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5.Operation

Group 1 Basic control parameter settings

5-36

ID

Contents

11

Velocity Feedback Filter
[VDFIL]

Setting range

Unit

Standard value

1 to 4000

Hz

1500

■

First low-pass filter to eliminate ripples caused by encoder pulse included in the velocity control
system feedback. Sets the cutoff frequency.

◆

When the encoder resolution is low, lowering the setting value and suppressor the ripples
can suppress motor drive noise. In addition, when the encoder resolution is high, raising
the setting value may improve the response of the velocity control system. For general
use, set at the Standard value.

◆

Setting range varies depending on the setting of the system parameter ID00 Control
Cycle.

Control Cycle

Setting value

Valid/Invalid

00

Standard_Sampling
Standard Sampling

1 to 1999[Hz]

Valid

2000 to 4000[Hz]

Filter invalid

01

High-freq_Sampling
High Frequency Sampling

1 to 3999[Hz]

Valid

4000[Hz]

Filter invalid

12

Velocity Loop Proportional Gain 1
[KVP1]

Setting range

Unit

Standard value

1 to 2000

Hz

50

■

Proportional gain of velocity controller.
When Load Inertia Moment Ratio 1 is same as the actual load inertia moment, this setting
value response is performed.

◆

Automatically saved by Auto-tuning result saving.

◆

When Auto-tuning function is valid, this setting value is not applied.

◆

When the Gain switching function is valid, select gain 1 and this setting value is applied.

◆

When Auto-tuning is valid, while system analysis function is active, this value is applied.

13

Velocity Loop Integral Time Constant 1
[TVI1]

Setting range

Unit

Standard value

0.3 to 1000.0

ms

20.0

■

Integral time constant of velocity controller.
This setting value is valid when Velocity Loop Proportional Control Switching Function is invalid.

◆

Integral term is invalid (proportional control) with the setting value of 1000.0[ms].

◆

Automatically saved by Auto-tuning result saving.

◆

When Auto-tuning function is valid, this setting value is not applied.

◆

When Gain switching function is valid, select gain 1 and this setting value is applied.

◆

When Auto-tuning is valid, while system analysis function is active, this value is applied.

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Summary of Contents for M-EGA-15A2301

Page 1: ...MEGATORQUE MOTORTM SYSTEM Driver Model EGA User s Manual NSK Ltd Document Number C20191 03 M E099GA0C2 191 ...

Page 2: ... from NSK Ltd NSK Ltd reserves the right to make changes to any products herein to improve reliability function or design without prior notice and without any obligation NSK Ltd does not assume any liability arising out of the application or use of any product described herein neither does it convey any license under its present patent nor the rights of others ...

Page 3: ...Correct 24 VDC Chapter 3 Added content and location of serial number of drivers Deleted items about dummy inertia Added items about cables for motors and converters Chapter 4 Signal names and their function of CN1 modified to be factory default settings Added examples of wiring between CN1 and host unit Equivalent products added to model number of recommended ferrules Chapter 5 Magnetic Pole Posit...

Page 4: ...ings Added converter outline drawings Added outline drawing and pin allocation of motor cable Added outline drawing and pin allocation of converter cable Added pin allocation of PC communication cable Added supplementary items for usage ...

Page 5: ...y or property damage only Even those hazardous indicated with this sign may lead to a serious accident Warning Fire Burn injury Prohibition Indicates actions that must not be allowed Prohibition Disassembly prohibited Mandatory Indicates actions that must be carried out mandatory actions Mandatory Danger Do not use the system in explosive atmospheres Injuries and fire may occur Do not perform wiri...

Page 6: ... on and tuck down cables Electrical shock may occur Perform wiring in accordance with wiring diagram and the instruction manual Electrical shock and fire may occur Never approach or touch terminals and connectors while power is being distributed Electrical shock may occur Never touch rotating part of motor during operation Injuries may occur Never remove terminals and connectors while power is bei...

Page 7: ...l shock injuries and fire may occur Do not use faulty damaged and burnt out driver motor and converter Injuries and fire may occur Please be aware that temperatures on driver motor and peripheral equipment become high Fire may occur Do not use driver motor and converter outside the scope of the specification Electrical shock injuries and failures may occur Use the specified combination of motor an...

Page 8: ...result in fire and failures Do not apply static electrical charge and high voltage to motor resolver cable and converter connectors This can result in failures Perform wiring in accordance with electrical installation technical standards and internal wiring standards Burnout or fire may occur Do not block and let any foreign materials into inlet outlet Fire may occur Maintain the specified distanc...

Page 9: ...ile power is turned off as the temperatures on them become high Burn injuries may occur Stop operation immediately when any abnormality occurred Electrical shock injuries and fire may occur Never make excessive adjustment change as operation becomes unstable Injuries may occur Perform test operation by fixing motor with motor separated from mechanical systems and then install the motor after perfo...

Page 10: ... brake will generate heat and this will cause dangers Fire and burn injuries may occur Carefully perform maintenance and inspection as temperature on driver frame becomes high Burn injuries may occur Please contact us to repair Disassembly can cause inoperative This can result in failures It is very dangerous to carry the system so carefully carry the system as not to fall and roll over Injuries m...

Page 11: ...s This can result in failures Tightly lock the connectors and make sure that the screws are securely tightened without any loosening This can result in failures Make proper service parts available drivers motors converters cables etc for replacement This can result in failures For cleaning do not use any thinner but use alcohol This can result in failures The motor produces regenerative electric p...

Page 12: ...ult in failures Never attempt to use any motor cable lead wire and resolver cable lead wire in any moving parts This can result in failures Ensure that the connections between lead wires and connectors are free from exposure to any stress tension vibration etc to avoid possible broken wire and or poor contact This can result in failures Ensure that the bending radius of motor cable 8 is larger tha...

Page 13: ...licing This can result in failures Never attempt to overhaul the motor body This can result in failures Do not remove the casings from driver and converter This can result in failures Do not impact the motor directly with a hammer or other tools Direct impact on the sides of motor or the parts installed on the motor can cause degraded accuracy of internal detector This can result in failures The s...

Page 14: ...ndary damages can occur Following the power on sequence remember to complete the estimation of magnetic pole position In the estimation of magnetic pole position the rotational part of motor moves through the maximum angle of 18 Going out of control injuries burnout fire and secondary damages can occur Please operate within the specified range of temperature and humidity Driver and converter Tempe...

Page 15: ... to any impact during the installation of motors and also to protect the motors against possible impact due to external interference during the transportation This can result in failures Install every motor on the surface of flatness of 0 02 mm or less This can result in failures Use driver software with version A or later for motor M PB3030JN001 and converter M ECC PB3030GA201 Alarm will be outpu...

Page 16: ...tions of driver 2 3 2 Input command position feedback signal output general input general output 2 4 2 3 Power supply 2 6 1 Main circuit power supply capacity control power supply capacity 2 6 2 Incoming current leakage current 2 6 2 4 Position feedback signal 2 7 1 Position feedback signal output 2 7 2 5 Specifications for analog monitor 2 8 1 Monitor output 2 8 2 Monitor for velocity torque and ...

Page 17: ... 4 Recommended wire diameter 4 2 5 Crimping of wires 4 3 6 High voltage circuit terminal tightening torque 4 3 4 2 Wiring with Host Unit 4 4 1 CN1 signal and pin number wiring with host unit 4 4 2 CN1 connector disposition 4 5 3 Signal name and its function 4 5 4 Terminal connection circuit 4 6 5 Example of wiring with CN1 4 12 4 3 Peripheral equipments 4 13 1 Power supply capacity and peripherals...

