figure is increased 1 by 1 as the ring counter If the value changed the dots are disappeared Repeat the operation of 5 and 6 For the cancellation of the changing value push the MODE key then return to the level 3 Push the SET key to e...

Page 31: ...t is rpm 3 1500 5000 02 ATYPE ACCELERATION AND DECELERATION SHAPE It determines the shape of acceleration and deceleration 0 Linear 1 Sine wave The sine wave type is the most smoothing method due to the no break point So It is the most effective method 0 1 03 BSACC BASIC ACCELERATION AND DECELERATION TIME Basic acceleration deceleration time in automatic operation when it is not set by the program...

Page 32: ...in 1 Don t make a fractional case that degrades the precision of machine as soon as possible If machine scale is a fraction that has a decimal point user can raise up precision by the setup 10 DSCAL The standard TANGO B series has the 10000 or 20000 pulses per 1 revolution the motor encoder pulse is internally multiplied by 4 Example 1 Case of fixed number Motor encoder 2500 ppr Pulse revolution 2...

Page 33: ...hase If encoder Z phase is used the rising edge of that becomes the machine home position If the setting value of home offset Setup 19 HMOFF is available home offset movement action is performed It is used for the work home position or precision adjustment of machine home position 0 1 13 HFILE COMPLEX HOME RETURN Setting the program file number for complex home return It provides an another home r...

Page 34: ...ELERATION TIME Setting of acceleration deceleration time to start high speed home return or to stop when the home sensor is detected The unit is 0 01sec Note If the acceleration deceleration time is too long the system will pass the sensor when it decelerates and stops 0 150 18 HMDIR HOME RETURN DIRECTION Setting of the starting direction of home return If it meets the limit it moves back to the o...

Page 35: ...ernal emergency stop input 0 General purpose input 1 One Touch type of external reset input 2 Lock type of external emergency stop input normally open reset by itself off 3 Lock type of external emergency stop input normally close reset by itself on 0 3 23 I3 SM INPUT 3 SERVO Determine whether the input 3 is used for general purpose input or external servo on off input or external manual mode inpu...

Page 36: ... case we can change easily the limit direction without hard wired replacement by Setup 40 LTDIR 0 General purpose input 1 Right CCW limit sensor normally open 2 Right CCW limit sensor normally close 0 2 28 I8 LM INPUT 8 LEFT CW MANUAL Determine whether the input 8 is used for general purpose input or external left CW manual move input The manual move input is available when manual mode is derived ...

Page 37: ...OR Determine whether the output 4 is used for general purpose output or homing monitor output 0 General purpose output 1 Homing monitor output 0 1 36 O5 BK OUTPUT 5 BRAKE OUTPUT Determine whether the output 5 is used for general purpose output or brake output When use a servo motor with electromagnetic brake which is designed to prevent from a load drop on a vertical shaft or which ensure double s...

Page 38: ...rd wired replacement as follows Left move direction CW revolution Right move direction CCW revolution 0 direction left CW limit direction right CCW limit 1 direction right CCW limit direction left CW limit 0 1 41 SEND DIRECTION SOFT LIMIT Setting of direction software limit value as 2nd safety protection in addition to the protection by limit switch If this value is set in 0 this function is inval...

Page 39: ...of fraction number Don t make this case as possible as Motor encoder 2500 ppr Pulse revolution 2500 X 4 10000 ppr Gear reduction 3 1 Pulse revolution 100 10000 3 100 33 333 33333 1000 Setup 09 SCALE 33333 Setup 10 DSCAL 1000 0 2 44 SERVO AUTO SERVO ON If this value is set in 1 the auto servo on function is available The auto servo on function makes the servo amplifier to operate normally without e...

Page 40: ...tronic gear ratio Setup 50 Setup 51 at low speed mode input on Low electronic gear ratio Setup 50 Setup 51 Accordingly the machine can be moved at any multiplication factor to external encoder pulse input 1 1 30000 30000 52 ATSPD FULL AUTO TUNING SPEED Used to set the speed of full auto tuning action The unit is rpm For the accurate estimation of load inertia the auto tuning speed is at least more...

Page 41: ... method of target coordinate value There are two commands which use a point data indirectly One is G05 the other is G06 In case of command G05 point number is appointed directly from the data of command In case of command G06 point number is appointed indirectly from the BCD value of input 13 12 11 10 There are two ways of point data input One is the direct editing of point data The other is the i...

Page 42: ...tifying the last setup line to the user the screen displays as follows 1 5 X X X X X 0 0 0 0 0 0 E N D OF F I L E The last line B Selection of the set up number The screen displays the contents of selected servo parameter number if the desired number is typed when the cursor is placed at the first letter of the number by using the button LEFT RIGHT C Input of the setup value If the cursor is place...