Page 18: ...rs 5 23 1 Parameters list 5 23 5 8 Parameter functions 5 30 5 9 Control block diagram 5 80 5 10 SEMI F47 supporting function 5 83 1 Parameter setting General parameters Group8 Control system 5 83 2 Operational sequence 5 83 3 Notes 5 83 6 Adjustments 6 6 1 Servo tuning functions and basic adjustment procedure 6 1 1 Servo tuning functions 6 1 2 Tuning method selection procedure 6 2 6 2 Automatic tu...

Page 19: ...6 20 6 8 Using disturbance observer function 6 21 7 Digital Operator 7 7 1 Digital Operator names and functions 7 1 7 2 Modes 7 1 1 Changing modes 7 1 2 Mode contents 7 2 7 3 Setting and display range 7 3 7 4 Status display mode 7 4 1 Driver status display 7 4 2 Over travel status display 7 4 3 Status display of regenerative overload warning and overload warning 7 4 4 Alarm code and driver status ...

Page 20: ...lay 8 7 2 Corrective action for alarm 8 7 8 4 Inspection 8 26 9 Appendix 9 9 1 Standards conformity 9 1 1 Standards conformity 9 1 2 Over voltage category protection grade pollution level 9 2 3 Connection and installation 9 2 4 UL file number 9 2 9 2 Compliance with EN Directives 9 3 1 Conformity verification test 9 3 2 Requirements for driver installation to achieve the EMC certification 9 4 3 Re...

Page 21: ...Table of contents xvii 9 5 Regenerative resistor 9 13 9 6 Supplementary items for usage 9 14 1 Homing 9 14 2 Setting procedures for parameters of magnetic pole position estimation 9 15 ...

Page 22: ...eference number of individual parts 1 2 1 Reference number of driver 1 2 2 Reference number of motor 1 2 3 Reference number of converter 1 3 4 Reference number of motor 1 3 5 Reference number of converter cable 1 3 1 3 Part names 1 4 1 Driver 1 4 2 Motor 1 5 3 Converter 1 5 ...

Page 23: ...ETUP Enables parameter setup and monitoring through communication with a PC Host equipment Electromagnetic contactor Switches power On Off Please place safeguard circuit T S R Converter cable Motor cable RS 232C Motor Converter 1 1 Illustration of system components When the capacity is found insufficient for high frequency operation or other applications use an external regenerative resistor Exter...

Page 24: ... system referring to the following sections System parameters Factory default standard settings Setting of parameters 2 Reference number of motor M PB 1 006 JN 001 Motor design serial number 001 Standard Maximum output torque 006 6 N m 015 15 N m 030 30 N m 060 60 N m Motor size code 1 Equivalent to motor O D of 102 mm 3 Equivalent to motor O D of 152 mm MEGATORQUE MOTOR PB series Resolver JN Incr...

Page 25: ...erence number of converter cable M CC 004 A1 01 Converter design serial number 01 Standard Resolver 2 Incremental Driver code GA Driver Model EGA Motor code Converter Model ECC Design serial number 01 Standard A1 Standard Cable length 002 2 m 004 4 m 008 8 m Motor cable Design serial number 01 Standard A1 Standard Cable length 002 2 m 004 4 m 008 8 m Converter cable ...

Page 26: ...Analog monitor connector Control power status LED POWER Blue Main circuit power LED Red CHARGE CNA Parts number on plug MSTBT2 5 8 STF 5 08LUB Phoenix Contact CNB Parts number on plug MSTBT2 5 3 STF 5 08 Phoenix Contact CN2 Parts number on plug MUF PK8K X J S T Mfg Co Ltd CN1 Parts number on plug Plug 10150 3000PE Shellkit 10350 52A0 008 Sumitomo 3M Ltd EN1 Parts number on plug Plug 36210 0100PL S...

Page 27: ...eface Part names 1 5 2 Motor 3 Converter Motor connector Resolver connector Dust cover Non rotational part Rotor Rotational part Hollow hole Stator Non rotational part Converter connector Resolver connector ...

Page 28: ...capacity control power supply capacity 2 6 2 Incoming current leakage current 2 6 2 4 Position feedback signal 2 7 1 Position feedback signal output 2 7 2 5 Specifications for analog monitor 2 8 1 Monitor output 2 8 2 Monitor for velocity torque and position deviation 2 9 2 6 Specifications for dynamic brake 2 10 1 Allowable frequency instantaneous tolerance decreasing the rotation angle of the dy...

Page 29: ...d 4 N 1000 2 120 3 2000 2 200 3 Allowable radial load 5 N 270 540 Allowable moment load N m 9 20 Rotor moment of inertia kg m 2 0 0026 0 014 0 016 0 021 Allowalble load moment of inertia kg m 2 0 to 0 26 0 to 1 1 0 to 1 4 0 to 3 1 Mass kg 2 6 5 8 7 2 10 2 Environmental conditions Ambient temperature 0 40 C Humidity 20 80 RH Indoor use only Free from dust condensation and corrosive gas IP30 equival...

Page 30: ...utput PS data Increase CCW Position signal output PS data Decrease Direction of rotation of motor is defined as counterclockwise CCW or clockwise CW when viewed from the loading side PS data can be confirmed by Monitor ID16 17 ABSPS F L F F L A 1 Assuming the F refers to an external force Axial load Fa F weights of fixture workpiece etc Moment load M 0 2 Assuming the F refers to an external force ...

Page 31: ... s 2 External dimensions H W D 160 40 130 mm 160 50 130 mm Weight 0 75 kg 0 9 kg Power source voltage should be within the specified range Built in functions Protection functions Over current Current detection error Overload Regeneration error Driver overheating External overheating Over voltage Main circuit power low voltage Main circuit power supply open phase Control power supply low voltage En...

Page 32: ...2097152 D 1 to 2097152 however 1 2097152 N D 2097152 Position command timing CW move pulse train CCW pulse train Stage up time t1 0 1 μs Stage down time t2 0 1 μs Duty t3 T x100 50 Change of pulse time ts1 2 μs Pulse trains with 90 phase difference Stage up time t1 0 1 μs Stage down time t2 0 1 μs Duty t3 T x100 50 Minimum phase difference between pulse edges t4 t5 t6 t7 250 ns Code Pulse train St...

Page 33: ...ns and input time function enabled General output NPN output Sequence output Open collector output 8 output External power supply voltage OUT PWR 5 VDC 5 12 VDC to 24 VDC 10 20 mA or over Circuit power for output signal 5 VDC 5 Maximum current value 10 mA per 1 output Circuit power for output signal 12 to 15 VDC 10 Maximum current value 30 mA per 1 output Circuit power for output signal 24 VDC 10 ...

Page 34: ...nnection power supply disconnection is repeated for a short period of time ambient temperature is high or the thermistor temperature rises the incoming current exceeding the above table may pass Leakage current Leakage current 0 8 mA These values are applicable when a tough rubber sheath cable of 2 m is used as a power line In the case of a shorter or longer cable length values of the above table ...

Page 35: ...from CN1 5 pin 6 pin Output signal Z phase output Z0 ZO outputs from CN1 7 pin 8 pin Output signal under CW rotation Positions feedback signal output delays about 224 μs Phase Z output is 80 times in motor 1 rotation based on rise up or rise down edge of Phase A or Phase B with the width of one pulse of Phase A does not determine the position relation of Phase Z or Phases A B When other than 1 1 i...

Page 36: ...model number on board DF11 4DP 2DSA 01 Housing model number on receiving equipment DF11 4DS 2C Connector model number on receiving equipment DF11 2428SCA General input output connector CN1 CN5 Analog monitor output 1 MON1 CN1 30 CN5 3 Analog monitor output 2 MON2 Disabled CN5 4 Digital monitor output DMON Disabled CN5 2 GND CN1 31 CN5 1 CN5 1 3 2 4 ...

Page 37: ...y monitor output Torque command torque monitor Torque command torque monitor output Position deviation monitor Position deviation monitor output CW Output voltage 2V 1000min 1 CCW 2V 0 1000min 1 Output voltage 2V 1000min 1 CCW CW 2V 0 1000min 1 CW Output voltage 2V 1000min 1 CCW 0 1000min 1 Output voltage 2V TR CCW CW 2V 0 TR Rated torque Output voltage 2V CCW CW 2V 0 TR TR Output voltage 2V CCW C...

Page 38: ... to the following expression to find a standard of operation If When load inertia moment JL substantially exceeds allowable load inertia moment or if when rotation through an angle exceeding 360 is made abnormal heat can generate due to dynamic brake resistance Take precautions against Overheat alarm of the dynamic break or failure of dynamic brake resistance Please consult us if such a situation ...

Page 39: ...r Energy consumed in the external regenerative resistor J Rotational energy J Energy absorbed in the capacitor J When the result of the above calculation is found 0 or less there is no need for additional installation of external regenerative resistor When the calculation result is found exceeding 0 determine the required capacity for the regenerative resistor based on the calculations described b...

Page 40: ...mbient temperature 0 to 55 C Storage temperature 20 to 65 C Operation and storage humidity 90 RH or less no condensation Vibration 4 9 m s 2 Outside dimensions H W D 73 61 23 5 mm Weight 0 135 kg Remember to limit the supply voltage to the specifications Performance Resolution 524 288 count revolution Communication Protocol EIA RS 485 Type Start stop synchronization NRZ Baud rate 2 5 Mbps ...

Page 41: ...ction and location 3 3 4 Control arrangement within the machine 3 3 3 2 Motor 3 4 1 Precautions 3 4 2 Unpacking 3 4 3 Installation 3 4 4 Motor mounting method 3 5 3 3 Converter 3 7 1 Precautions 3 7 2 Unpacking 3 8 3 Installation 3 8 3 4 Cable motor and converter 3 9 1 Precautions 3 9 ...

Page 42: ...erature around the driver does not exceed 55 C For longevity and reliability purposes it is recommended to keep the temperature below 40 C If there is a vibration source nearby Protect the driver from vibration by installing it on a base with a shock absorber If there is a heat generator nearby If the ambient temperature may increase due to convection or radiation make sure the temperature near th...

Page 43: ...Verify that there is no problem in the appearance of driver When driver M EGA 15A2301 motor M PB3030JN001 and converter M ECC PB3030GA201 are used together use driver with version A or later When the combination is not appropriate alarm will be output Driver version is also displayed inside the cover of upper front Driver Label Example of driver label Serial Number Month two digits Year two digits...

Page 44: ...he temperature below 40 C Leave at least 10 mm space on both sides of the driver to ensure unobstructed airflow from the heat sinks on the side and from the inside of the driver If the driver is installed on its side make sure that the ambient temperature does not exceed 50 C and mount the back panel to a metal plate Recommended metal plate thickness is 2 mm or more Since M EGA 30A2301 is equipped...

Page 45: ...age for 3 years or more 2 Unpacking Verify the followings when the product arrives If you find any discrepancy contact your distributor or sales office Verify that the reference number of the motor is the same as ordered The reference number is located on the nameplate following the word MODEL Verify that there is no problem in the appearance of motor 3 Installation Please note the following regar...

Page 46: ...tion horizontal or vertical For tightening torque and penetration depth of screws follow the table below Motor model Screw Tightening torque N m Penetration depth mm PB1006 M4 3 4 or less 4 to 5 5 PB3015 M6 13 or less 7 to 8 5 PB3030 PB3060 Since the installation condition shown below can cause mechanical resonant vibration or failure of estimation of magnetic pole due to low rigidity of the mount...

Page 47: ...to 8 5 PB3030 PB3060 Checking the operating conditions The MEGATORQUE MOTOR system involves significantly larger moment of inertia for load compared to the moment of inertial for rotor Allowable load moment of inertia by motor size is shown in the table below Motor model Rotor inertia moment kg m2 Allowable load moment of inertia kg m2 PB1006 0 0026 0 to 0 26 PB3015 0 014 0 to 1 1 PB3030 0 016 0 t...

Page 48: ...y heating element is located nearby Even if temperature increase is expected due to thermal convection and or radiation keep the surroundings of converter below 55 C Where corrosive gas is present Extended use can cause contact failure in the connectors and contact elements Never use the converter in any location exposed to corrosive gas Where explosive or combustible gas is present Never use the ...

Page 49: ...ed immediately contact us Check the reference number of the converter for proper match with your ordered product Locate the reference number next to MODEL on the label on the product Check the external appearance of the converter for any defect 3 Installation Converter Label Mounting hole 4 locations Typical installation M4 M4 ...

Page 50: ...order to ensure extended service life and high reliance use the cable at a temperature below 40 C If cable is to be exposed to severe vibration fix the cable near connector so that connector does not suffer from stress Where any heating element is located nearby Even if temperature increase is expected due to thermal convection and or radiation keep the surroundings of cable below 40 C Where corro...

Page 51: ...commended wire diameter 4 2 5 Crimping of wires 4 3 6 High voltage circuit terminal tightening torque 4 3 4 2 Wiring with Host Unit 4 4 1 CN1 signal and pin number wiring with host unit 4 4 2 CN1 connector disposition 4 5 3 Signal name and its function 4 5 4 Terminal connection circuit 4 6 5 Example of wiring with CN1 4 12 4 3 Peripheral equipments 4 13 1 Power supply capacity and peripherals list...

Page 52: ...r connection to CNB and EN1 be sure to use the dedicated cables The cables cannot be cut off nor spliced due to the specifically designed lines If main circuit power supply is used as single phase power source specification of supply voltage is different depending upon motor and driver used 2 Wire Electric wires for use in driver main circuit power are shown below Wire type Kinds of wires Conducto...

Page 53: ...shown Use it below by the above mentioned allowable current 4 Recommended wire diameter The recommendation electric wire diameter used for driver is shown below Input voltage 200 VAC Main circuit power supply R S T Control power supply Regeneration resistance mm2 AWG No mm2 AWG No mm2 AWG No 1 25 16 1 25 16 1 25 16 2 0 14 The information in this table is based on rated armature current flowing thr...

Page 54: ...s for various wire sizes mm 2 AWG Model number 0 75 19 AI0 75 8GY 1 0 18 AI1 8RD 1 5 16 AI1 5 8BK 2 5 14 AI2 5 8BU GY Gray RD Red BK Black BU Blue Crimping tool model number 0 25 to 6 mm 2 CRIMPFOX UD 6 4 0 75 to 10 mm 2 CRIMPFOX UD 10 4GY Manufactured by Phoenix Contact The procedures above are recommendations Consider the use of equivalent products for both ferrule and crimping tool 6 High volta...