Page 43: ... DOWN key P 00 P 15 Stop the display at the parameter no to be changed If you push the MODE key the system returns to the run ready state 4 The pre saved setting values are displayed by SET key The dots are displayed at the each LED 5 Select the figure of LED sequentially by DOWN key The value of selected figure is blinking 6 Push the UP key the value of selected figure is increased 1 by 1 as the ...

Page 44: ...stable The value is in directly proportion to the load inertia Sometimes the operation of repeated abrupt acceleration and deceleration requires only the P gain It performs a good transient response For detailed explanation refer to the chapter 15 1 9999 03 SPDIG SPEED I GAIN Used to set the I gain for speed loop It is applicable when servo parameter Svpar 00 is set in 0 The bigger the value the b...

Page 45: ...rred eliminate its cause ensure safety and deactivate the alarm before restarting operation The causes of over deviation alarm are mainly as follows 1 Acceleration deceleration time is too small 2 Position control p gain value is too small 3 Torque limit value is too small 4 Machine lock 1000 9999 07 TRQLT MAXIMUM TORQUE LIMIT Set to define the maximum torque The unit is of the rated torque The fa...

Page 46: ...2 If the input power supply is higher than the normal voltage then the alarm may occur frequently Install the step down transformer 0 0 25 sec 1 0 50 sec 2 0 75 sec 3 1 00 sec 0 3 10 BRKTM BRAKE ON DELAY TIME Set a time delay between electromagnetic brake signal output on and servo on The unit is msec When use a servo motor with electromagnetic brake which is designed to prevent from a load drop o...

Page 47: ...iled explanation refer to the chapter 15 1 9999 14 ASPDI AUTO TUNING SPEED I GAIN Used to set the auto tuning I gain for speed loop It is applicable when servo parameter Svpar 00 is set in 1 This parameter is automatically adjusted and saved at the end of auto tuning action or manually edited in servo parameter edit mode The bigger the value the better the steady state response and as the result t...

Page 48: ...t the maximum current 1 9999 03 IRMAX RATED CURRENT Used to set the rated current 1 9999 04 REQUL MOTOR RESISTOR PHASE Used to set the resistance per phase 1 9999 05 LEQUL MOTOR INDUCTANCE PHASE Used to set the inductance per phase 1 9999 06 TQCON MOTOR TORQUE CONSTANT Used to set the torque constant 1 9999 07 JMCON MOTOR INERTIA Used to set the motor inertia 1 9999 08 BKEMF MOTOR BACK EMF Used to...

Page 49: ...put by pushing the SHIFT ꡒ CANCEL ꡓ button D Selection of the file number The basically displayed file number is the number which is set at the setup 00 FILE If you want to display another file number you should place the cursor at the file number position using button and then type the file number you want E Input of Command code If you want to input the desired command you should place the curso...

Page 50: ...copy all the contents of the file on the screen to another file The following screen is displayed when you push the button SHIFT COPY T A R GE T F I L E 0 0 Y E S E N T E R N O E S C If you type the number of target file to be filled with copied program in the above file no position the file number is displayed For example the target file number is 2 and if you push 02 the screen displays as follo...

Page 51: ... 3 Push the SET key then command is temporary saved If command is normal and data value is needed go to level 8 If command is normal data value is not needed go to level 3 If command is abnormal then go to level 5 for re input 8 The upper 3 figures of data value above 1000 are displayed The first letter P or shows the sign of data value P means plus value and means minus value The next 3 figures s...

Page 52: ...ou want 4 The acc dec time is pre determined by the Setup 03 BSACC It is determined by the command G08 in program when you want Unit Setting value Setup 05 BUNIT 0 1 2 Setup 43 INDEX 0 mm 0 01 mm 0 001 mm 0 1 mm 1 inch 0 01 inch 0 001 inch 0 1 inch 2 deg 0 01 deg 0 001 deg 0 1 deg Coordinate system Setup 04 BSDIM Command Absolute coordinate 0 G90 Incremental coordinate 1 G91 Example File Step Code...

Page 53: ...s is as follows Save a current position at the desired storage point room then perform other operation return to the storage position The usage is same as G00 0 3 Example File Step Code Data Description 00 00 G91 Declaration of incremental coordinate 00 01 G00 10000 Move 100 00 mm 00 02 G25 0 Save the current position to storage point 0 00 03 M10 5 Loop For 5 00 04 G00 1000 Move 10 00 mm 00 05 M11...

Page 54: ...Compare with 10 00 mm 00 05 M60 0 If reaches 10 00 mm then make output 0 on 00 06 G29 5000 Compare with 50 00 mm 00 07 M60 1 If reaches 50 00 mm then make output 1 on 00 08 G29 8000 Compare with 80 00 mm 00 09 M61 0 If reaches 80 00 mm then make output 0 off 00 10 G29 9000 Compare with 90 00 mm 00 11 M61 1 If reaches 90 00 mm then make output 1 off 00 12 G30 Block end wait for the end of 100 00 mm...