Page 55: ... SG 5V SG CONT7 13 14 SG 48 R PC 28 29 NC NC 17 NC 18 19 50 37 CONT1 CONT2 CONT COM 36 CONT3 35 CONT4 34 CONT5 33 32 CONT6 NC NC 21 20 T COMP SG 22 23 SG 47 F PC 26 27 SG 38 CONT8 15 16 NC 1 2 NC 3 4 5 6 7 8 9 10 12 OUT PWR OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8 OUT COM OUT COM 49 39 40 41 42 43 44 45 46 24 25 SG 30 31 MON1 F PC R PC CONT7 AO BO ZO CONT8 PS ...

Page 56: ...Pole Position Estimation Function 12 SG Common for pins 3 to 11 36 CONT2 Emergency Stop Function 17 NC NC 37 CONT1 Servo ON Function 18 NC NC 50 CONT COM General input power supply 19 NC NC 39 OUT1 In Position Window 20 NC NC 40 OUT2 Magnetic Pole Position Estimation Ready 21 NC NC 41 OUT3 While Operation Setup Completion 22 T COMP Torque compensation input 42 OUT4 Magnetic Pole Position Estimatio...

Page 57: ...phase pulse output 8 ZO Z phase pulse output 9 PS Resolver signal output Absolute position data output signal of a resolver Make sure to connect SG 10 PS Resolver signal output 11 ZOP Z phase pulse output Resolver Z phase pulse is output at the open collector NPN output Max voltage DC30V Max current 10mA Remember to connect SG Twisted pair A A SG HD26C31 or equivalent 3 4 5 B Z B O Z 8 12 Driver H...

Page 58: ...nal Differential output signal connection Open collector signal output connection Make sure to connect SG 14 CONT7 General input 15 CONT8 General input 16 CONT8 General input CONT7 SG 1 0kΩ 1 5kΩ 150Ω 1 0kΩ Twisted pair 13 14 38 Driver Host unit HD26C32 or equivalent 1 0kΩ 1 0kΩ CONT7 Host unit CONT7 SG 1 0kΩ 1 5kΩ 1 0kΩ Twisted pair HD26C31 correspond 13 14 38 Driver HD26C32 or equivalent 1 0kΩ 1...

Page 59: ... Wiring Wiring with host unit 4 8 Terminal No Symbol Name Description 18 NC 19 NC 20 NC 21 NC 22 T COMP Torque compensation input T CMP 10 0kΩ 1 8kΩ 0 01μF SG Driver Host unit 1 8kΩ 1 0kΩ 0 01μF SG 22 23 ...

Page 60: ...ial output signal connection Be sure to connect SG Open collector signal output connection 27 F PC Command pulse input 28 R PC Command pulse input 29 R PC Command pulse input Host unit Driver HD26C31 correspond F PC SG 1 0kΩ 1 5kΩ 150Ω 1 0kΩ Twisted pair R PC SG 1 0kΩ 1 5kΩ 150Ω 1 0kΩ Twisted pair 1 0kΩ 1 0kΩ 1 0kΩ 1 0kΩ SG SG HD26C32 or equivalent 26 27 47 28 29 48 F PC R PC Driver Host unit SG 1...

Page 61: ...eneral input circuit is connected with the transistor circuit of a relay or an open collector Power supply voltage range 5 VDC 5 12 VDC to 24 VDC 10 Minimum current 100 mA Sink circuit example 33 CONT5 General input 34 CONT4 General input 35 CONT3 General input 36 CONT2 General input 37 CONT1 General input Sink circuit type 30 1 0kΩ MON1 31 SG 1 0kΩ 0 001μF Host unit Driver CONT COM 50 37 CONT1 2 ...

Page 62: ...ent 12 to 15 VDC 30 mA Maximum current 24 VDC 50 mA 40 OUT2 General output 41 OUT3 General output 42 OUT4 General output 43 OUT5 General output 44 OUT6 General output 45 OUT7 General output 46 OUT8 General output 49 OUT PWR General output power supply 24 OUT COM General output common 25 OUT COM General output common Make sure to install diode as a surge absorber when connecting induction load such...

Page 63: ... function CCW over travel function CW over travel function Host equipment Driver model EGA Z phase pulse output B phase pulse output A phase pulse output 5 12 24 VDC VDC SG 50 CONT COM 37 CONT1 36 CONT2 35 CONT3 34 CONT4 33 CONT5 32 CONT6 13 CONT7 38 SG 15 CONT8 38 SG 26 F PC 27 F PC 47 SG 28 R PC 29 R PC 48 SG 49 OUT PWR 39 INP 40 CSETRDY 41 S RDY 42 CSETCMP 46 ALM 24 25 OUT COM 3 AO 4 AO 5 BO 6 ...

Page 64: ...ed case circuit breaker MCCB Noise filter Magnetic contact Surge absorber 200 VAC PB1006 0 3 Model NF30 10A MITSUBISHI ELECTRIC HF3030C UQA SOSHIN ELECTRIC Co Ltd S N10 MITSUBISH I ELECTRIC LT C32G801WS SOSHIN ELECTRIC Co Ltd PB3015 0 5 PB3030 1 0 PB3060 2 0 Please install surge absorber at the input part of driver when overvoltage such as lightning surge is applied to driver ...

Page 65: ... 5 10 1 Default display 5 10 2 Alarm display 5 10 5 4 Operation sequence 5 11 1 Operation sequence from power turn on to power shut off at the standard shipment setting 5 11 2 Stop sequence at alarm 5 13 3 Sequence of alarm reset 5 15 4 Sequence when power is turned OFF during operation During servo ON 5 16 5 5 Monitor function 5 17 1 Monitor function 5 17 2 Description of monitor 5 18 5 6 Analog ...

Page 66: ...he statement contents and codes with the MEGATORQUE MOTOR system support tools Setup software or Digital Operator Confirm with setup software Turn on control power r t to start up setup software Opening System parameters tab of Parameters setting P shows System information in the upper right of the display Confirm in accordance with procedure 2 and later Confirm with Digital Operator Codes are sho...

Page 67: ...ayed Using Digital Operator confirm that codes of voltage value of main circuit power connected to connector CNA or terminal block RST is displayed on information 1 driver information Main circuit power supply voltage code 4 Output current capacity Code Output current capacity 0C 15 A 0A 30 A Confirm setup software displays the driver capacity of the driver model that you use Confirm Digital Opera...

Page 68: ... instructions see Digital Operator 7 for the Digital Operator System Parameters Setting driver ID Contents 00 Control Cycle Select the control cycle for Velocity control Torque control High Frequency Sampling enables increasing the frequency response of the velocity control system Please set at 00 Standard_Sampling for normal use Selection Contents 00 Standard_Sampling Standard Sampling 01 High fr...

Page 69: ...R T of CNA Present setting value Description 01 AC_Single phase Single phase AC power is supplied to the main circuit 02 Regenerative resistor selection Set installation specification of regenerative resistor connected to CNA on driver or RB1 and RB2 on terminal block or the condition that regenerative resistance is not connected Selection Description 00 Not_connect Regenerative resistor is not co...

Page 70: ...value Description 02 Position Position Control Mode 4 Confirmation and settings of the system parameters settings for encoder specification Factory use only Do not change parameter setting value 05 Serial encoder resolution Set the divisions per single 1 shaft rotation When automatic motor parameter setting function 7 15 is executed it is automatically updated 5 Factory default setting values The ...

Page 71: ... Occurs 8 7 Follow Trouble shooting 8 1 if the 7 segment LED does not light when powered up 2 Confirmation of movement Perform JOG Operation by using the setup software or the digital operator Procedure Item and contents 1 Estimation of magnetic pole position Perform the estimation of magnetic pole position at no load without connecting any load to the motor The motor should start allowing estimat...