Page 55: ... It performs according to the value of data as follows The acc dec time is pre determined by the Setup 03 BSACC or determined by the command G08 in program when you want The usage is same as G22 Value Operation 0 Stop 1 Continuous CW run at speed set by F01 1 Continuous CCW run at speed set by F01 1 1 G39 COMPARE POSITION JUMP It is subsidiary command of G22 and G23 If the program reaches G22 or G...

Page 56: ...by Setup 02 ATYPE as follows Setup 02 ATYPE 0 Linear acc dec 1 Sin wave acc dec 0 150 Example File Step Code Data Description 00 00 G91 Declaration of incremental coordinate 00 01 F00 1000 Speed 1000 rpm 00 02 G08 10 Acc dec time 0 1sec 00 03 G00 10000 Move 100 00 mm G90 ABSOLUTE COORDINATE Declare the absolute coordinate It is continuously valid until coordinate system is re declared The target p...

Page 57: ...File Step Code Data Description 00 00 G93 Home return 00 01 G94 Coordinate value is reset at Setup 19 HMOFF 00 02 G91 Declaration of incremental coordinate 00 03 G00 10000 Move 100 00 mm G25 CURRENT POSITION STORAGE The current position value is saved at designated storage point There are 4 storage points It s process is as follows Save a current position at the desired storage point room then per...

Page 58: ...ent position with designated position in block positioning function between G99 and G30 then make the output on or off G29 should be followed by the output command M60 M61 If not the motion stops and error message G99 G30 ERROR is displayed 999999 999999 Example File Step Code Data Description 00 00 G91 Declaration of incremental coordinate 00 01 F00 1000 Speed 1000 rpm 00 02 G08 10 Acc dec time 0...

Page 59: ...peed is determined by servo parameter Svpar 08 MAXSP as follows Analog input range Vin 0V 5V Determined speed MAXSP X Vin 5 NO NO Example File Step Code Data Description 00 00 G91 Declaration of incremental coordinate 00 01 F01 Speed set by analog input 00 02 G08 10 Acc dec time 0 1sec 00 03 G00 10000 Move 100 00 mm F10 POSITIONING SPEED BY EXTERNAL DECIMAL ROTARY SWITCH optional Used to set the p...

Page 60: ...00 02 G08 10 Acc dec time 0 1sec 00 03 M10 100 Loop i start For i 100 00 04 G00 10000 Move 100 00 mm 00 05 G04 100 Wait for 1 sec 00 06 M11 Loop i end Next i M11 LOOP i END NEXT i Declare the end of loop program in pair with M10 Jump to the next step of M11 after finishing the prescribed number of repeating And jump to the next step of M10 when not reached If the program meets the command M11 with...

Page 61: ...ram M42 RETURN FROM SUBROUTINE It returns to the main program from the subroutine by M40 The step to return is the next step of M40 If the program meets the command M42 without declaration of M40 then the motion stops and error message SUB RETURN ERROR is displayed NO NO M50 JUMP Jump to the designated step in a file and continues to execute the program 0 95 M56 JUMP BY BCD Jump to the designated ...

Page 62: ...op M30 PROGRAM END If the program meets the command M30 then the motion stops and the system returns to the run ready state The coordinate system is return to the state of Setup 04 BSDIM M30 must be declared at the last step of the program If the step number is greater than 95 then the motion stops and error message STEP OVER ALARM is displayed NO NO M31 TEMPORARY PROGRAM END This command is used ...

Page 63: ...RANGE OVER is displayed Usage BCD value of upper 4 outputs X100 BCD value of lower 4 outputs 00 15 X100 00 15 BCD of upper 4 BCD of lower 4 Output no 7 6 5 4 3 2 1 0 0 1515 Example 1 output on 0 remain former status File Step Code Data Description 00 04 M62 1005 Output 7 6 5 4 1 0 1 0 Upper 4 BCD 10 Output 3 2 1 0 0 1 0 1 Lower 4 BCD 05 M63 MULTI OUTPUT OFF Turn the multiple outputs off at the sam...

Page 64: ...off on off on BCD 05 Input module no 0 input 00 07 Compare and if equal then 2 if not then 1 step 00 05 M50 7 If not equal then go to step 7 00 06 M50 8 If equal then go to step 8 00 07 M30 Program end 00 08 M60 1 Output 1 on M70 INPUT ON WAIT Go to the next step if the designated input is on Otherwise wait the on signal If the designated value is out of range 00 13 then the motion stops and error...