Page 72: ...n number Setting value Output signal CN1 Pin number Setting value OUT1 39 18 _INP_ON OUT5 43 33 _ALM5_OFF OUT2 40 68 _CSETRDY_ON OUT6 44 35 _ALM6_OFF OUT3 41 02 _S RDY_ON OUT7 45 37 _ALM7_OFF OUT4 42 4E _CSETCMP_ON OUT8 46 39 _ALM_OFF 3 Confirmation of I O signal Confirm that the I O signal functions fine at the monitor Refer to Monitor Function 5 23 for explanation Confirming with setup software ...

Page 73: ...input at the monitor function of setup software Monitor_ID13 Position Command Pulse FMON1 displays input command pulse frequency If the driver does not receive the command from the host unit the value displayed on the monitor becomes zero Any of these cases could be the result of poor wiring Confirm the wiring again Input command after receiving command reception enabling signal from driver Refer ...

Page 74: ...rove the rigidity of the device before implementation Do not allow unbalanced load or large friction to complete estimation of magnetic pole position properly In the estimation of magnetic pole position the rotational part of motor moves through the maximum angle of 18 Ensure emergency stop and over travel limit for the motor operate properly 4 Input Servo On signal Input Servo ON signal Confirm i...

Page 75: ...etic pole position estimation is completed and Operation setup completion signal is on 4 Servo is on Rotates after displaying the character 8 8 Marking Description Over travel status at CW rotation Over travel status at CCW rotation Marking Description Regenerative overload warning status If operation is kept on alarm may go off Overload Warning status If operation is kept on alarm may go off 2 Al...

Page 76: ...8msec DB relay waiting time 100msec S RDY Main power source ON 2sec Max 0msec Min S RDY2 Control source ON Control source Power ON permission signal Main circuit power Power ON signal Servo ON signal Dynamic brake signal Motor speed Command acceptance permission Command acceptance permission signal Operation setup completion signal Approx 40msec Magnetic Pole Position Estimation Ready signal 50mse...

Page 77: ...ol source OFF Main power supply OFF Power ON output OFF Dynamic brake ON Min 0msec S RDY S RDY2 Control source Power ON signal Main circuit power Servo ON signal Dynamic brake signal Motor velocity Holding brake excitation signal Command acceptance permission signal Motor excitation signal Operation setup completion signal Input Output Output Output Output Output Output ...

Page 78: ...ic brake at alarm Holding brake engage Command acceptance prohibition Motor free Servo ON Power ON permission OFF Main power supply OFF Dynamic brake ON S RDY S RDY2 Power ON permission signal Main circuit power Servo ON signal Dynamic brake signal Motor velocity Holding brake excitation signal Command acceptance permission signal Motor excitation signal Operation setup completion signal Alarm sta...

Page 79: ...r supply OFF Dynamic brake ON S RDY S RDY2 Power ON permission signal Main circuit power Servo ON signal Dynamic brake signal Motor velocity Holding brake excitation signal Command acceptance permission signal Motor excitation signal Operation setup completion signal Alarm status Alarm signal BONDLY 300msec Motor stop detect Output Output Output Output Output Output Output Input ...

Page 80: ...he alarm condition continues therefore set a timeout period of 20 ms or more to clear alarm reset signal Also it is necessary to input the time of 20 ms or more when the alarm reset signal is input without checking for the alarm signal output Inrush current prevention time Servo ON Alarm released DB relay waiting time 100msec S RDY Main power supply ON S RDY2 Power ON permission signal Main circui...

Page 81: ...e BONDLY 300msec Motor stop Control source OFF Main power supply OFF Power ON output OFF Dynamic brake ON S RDY S RDY2 Control source Power ON signal Main circuit power Servo ON signal Dynamic brake signal Motor velocity Holding brake excitation signal Command acceptance permission signal Motor excitation signal Operation setup completion signal Input Output Output Output Output Output Output ...

Page 82: ... lower data Pulse 12 13 FMON1 Position command pulse frequency monitor k Pulse s 14 CSU U phase electric angle monitor deg 16 ABSPS Resolver PS data monitor Digital operator Displays upper data 2 32 Pulse 17 Digital operator Displays lower data Pulse 1A RegP Regenerative resistor operation percentage monitor 1B TRMS Effective torque monitor 1C ETRMS Effective torque monitor Estimated value 1D JRAT...

Page 83: ...ature inside driver Bit 7 6 5 4 Function Excessive deviation Velocity controlled Torque controlled 02 Warning status 2 monitor WARNING2 Displays warning status Valid when 1 or ON Bit 3 2 1 0 Function CCW direction Over travel CW direction Over travel Main circuit power being charged Bit 7 6 5 4 Function Voltage sag Low battery voltage 03 General Purpose Input CONT8 to 1 monitor CONT8 1 Displays ge...

Page 84: ...f the motor Display range Unit 9999 to 9999 min 1 07 Velocity command monitor VCMON Displays the velocity command value Display range Unit 9999 to 9999 min 1 08 Torque monitor TMON Displays the output torque Display range Unit 499 9 to 499 9 09 Torque command monitor TCMON Displays the torque command value Display range Unit 499 9 to 499 9 0A Position deviation monitor PMON Displays the position d...

Page 85: ...a range Display range Unit 0C Bit63 to Bit32 H FFFF to L 0000 2 32 Pulse 0D Bit31 to Bit0 H FFFF to L 0000 Pulse 0E 0F Reserved 10 11 Command position monitor CPMON Displays the current position of the pulse command assuming that the position at the time the control power was turned ON is the original mode As this is a free run counter if the current position exceeds the displayed range the maximu...

Page 86: ...000 2 32 Pulse 17 Bit31 to Bit0 H FFFF to L 0000 Pulse 1A Regenerative resistor operation percentage monitor RegP Displays run rate of regenerative resistance Display range Unit 0 00 to 99 9 1B Effective torque monitor TRMS Displays effective torque Depending on the operation pattern it may take some hours to become stable Display range Unit 0 to 499 1C Effective torque monitor Estimated value ETR...

Page 87: ...EST Displays estimated value of load torque Display range Unit 499 9 to 499 9 25 Driver operation time OPE TIM Is counted during period control power is being turned on The time is displayed value x 2 hours Unit 2 hour 26 Acceleration monitor ACCMON Indicates motor acceleration Setup software displays values in decimal notation Display range Unit 2147483648 to 2147483647 rad s 2 Digital operator d...

Page 88: ... setting control settings Group8 Control system settings Group9 Function enabling condition settings GroupA General output terminal output condition Monitor output selection Serial communication settings GroupB Sequence alarm related settings GroupC Encoder related settings Parameters vary depending on the driver to be used General parameters Group0 Auto tuning settings ID Symbol Name Standard val...

Page 89: ...Group2 FF Feed forward vibration suppressor control Notch filter Disturbance observer settings ID Symbol Name Standard value Unit Setting range 00 SUPFRQ1 FF Vibration Suppressor Frequency 1 500 Hz 5 to 500 01 SUPLV FF Vibration Suppressor Level Selection 00 00 to 03 10 VCNFIL Velocity Command Notch Filter 1000 Hz 50 to 1000 20 TCNFILA Torque Command Notch Filter A 4000 Hz 100 to 4000 21 TCNFPA TC...

Page 90: ... TPI4 Position Loop Integral Time Constant 4 1000 0 ms 0 3 to 1000 0 23 KVP4 Velocity Loop Proportional Gain 4 50 Hz 1 to 2000 24 TVI4 Velocity Loop Integral Time Constant 4 20 0 ms 0 3 to 1000 0 25 JRAT4 Load Inertia Moment Ratio 4 100 0 to 15000 26 TCFIL4 Torque Command Filter 4 600 Hz 1 to 4000 30 GCFIL Gain Switching Filter 0 ms 0 to 100 40 SUPFRQ2 FF Vibration Suppressor Frequency 2 500 Hz 5 ...

Page 91: ...Constant 0 ms 0 to 16000 2C TVCDEC Velocity Command Deceleration Time Constant 0 ms 0 to 16000 2D VCLM Velocity Limit Command 65535 min 1 1 to 6553 5 37 TCLM F Forward Direction Internal Torque Limit Value 100 0 10 0 to 500 0 38 TCLM R Reverse Direction Internal Torque Limit Value 100 0 10 0 to 500 0 39 SQTCLM Sequence Operation Torque Limit Value 120 0 10 0 to 500 0 3B TASEL Torque Attainment sel...

Page 92: ... to 27 26 RUN R Preset Velocity Command ＣＣＷ direction Move Start Signal Input 00 Always_Disable 00 to 27 27 VLPCON Velocity Loop Proportional Control Switching Function 00 Always_Disable 00 to 27 28 V COMPS Velocity Compensation Function 00 Always_Disable 00 to 27 30 T COMPS1 Torque Compensation Function 1 00 Always_Disable 00 to 27 31 T COMPS2 Torque Compensation Function 2 00 Always_Disable 00 t...

Page 93: ... Detection Delay Time 32 ms 20 to 1000 17 INTTIM Waiting Time for Completion of Initial Processing 00 Disabled Verification required 19 POFFDLY Power off Detection Delay Time 0 ms 0 1000 20 OFWLV Excessive Deviation Warning Level 2147483647 pulse 1 to 2147483647 21 OFLV Deviation Counter Overflow Value 5000000 pulse 1 to 2147483647 22 OLWLV Overload Warning Level 90 20 to 100 23 VFBALM Velocity Fe...

Page 94: ...s common with Group8 ID13 07 A GER1 Electronic Gear 1 Denominator This is common with Group8 ID14 08 INP In Position Window This is common with Group8 ID41 09 F OT CW Over Travel Function This is common with Group9 ID00 0A R OT CCW Over Travel Function This is common with Group9 ID01 0B AL RST Alarm Reset Function This is common with Group9 ID02 0D CLR Deviation Clear Function This is common with ...

Page 95: ...onditions Load inertia rate is not estimated properly operation at low velocity at low acceleration and at low acceleration deceleration torque In these cases please set Automatic Tuning JRAT Manual Setting and set proper value at JRAT 1 In addition under the following machine operating conditions Load inertia rate is not estimated properly machine with large disturbance torque with big backlash a...

Page 96: ...t is in horizontal axis and receives no impacts from external force Positioning time may be shortened compared to Positioning Control 2 Use this mode in Position control mode Machines may receive any impacts Positioning Control 5 On the basis of Positioning Control 4 to FFGN adjustment Do not used for always affected by gravity and external forces The machine may receive impulse Trajectory Control...

Page 97: ...nit Standard value 10 0 to 100 0 50 0 Sets the torque value to excite the mechanical system during operation under Auto Notch Filter Tuning Larger value makes the tuning more accurate however note that it also makes the movement of the machine greater 20 Auto FF Vibration Suppressor Frequency Tuning Torque Command ASUPTC Setting range Unit Standard value 10 0 to 100 0 25 0 Sets the torque value to...

Page 98: ... curve to the lamp condition position command pulse Smoothes the position command pulse when the electronic gear ratio is greater or the position command pulse is coarse This may decrease the operating noise from motor When the set value is 0 0 ms to 0 2 ms this filter is invalid Set in increments of 0 5 ms Under the set value 0 4 ms and less there may be cases where the set value cannot be applie...

Page 99: ... this setting value is applied When Gain switching function is invalid this setting value is applied 03 Position Loop Integral Time Constant 1 TPI1 Setting range Unit Standard value 0 3 to 1000 0 ms 1000 0 Integral time constant for position controller This setting is valid when the Position Loop Proportional Control Switching Function is invalid Integral time is invalid proportional control at th...

Page 100: ...o eliminate pulsed ripple caused by the position command pulse included in the feed forward command Sets the cutoff frequency Depending on the setting of the system parameter ID0A Position Control Selection the point the filter becomes invalid causes the value to vary Position Control Selection 00 Standard More than 2000Hz 01 Model 1 Model Following Control More than 1000Hz 02 Model 2 Model Flowin...

Page 101: ... 1 KVP1 Setting range Unit Standard value 1 to 2000 Hz 50 Proportional gain of velocity controller When Load Inertia Moment Ratio 1 is same as the actual load inertia moment this setting value response is performed Automatically saved by Auto tuning result saving When Auto tuning function is valid this setting value is not applied When the Gain switching function is valid select gain 1 and this se...

Page 102: ...ystem The larger value can raise command tracking performance higher When using Velocity Loop Proportional Control Switching Function set 0 When synchronizing with other axes set 0 When Auto tuning function is valid this setting value not applied The setting value is invalid with Model following control or Model following vibration suppressor control 16 Acceleration Feedback Gain AFBK Setting rang...

Page 103: ...applied Setting range varies depending on the setting of the system parameter ID00 Control Cycle Torque command filter cannot be disabled Control Cycle Setting value Cutoff frequency 00 Standard_Sampling Standard Sampling 1 to 2000 Hz Same as the setting value 2001 to 4000 Hz 2000 Hz 01 High freq_Sampling High Frequency Sampling 1 to 4000Hz Same as the setting value Use within 1 to 1000Hz with Mod...

Page 104: ...alue 00 to 03 00 Sets FF vibration suppressor control effect level Change while motor is OFF The smaller the value the greater the effect will be FF vibration suppressor frequency switching function does not affect this 10 Velocity Command Notch Filter VCNFIL Setting range Unit Standard value 50 to 1000 Hz 1000 Notch filter to eliminate frequency element arbitrarily set from velocity command Sets ...

Page 105: ...10Hz and drop less than 10 2000 to 4000 Hz Filter invalid 01 High freq_Sampling High Frequency Sampling 100 to 3999 Hz Valid by 10Hz and drop less than 10 4000 Hz Filter invalid This parameter is automatically saved by executing Notch filter tuning 21 TCNFILA Low Frequency Phase Delay Improvement TCNFPA Setting range Unit Standard value 00 to 02 00 Improves phase delay at lower frequency than reso...

Page 106: ...etting value can be input by 1Hz unit inside the driver the units listed below are applied Control Cycle Setting value Unit value inside driver 00 Standard_Sampling Standard Sampling 100 to 1999 Hz Valid by 10Hz and drop less than 10 2000 to 4000 Hz Filter invalid 01 High freq_Sampling High Frequency Sampling 100 to 3999 Hz Valid by 10Hz and drop less than 10 4000 Hz Filter invalid 23 TCNFILB Dept...

Page 107: ...s filter to eliminate high frequency elements included in the observer compensation Sets the cutoff frequency The larger the value is the faster the response of disturbance observer suppression However it may cause a louder driving sound depending on the ripple components included in disturbance observer output Filter is invalid at the setting value more than 2000 Hz Filter is invalid when observe...