Page 65: ...hen the motion stops and error message STEP RANGE OVER is displayed Usage Input no X100 Jump step no 00 13 X100 00 95 0 1395 Example File Step Code Data Description 00 13 G00 10000 Move 100 00 mm 00 14 M53 716 Go to step 16 if input 7 is off If not next step 00 15 M30 Program end if input 7 is on 00 16 M50 13 Jump to step 13 M54 OUTPUT ON JUMP Jump to the designated step in a file if the designate...

Page 66: ...value will be set in the target value Then the work counter is decreased 1 by 1 when the program meets this command NO NO M23 GENERAL PURPOSE COUNTER SET The initial value of designated general purpose counter 0 3 is set in designated value The general purpose counter can be used for various purposes If the display mode is set at counter mode mode 1 the work counter and general purpose counter 0 i...

Page 67: ...Description 00 13 M23 00000 Initial value of counter0 is set in 0 00 14 G00 1000 Move 10 00 mm 00 15 M24 0 Counter0 up by 1 00 16 M29 00100 Compare counter0 with 100 00 17 M27 19 If greater than 100 go to step 19 00 18 M50 14 If not go to step 14 00 19 M30 Program end M28 GENERAL PURPOSE COUNTER BELOW JUMP If the counter value is less than the designated number after M29 is executed jump to the de...

Page 68: ......

Page 69: ...or speed E Deviation counter Display the deviation counter value command pulse feedback pulse It is used for checking of the positioning accuracy and servo performance AL Average load Display the average load for 15sec The unit is value correspond to the rated torque The value of 100 means the 100 of rated torque It is used for checking the reasonable choice of servo motor capacity If the average ...

Page 70: ...n and becomes off after the end of home return when the Setup 35 O4 HM is set in 1 C Ready If you push the button READY the motor amplifier is turned into servo on if it is in off state Reversely if it is already on state the motor amplifier is turned into servo off The servo amplifier should be in servo on before any moving operation is performed If the Setup 44 SERVO auto servo on function is se...

Page 71: ... is possible to enter the home return mode If the Setup 44 SERVO auto servo on function is set in 1 it makes the servo amplifier to be automatically servo on before operation The output 4 homing monitor output becomes on during home return and becomes off after the end of home return when the Setup 35 O4 HM is set in 1 C Ready The input 3 is used for external servo input when the Setup 23 I3 SM is...

Page 72: ... of rated torque It is used for checking the reasonable choice of servo motor capacity If the average load for 15sec is more than 70 use the servo motor that provides large output 03 D 03 Instantaneous load Display the instantaneous load for 0 2sec The unit is value correspond to the rated torque The value of 100 means the 100 of rated torque It is used for checking the peak torque on acceleration...

Page 73: ...am P OS 0 0 0 0 0 0 M M 0 0 0 6 G0 4 0 0 0 1 0 0 Contents of program step in operation 9 3 PAUSE OF AUTO RUN A In case of the STOP button If you push the button STOP in the automatic operation the operation stops Then if you push the button RUN automatic operation starts again When you want to remove an obstacle for the operation this function will be convenient The output 0 running monitor output...

Page 74: ...n the system stops automatically and displays the error message C The system is protected by the following Setup parameters Setup 22 I2 RS 1 One Touch type of external reset input 2 Lock type of external emergency stop input normally open reset by itself off 3 Lock type of external emergency stop input normally close reset by itself on No Name Description 26 I6 LL External left CW limit sensor inp...

Page 75: ... A R M S Y S T E M E R R OR 0 8 R I GH T E N D A L A R M B Escaping from the limit state 1 If you push the button RESET all the system resets to the first state when the power is on 2 If you push the button SHIFT F2 you can select the manual mode 3 Escape from the limit state by pushing the button 1 or 2 ...

Page 76: ...e input 1 is external stop input when the Setup 21 I1 ST is set in 1 or 2 In manual mode external stop input determines manual speed OFF manual high speed is selected ON manual low jog speed is selected 23 I3 SM Determine whether the input 3 is used for external servo on off input or external manual mode input When the external manual input is used it is impossible to use the external servo input ...

Page 77: ...hing Place the mechanical system at desired position by manual operation and then feed the coordinate value input to the designated POINT position It provides very useful distance input method when the exact estimation of the distance is difficult To use the point teaching the position of the origin is set in advance by using home return B Method for point teaching First select manual operation mo...

Page 78: ...nd of home return when the Setup 35 O4 HM is set in 1 The screen in the home return process is displayed as follows H OM E R E T U R N B Complex home return The complex home return is performed when Setup 13 HFILE is set in 1 15 The complex home return is required in case of followings 1 In order to operate the mechanical system some initialization conditions are required 2 Before the home return ...

Page 79: ...der Z phase is used the rising edge of that becomes the ultra high precision machine home position If this function is used the home position is not changed when needed maintenance of home sensor 0 Not used 1 Use the encoder Z phase signal 15 HMSPD HOME HIGH SPEED Setting of the high home return speed to find home sensor The unit is rpm Also this speed is applied when home offset movement is done ...

Page 80: ... normally close 26 I6 LL INPUT 6 LEFT CW LIMIT SENSOR Determine whether the input 6 is used for general purpose input or external left CW limit sensor input 0 General purpose input 1 Left CW limit sensor normally open 2 Left CW limit sensor normally close 27 I7 RL INPUT 7 RIGHT CCW LIMIT SENSOR Determine whether the input 7 is used for general purpose input or external right CCW limit sensor input...

Page 81: ...d the designated direction set by Setup 12 HTYPE to search the off edge position of home sensor at home creep speed If encoder Z phase is not used Setup 14 HMZPH 0 the off edge position of home sensor becomes the mechanical home position 9 If encoder Z phase is used Setup 14 HMZPH 1 it continues to move for searching the encoder Z phase at home creep speed And that position becomes the mechanical ...

Page 82: ...and deceleration time 2 The home high speed should be suitably high in consideration of deceleration time and dog width 3 The deceleration time should be suitably short in consideration of speed and dog width B If the setting value of home creep speed is too high it may cause a malfunction of search for encoder Z phase which is a very short signal So it should be set in 300 rpm or less C When the ...

Page 83: ...t module number is 1 input port number 0 7 means bit 8 15 3 On off status The on off status On O Off X is displayed under the each input port 12 3 OUTPUT CHECK MODE If you push the button 4 you can select the output check mode in the following display If you push the button ESC in output check mode then returns to the selection of check mode 1 Output port number It displays the each bit number of ...

Page 84: ...Push the SET key It displays the contents of selected check mode You can do a check function 6 Push the MODE key and return to the level 4 No Name Description 00 C 00 SINE WAVE CHECK Check the sine wave for motor control It displays the value which varies from 1024 to 1024 4 times revolution Usage used to check the servo amplifier at factory setting 01 C 01 SPEED FEEDBACK CHECK Check the speed fee...

Page 85: ...check the servo amplifier at factory setting 08 C 08 V PHASE CURRENT SENSOR Check the characteristic of U phase current sensor Usage used to check the servo amplifier at factory setting 09 C 09 DEVIATION COUNTER CHECK Check the deviation counter Usage used to check the servo amplifier at factory setting 10 C 10 INPUT CHECK Usage used to check the input ports and wiring mistake Input selection Sele...

Page 86: ... phase for auxiliary function The dot means the reverse CCW rotation If the dot is not displayed it means the forward CW rotation Usage used to check the external encoder A B phase wiring mistake 14 C 14 PARAMETER INITIALIZATION Used to initialize the parameter with factory setting value On the cccc status the parameter initialization is started The status is displayed at the end of initialization...

Page 87: ...status 2nd figure means the system error and last 2 figures shows system error number B Program error It means the program error derived from grammatical mistake The 1st line shows the program error number and occurred place file no and step no The 2nd line shows the detailed contents of error E R R O R 0 0 F 0 0 S 2 2 Program error no file no FXX step no SXX I N P U T R A N G E O V E R Detailed c...

Page 88: ...vpar 08 MAXSP for more than 1sec Cause Action 1 Operation speed is higher than maximum speed Review operation speed 2 Encoder faulty Change the servo motor 04 Display MEMORY ALARM Contents Memory is abnormal Cause Action Faulty parts in the servo amplifier Change the servo amplifier 05 Display DEVIATION ALARM Contents The deviation counter exceeded the setting value Svpar 06 DEVER Cause Action 1 A...

Page 89: ...ime is too small when regenerative brake resistor is not installed Increase the acc dec time 3 Acc dec time is too small when regenerative brake resistor is installed Increase the acc dec time Increase the regenerative brake capacity 4 Wire breakage of built in or optional regenerative brake resistor Change regenerative brake resistor 12 Display OVER CURRENT ALM Contents Current is higher than the...

Page 90: ...e it s cause and escape from emergency stop Emergency stop is abnormally active Set correctly Setup 21 I1 ST 20 Display S W LIMIT ALARM Contents Left or right S W limit is operated in automatic operation Cause Action 1 The setting value of S W limit is less than the machine stroke Set correctly Setup 41 SEND Setup 42 SEND 2 Coordinate value is too high Review program 21 Display CHECK HOME S W Cont...

Page 91: ...umber of successive call 06 Display FILE RANGE OVER Contents Program file number exceeded 15 Cause Action File label of jump command exceeded 15 Check the file no of jump command File label of call command exceeded 15 Check the file no of call command 07 Display SUB RETURN ERROR Contents There is no step to return from subroutine Cause Action M42 is met without the declaration of M40 or M41 Check ...

Page 92: ...is displayed at 2nd line The next 2 figures of ERROR shows user error number the next 2 figures of F shows file number of occurred place the next 2 figures of S shows step number of occurred place 13 19 Display Reserved Contents Cause Action 20 Display SYNTAX ERROR Contents There is wrong command that is not allowed Cause Action There is wrong command Review program Perform system initialization 2...