Page 108: ...ual antiresonance frequency value of the mechanical system by using System Analysis function of the setup software Setting value is invalid with following control If the sitting value is over the Model Control Resonance Frequency vibration suppressor control is invalid Change value while the motor is OFF 03 Model Control Resonance Frequency 1 RESFRQ1 Setting range Setting range Unit Standard value...

Page 109: ...sition Loop Integral Time Constant 2 TPI2 Setting range Unit Standard value 0 3 to 1000 0 ms 1000 0 12 Position Loop Integral Time Constant 3 TPI3 Setting range Unit Standard value 0 3 to 1000 0 ms 1000 0 22 Position Loop Integral Time Constant 4 TPI4 Setting range Unit Standard value 0 3 to 1000 0 ms 1000 0 Integral time constant for position controller Select from gain switching function 1 or 2 ...

Page 110: ...nt of load device to the motor inertia moment Select from Gain switching function 1 or 2 If this value matches the actual mechanical system the setting value corresponding to Velocity Loop Proportional Gain KVP2 KVP3 and KVP4 is response frequency of the velocity control system This parameter is not covered by Auto Tuning Automatic Parameter Saving function Setting value JL JM 100 JL Load inertia ...

Page 111: ...ge Unit Standard value 10 0 to 80 0 Hz 80 0 52 Model Control Antiresonance Frequency 3 ANRFRQ3 Setting range Unit Standard value 10 0 to 80 0 Hz 80 0 54 Model Control Antiresonance Frequency 4 ANRFRQ4 Setting range Unit Standard value 10 0 to 80 0 Hz 80 0 Sets antiresonance frequency of the mechanical device with Model following vibration suppressor control Select from Model Vibration Suppressor F...

Page 112: ...e 0 Sets Acceleration Compensation value with high setting control Sets in units of position deviation pulse Compensates to position deviation The larger the setting value the greater the compensation value The larger the acceleration value calculated from position command pulse compensation value increases The larger the Load inertia moment the greater the compensation value is Position deviation...

Page 113: ...changing the command wiring Rotating direction with positive polarity command supply according to the setting value is shown below Selection Polarity Position Command Pulse PCMD 00 PC _VC _TC CW 01 PC _VC _TC CW 02 PC _VC _TC CW 03 PC _VC _TC CW 04 PC _VC _TC CCW 05 PC _VC _TC CCW 06 PC _VC _TC CCW 07 PC _VC _TC CCW Command input polarity is at standard setting value 00 PC _VC _TC Command input po...

Page 114: ...Position Command Pulse Count Polarity from the list below Select according to host equipment Selection Contents 00 Type1 F PC Not inverted R PC Not inverted 01 Type2 F PC Inverted R PC Not inverted 02 Type3 F PC Not inverted R PC Inverted 03 Type4 F PC Inverted R PC Inverted 12 Position Command Pulse Digital Filter PCPFIL Setting range Unit Standard value 00 to 07 00 834nsec Filter to eliminate no...

Page 115: ...ed Example To bypass the frequency constraint of Position command pulse In case you operate a servomotor with 524288 P R resolution of serial encoder at 300 min 1 using a controller having maximum frequency of 600 kpps 600K pps use the following formula to get the value of the numerator and the denominator of the electric gearing Position command pulse frequency at the encoder resolution 524288 P ...

Page 116: ...on deviation monitor output before and after passing through the Position Command Filter For 00 After_Filter use the Position deviation value of the Position controller For 01 Before_Filter use the Position deviation value based on Position command before FF vibration suppressor control With system parameter ID0A Position Control Selection at 01 Model 1 Model Following Control or 02 Model 2 Model ...

Page 117: ... Servo OFF Clear Deviation Deviation Clear Input Level Detection During servo OFF Deviation clear is always executed While Deviation clear input is ON Deviation clear is always executed 01 Type2 When Servo OFF Clear Deviation Deviation Clear Input Edge Detection At the edge of OFF ON of Deviation clear input Deviation clear is executed 02 Type3 When Servo OFF NOT Clear Deviation Deviation Clear In...

Page 118: ...n deceleration time constant and Step input velocity the command can be accelerated or decelerated 2D Velocity Limit Command VCLM Setting range Unit Standard value 0 1 to 6553 5 min 1 6553 5 Set to restrict Velocity command Sets the maximum value of Velocity command Restricts Velocity command at the setting range At the setting value 5000 and over Velocity command is restricted at maximum speed of...

Page 119: ...e limit value Group ID Symbol Contents 8 37 TCLM F CW Direction Internal Torque Limit Value 8 38 TCLM R CCW Direction Internal Torque Limit Value Sets torque limit function ON Group ID Symbol Contents 9 32 TL Torque Limit Function Selects to set the Torque function valid While the Torque limit function is valid restricts torque When setting be cautious about acceleration deceleration time If the s...

Page 120: ...put Torque Attainment select 01 Set percentage rate of torque limit value The level of attaining torque is calculated from the following formula Torque attainment level Torque limit value x setting value 100 0 Therefore once the commanded torque exceeds the level of attaining torque that is calculated from the above formula torque attainment signal is output Even if the setting value is set more t...

Page 121: ...liary of In position signal For example by setting this value larger than the range of In position it can receive the NEAR signal before the upper device receives the In position signal INP thus when In position the necessary action can smoothly be accomplished Sets Near Range signal output Group ID Symbol Contents A 0 OUT Generic Purpose output Selection Contents 1A NEAR_ON Near Range Status Outp...

Page 122: ...ve pulse after position directive smoothing is 0 and a position deviation counter value is below setting of the completion range of positioning In Position Window 100Pulse Position deviation monitor Near range 500Pulse Position command pulse after position directive smoothing NEAR INP INPZ OFF OFF OFF ON ON ON ON ON ON ...

Page 123: ...0 to 6553 5 min 1 5 0 Parameter for setting Low speed output range When the speed is lower than this value Low speed range is output 44 Speed Attainment Setting High Speed Range VA Setting range Unit Standard value 0 0 to 6553 5 min 1 100 0 Parameters for setting speed attainment output range When the speed exceeds this setting value Speed attainment is output Low velocity range setting value Outp...

Page 124: ...ut when the Velocity deviation difference between the velocity command and actual velocity is within this setting range 47 Speed Matching Range Ratio VCMPR Setting range Unit Standard value 0 0 to 100 0 5 0 Sets the range regarded as Speed matching ratio to Velocity command by the unit This setting is used when ID45 VCMPUS Speed Matching Unit Selection is 01 Percent Speed matching is outputted whe...

Page 125: ...ent range 17 VCMP_OUT Function is valid while not in speed matching status within command actual velocity consistent range 18 ZV_IN Function is valid while in zero speed status speed is lower than the ZV Setting Value 19 ZV_OUT Function is valid while not in zero speed status speed is lower than the ZV Setting Value Speed Matched Range is based on Group8 ID45 ID47 setup Example The driver sets the...

Page 126: ...lways_Disable 20ms 1A Magnetic Pole Position Estimation CSET 00 to 27 06 CONT3_ON 20ms 20 Preset Velocity Command Select Input 1 SP1 00 to 27 00 Always_Disable 20ms 21 Preset Velocity Command Select Input 2 SP2 00 to 27 00 Always_Disable 20ms 22 Preset Velocity Command Select Input 3 SP3 00 to 27 00 Always_Disable 20ms 23 Preset Velocity Command Input Direction of Movement DIR 00 to 27 00 Always_D...