Page 93: ...stment of speed I gain The speed I gain determines the steady state responsibility of speed control The bigger the value the better the steady state error If the value is too big the transient overshoot or undershoot is getting bigger and so it shall be used in the proper range Because the speed I gain is directly proportional to the load friction and is slightly proportional to load inertia the g...

Page 94: ...ing is performed automatically 5 The auto tuning gains Svpar 12 13 14 are adjusted and saved System is reset automatically Operation Preparation Set the value of auto tuning inertia ratio in servo parameter Svpar 15 INERT Push the MODE key to change from status display to mode selection level 1 The pre saved mode is displayed at LED Each modes are scrolled sequentially by UP DOWN key 2 Select the ...

Page 95: ...ircuit will switch on off after the servo on signal is switched on off for longer than 20msec 16 3 BRAKE ON OFF SEQUENCE The brake is used when Setup 36 O5 BK set in 1 Set a time delay between electromagnetic brake signal output on and servo on in Svpar 10 BRKTM The unit is msec The mechanical movement is occurred due to free run when the setting value is too higher than the optimal value But be s...

Page 96: ...UT3 orange red1 11 OUT5 orange black2 20 OUT4 pink red2 3 OUT0 grey black1 12 OUT2 orange red2 21 OUT1 grey black3 4 24V grey red1 13 NC grey black2 22 NC grey red3 5 IN11 white black1 14 IN13 grey red2 23 IN12 white black3 6 IN8 white red1 15 IN10 white black2 24 IN9 white red3 7 IN5 yellow black1 16 IN7 white red2 25 IN6 yellow black3 8 IN2 yellow red1 17 IN4 yellow black2 26 IN3 yellow red3 9 I...

Page 97: ...ed it may soften the acc dec time or install the additional regenerative brake resistor Do not install the regenerative brake resistor on or near combustibles Otherwise a fire may cause 2 The regeneration conditions are appeared in the following cases a The load moves vertically b The deceleration time is too short with an excessive speed c The load inertia is too big compared with the motor inert...

Page 98: ...HN ENCHD HIGH NUMERATOR OF EXTERNAL ENCODER HIGH DENOMINATOR OF EXTERNAL ENCODER The external encoder pulse input can be multiplied by high electronic gear ratio Setup 48 Setup 49 at high speed mode input off Accordingly the machine can be moved at any multiplication factor to external encoder pulse input High electronic gear ratio Setup 48 Setup 49 50 51 ENCLN ENCLD LOW NUMERATOR OF EXTERNAL ENCO...

Page 99: ...nnector Maker Molex PCB side 5268 Wire side 5264 Terminal 5263 18 3 EXTERNAL DECIMAL ROTARY SWITCH AND DISPLAY UNIT It performs the position setting G30 speed setting F10 counter setting M19 and other special functions by external decimal rotary switches and display unit External interface board and connection diagram Dimensions Position and Speed unit Display unit Panel cutting Panel cutting Inte...

Page 100: ...periodically as listed below If any part is found faulty it must be changed immediately even when it has not reached the end of its life which depends on the operating method and environmental conditions With age the smoothing capacitor will deteriorate To prevent a second accident due to fault it is recommended to replace the electrolytic capacitor every 5 years when used in general environment F...

Page 101: ...ACC Basic acc dec time 04 BSDIM Basic coordinate system 05 BUNIT Basic unit 06 MANSP Manual high speed 07 JOGSP Manual jog low speed 08 MACCT Manual acc dec time 09 SCALE Numerator of machine scale 10 DSCAL Denominator of machine scale 11 HTIME Allowable home time 12 HTYPE Home sensor off edge detection 13 HFILE Complex home return 14 HMZPH Use of encoder Z phase 15 HMSPD Home high speed 16 HMCSP ...

Page 102: ...1 Analog Positioning speed optional G23 Analog continuous speed run optional No LED Description 15 Reserved 16 Reserved 17 Reserved 18 Reserved 19 Reserved 20 Reserved User error stop 00 EU00 User defined error 00 01 EU01 User defined error 01 02 EU02 User defined error 02 03 EU03 User defined error 03 04 EU04 User defined error 04 05 EU05 User defined error 05 06 EU06 User defined error 06 07 EU0...

Page 103: ...0 40 35 30 25 20 15 15 30 30 30 07 69 59 16 22 50 66 65 11 26 39 20 32 43 48 58 16 19 86 94 100 08 29 25 66 94 20 28 27 30 70 110 41 68 90 100 122 34 40 18 20 21 09 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 500 10 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 11 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 10 12 1 1 1 ...

Page 104: ...RS 232C RS 422 Molex 53048 PCB side Wire side Maker Molex 21 2 COMMUNICATION SPECIFICATIONS Servo amplifier is designed to send a reply on receipt of an instruction The device which gives this instruction e g personal computer is called a master station and the device which sends a reply in response to the instruction servo amplifier is called a slave station Item Model Housing 51021 Terminal 5005...

Page 105: ...ier 1 N communication can be operated Up to 32 devices can be connected to a single bus Up to 255 devices can be connected to a extended single bus by bus repeater Cable length is 30m max in environment of little noise Use a twisted pair shield cable to minimize the influence of electromagnetic interference When master station is personal computer RS 232C RS 422 converter is needed The converter m...

Page 106: ...OMMAND Command to be performed by slave station servo amplifier DATA 0 DATA n Data followed by the command The data length depends on the command CHECKSUM The checksum is sent as a hexadecimal code representing the lower one byte of the logical sum of hexadecimal values from ID NO to DATA n Checksum range from ID NO to DATA n Items Description HEADER SOH start of head Hexadecimal 75H LENGTH Number...

Page 107: ...ase On the way of auto run or home return Reply ACK 40H Go into the stop state 2 Abnormal case Not on the way of auto run or home return Reply NCK 41H 13H Restart Restart from the stop state Data Not used Reply Action 1 Normal case Stop state and stop input is off Reply ACK 40H Return to auto run or home return 2 Abnormal case Stop state and stop input is on or not in the stop state Reply NCK 41H ...

Page 108: ...servo parameters Parameters range Svpar 00 Svpar 15 Because each parameter has 2 byte data total 32 byte are transferred 2 Abnormal case Servo on then Reply NCK 41H 83H Write servo parameters Down load the servo parameters Svpar Data Parameters range Svpar 00 Svpar 15 Because each parameter has 2 byte data total 32 byte are transferred Reply Action 1 Normal case Servo off The received servo parame...

Page 109: ...bnormal case Servo on then Reply NCK 41H 92H Write setup1 Down load the 1st half 00 39 of setup parameters Data Setup parameters range Setup 00 Setup 39 Because each parameter has 4 byte data total 160 byte are transferred Reply Action 1 Normal case Servo off The received setup parameters are temporarily saved at RAM and permanently saved at EEPROM Reply ACK 40H Please wait for ACK 40H reply after...

Page 110: ...2 Abnormal case Servo on then Reply NCK 41H 98H Temporary write program1 Down load the 1st half step00 step47 of executable program which is designated by Setup 00 FILE Data Step range step00 step47 Because each step has 4 byte data total 192 byte are transferred Reply Action 1 Normal case Run ready state The received program are temporarily saved at RAM Reply ACK 40H Because it should not to be p...

Page 111: ...APPENDIX ...

Page 112: ...ard Standard I 11bit Abs H 2048 P R Abs K 5000 P R Inc 15wires Standard Standard L 6000 P R Inc 15wires Standard Standard 1 Regarding standards for specially developed products please inquire about items individually Axial end spec 1 Round Standard 2 Key way 3 D cut 4 Taper Servo motor K K Series A AC Servo Output A3 30W 04 400W 25 2 5KW 50 5 0kW Series NZ NQ ND NS NH NF FX FN Option N Without opt...

Page 113: ...min Cylinder IP55 Middle inertia Conveyor machines Robots XY tables KANS 4kW 5kW 3000 4500 r min Cylinder IP55 Low inertia High frequency positioning equipments KANH 500W 5kW 2000 3000 r min Cylinder IP55 Ultra high inertia Machine tools Winding machines Press feeders Woodworking machines KANF 400W 11 0kW 2000 3000 r min Pan cake IP55 Middle inertia Robots Food processing machines KAFX 450W 4 4kW ...

Page 114: ...ations apply contact us 2 This specification is guaranteed after combined and adjusted with the driver 3 All ratings typical and at 20 unless otherwise noted 4 Contact us if the load motor of inertia moment ratio exceeds the figure in the table KANZ Q Series servo motor torque characterist KANZ A3 KANZ A5 KANZ 01A KANZ 01B KANZ 02A S peed r min 0 1000 2000 3000 4000 Nㆍm Torque 0 15 0 3 5000 Instan...

Page 115: ...stantaneous 25 50 5000 Speed r min operationarea Continuous 0 1000 3000 2000 4000 Instantaneous operationarea Torque 25 Nㆍm 50 1 Dotted lines show torque characteristics for 10 derated voltage operation Servo motor series KAND KANS Flange size mm 130 180 130 Models Specifications 10 15 20 25 30 45 50 40 45 50 Supply voltage VAC 200 220V 200 220V Continuous running duty Rated output kW 1 0 1 5 2 0 ...

Page 116: ...ocation such as actual site of machinery where oil or water may influence the product special specifications apply contact us 2 This specification is guaranteed after combined and adjusted with the driver 3 All ratings typical and at 20 unless otherwise noted 4 Contact us if the load motor of inertia moment ratio exceeds the figure in the table KANH F series servo motor torque characteristics KANH...

Page 117: ... Continuous Speed r m in 1000 2000 operation area operation area Instantaneous 25 0 Nㆍm Torque 50 Continuous Speed r min 1000 2000 operation area Instantaneous operation area 35 0 Nㆍm Torque 70 Continuous Speed r min 1000 2000 Servo motor series KAFX KAFN Flange size mm 130 180 130 180 Models Specifications 05 09 13 20 30 45 03 06 09 12 20 30 Supply voltage VAC 200 220 200 220 Continuous Rated out...

Page 118: ...onnector Encoder Connector LR 240 50 200 50 LL LE LF A 0 08 A 0 02 A LC LBh7 Sh6 0 06 4 LZ LA Series KANZ KANQ Rated power W 30 50 100 200 400 750 100 200 400 LL Standard 74 82 112 98 5 128 147 86 97 112 With brake 105 5 113 5 143 5 131 5 161 182 119 132 147 LR 25 25 25 30 30 35 25 30 30 S 7 8 8 11 14 19 8 11 14 LA 45 45 45 70 70 90 70 90 90 LB 30 30 30 50 50 70 50 70 70 LC 40 40 40 60 60 80 60 80...

Page 119: ... 268 288 With brake 183 208 233 258 283 238 258 273 293 313 LR 55 55 55 65 65 70 70 65 65 65 S 22 22 22 24 24 35 35 24 24 24 LA 145 145 145 145 145 200 200 145 145 145 LB 110 110 110 110 110 114 3 114 3 110 110 110 LC 130 130 130 130 130 180 180 130 130 130 LD 167 167 167 167 167 230 230 167 167 167 LE 6 6 6 6 6 3 2 3 2 6 6 6 LF 12 12 12 12 12 18 18 12 12 12 LZ 9 9 9 9 9 13 5 13 5 9 9 9 Series KAN...

Page 120: ... 264 322 407 201 259 327 264 322 407 With brake 244 302 370 338 396 481 244 302 370 338 396 481 LR 58 58 58 79 79 79 58 58 58 79 79 79 S 190 0 013 190 0 013 220 0 013 350 0 01 350 0 01 350 0 01 190 0 013 190 0 013 220 0 013 350 0 01 35 0 0 01 35 0 0 01 LA 145 145 145 200 200 200 145 145 145 200 200 200 LB 110 0 0 035 110 0 0 035 110 0 0 035 114 3 0 0 025 114 3 0 0 025 114 3 0 0 025 110 0 0 035 110...

Page 121: ...70 brake life times 20000 20000 20000 20000 20000 20000 20000 20000 20000 20000 KANH F Series Series KANH KANF Rated power kW 0 5 1 0 1 5 2 0 3 0 4 0 5 0 0 4 0 75 1 5 2 5 3 5 4 5 Static friction torque N m 16 1 16 1 16 1 24 5 24 5 24 5 24 5 16 1 24 5 24 5 31 4 31 4 31 4 Rotor inertia kg 10 1 2 1 2 1 2 4 7 4 7 4 7 4 7 1 2 4 7 4 7 11 0 11 0 11 0 Response time ms 110 110 110 80 80 80 80 110 80 80 150...

Page 122: ... 4 0 5 0 0 5 1 5 2 0 5 0 0 4 0 8 1 5 4 5 LW 45 55 55 55 45 55 45 45 55 LK 41 51 50 51 41 50 42 41 50 KW 8h9 8h9 10h9 8h9 8h9 10h9 6h9 8h9 10h9 KH 7 7 8 7 7 8 6 7 8 RH 18 20 30 20 18 30 15 5 18 30 Key LW LK KW RH KH KAFX KAFN Series With key taper Series KAFX KAFN Rated power kW 0 45 0 85 1 3 1 8 2 9 4 4 0 3 0 6 0 9 1 2 2 0 3 0 LQ 40 40 40 76 76 76 40 40 40 76 76 76 LW 27 5 27 5 28 65 65 65 27 5 27...

Page 123: ...V FG Abs 17bit 7 AMP 172169 1 Pin 1 2 3 4 5 6 7 8 9 Signal BAT BAT FG SD SD 5V 0V KAND S H F KAFX N Series Models Part No Pin specification Outlines KAND 10 50 KANS 40 50 KANH 05 50 KANF 04 45 KAFX 05 45 KAFN 03 30 Inc MS 3102A 20 29P Pin A B C D E F G H J N G S K J H A M L T R F E B C P D Signal A A B B Z Z 0V 5V FG Pin K L M N P R S T Signal U U V V W W Abs 17bit MS 3102A 20 29P Pin A B C D E F ...

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