Page 127: ...unction is valid when generic input CONT6 is OFF 0E CONT7_ON Function is valid when generic input CONT7 is ON 0F CONT7_OFF Function is valid when generic input CONT7 is OFF 10 CONT8_ON Function is valid when generic input CONT8 is ON 11 CONT8_OFF Function is valid when generic input CONT8 is OFF Activating the functions conditioning the rotational speed of motor Selection Contents 12 LOWV_IN Funct...

Page 128: ...d In Position status position deviation INP Activating the functions using the torque speed limit Selection Contents 1C TLC_IN Function is valid while in torque limit status 1D TLC_OUT Function is valid while not in torque limit status 1E VLC_IN Function is valid while in velocity limit status 1F VLC_OUT Function is valid while not in velocity limit status Activating the functions conditioning the...

Page 129: ... command 0 02 CMDINH_Free_SON Command input is disabled and motor is free running when OT occurs Servo is turned on after motor stops Command from either positive or negative direction in which OT occurs command disabled velocity limit command 0 03 CMDINH_SB_SOFF Command input is disabled and motor is stopped by servo braking when OT occurs Servo is turned off after motor stops 04 CMDINH_DB_SOFF P...

Page 130: ...nged by selecting options of enabling conditions allocation Host equipment Driver Alarm signal Alarm reset signal 05 Servo on function S ON This function is to input servo on signal from host equipment Enabling servo on function SON can put motor into current applied state Allocating conditions to enable servo on function When SON signal is enabled this inputs motor into current applied state The ...

Page 131: ...n suppression frequency selecting input 2 SUPFSEL2 4 types of FF vibration suppression frequency can be used by switching them Allocating conditions to enable FF vibration suppression frequency selecting input You can switch FF vibration suppression frequency 1 to 4 by combination of SUPFSEL1 and SUPFSEL2 setting SUPFSEL1 FF vibration suppression frequency selecting input 1 Invalid Valid Invalid V...

Page 132: ...onal control PI control proportional integral control Velocity loop proportional gain KP integral time constant TPI P control proportional control Velocity loop proportional gain KP Switching to proportional control decreases servo gain and then servo system becomes stable When setting velocity loop integral time constant TVI to 1000 0ms the operation is in the state integration function is disabl...

Page 133: ...OFF General Input CONT6 is ON 44 CONT6_ON 45 CONT6_OFF General Input CONT7 is ON 46 CONT7_ON 47 CONT7_OFF General Input CONT8 is ON 48 CONT8_ON 49 CONT8_OFF When Driver Preset status is to be output While Servo Ready Complete 02 S RDY_ON 03 S RDY_OFF 58 S RDY2_ON 59 S RDY2_OFF While Power Supply ON 04 P ON_ON 05 P ON_OFF While Power Supply ON Permission 06 A RDY_ON 07 A RDY_OFF While Motor Excitat...

Page 134: ...ignal is to be output While Excessive Deviation Warning Status 2A WNG OFW_ON 2B WNG OFW_OFF While Overload Warning Status 2C WNG OLW_ON 2D WNG OLW_OFF While Regenerative Overload Warning Status 2E WNG ROLW_ON 2F WNG ROLW_OFF While Battery Warning status 30 WNG BAT_ON 31 WNG BAT_OFF While Under Voltage Sag Warning Status 5C PEWNG_ON 5D PEWNG_OFF When Alarm signals are to be output Alarm Code Bit 5 ...

Page 135: ...on Command Pulse Frequency Monitor 1 Position Command Pulse Input Frequency 10mV kPulse s 13 FMON2_0 05mV kP s Position Command Pulse Frequency Monitor 2 Position Command Pulse Frequency for Position Control 0 05mV kPulse s 14 FMON2_0 5mV kP s Position Command Pulse Frequency Monitor 2 Position Command Pulse Frequency for Position Control 0 5mV kPulse s 15 FMON2_2mV kP s Position Command Pulse Fre...

Page 136: ...oltage at CW Rotation Output positive negative voltage MON2 Output negative voltage at CW Rotation Output positive negative voltage 03 MON1 _MON2 MON1 Output negative voltage at CW Rotation Output positive negative voltage MON2 Output negative voltage at CW Rotation Output positive negative voltage 04 MON1ABS_MON2 MON1 Output positive voltage at CW and CCW Rotation MON2 Output negative voltage at ...

Page 137: ...fter setting Setting range Unit Standard value 03 to 06 05 38400bps Select Communication speed Baud rate with PC or upper controller from below Selection 03 9600bps 04 19200bps 05 38400bps 06 57600bps 22 Latency to start sending response message Setting range Unit Standard value 0 to 500 ms 0 When performing RS 422A communication between controller and driver a minimum latency to start sending res...

Page 138: ...n fails due to the larger magnitude of applied load inertia of the system is low 10 Dynamic Brake Operation DBOPE Setting range Unit Standard value 00 to 05 03 DB_DB Select Dynamic Brake Operation when shifted from serve ON to servo OFF and during servo OFF Selection Contents 00 Free_Free When Servo OFF Free Run Operation After Motor Stop Motor Free Operation 01 Free_DB When Servo OFF Free Run Ope...

Page 139: ...is invalid and Free run is operated After motor stops servo is OFF 06 CMDACK_VCLM 0 When in Over travel action Command input to the Over travel side is 0 Torque limit value to stop motor by servo brake is the setting value of sequence Torque limit 12 Emergency Stop Operation ACTEMR Setting range Unit Standard value 00 to 01 01 DYNAMIC BRAKE Sets operation at Emergency Stop From the following conte...

Page 140: ...leasing Delay time BOFFDLY Setting range Unit Standard value 0 to 1000 ms 300 Sets holding brake release delay time from when power distribution to holding brake started till when holding torque disappeared While shifting from servo OFF to servo ON during the setting time Excitation command 0 is given to motor Even when servo is turned ON command is not accepted until the setting time is complete ...

Page 141: ...s applied on the movable parts at rest Do not use it to break any running machine to a stop Setting for Holding brake excitation signal output Group ID Symbol Contents A 0 OUT Generic Output Selection Contents 0A MBR ON_ON While Holding brake excitation signal output output ON 0B MBR ON_OFF While Holding brake excitation signal output output OFF Holding brake excitation signal Command acceptance p...

Page 142: ... 2147483647 Pulse 5000000 Sets Position deviation value regarded as Excessive position deviation alarm Sets at Encoder pulse resolution regardless of Electronic gear 22 Overload Warning Level OLWLV Control power reactivation after setting Setting range Unit Standard value 20 to 100 90 Sets Warning output level before Overload alarm output The possible level to be set is from 20 99 assuming that th...

Page 143: ...ided After Control power ON for 2s at maximum the ratio is unstable 05 Encoder Output Pulse Divide Polarity PULOUTPOL Setting range Unit Standard value 00 to 03 01 Type2 Sets division polarity of Encoder output pulse Selection Contents 00 Type1 A Phase Signal Not Reversed Z Phase Signal Logic High Active 01 Type2 A Phase Signal Reversed Z Phase Signal Logic High Active 02 Type3 A Phase Signal Not ...

Page 144: ... when Output pulse frequency exceeds the specification of the upper controller Outputs divided pulse by setting resolution to ID04 Encoder output divide Selection Contents 00 163840P R 163840 Pulse per 1 Motor Rotation 01 655360P R 655360 Pulse per 1 Motor Rotation 07 Resolver Signal Output PS Format PSOFORM Control power reactivation after setting Setting range Unit Standard value 00 to 01 00 MOT...

Page 145: ...2 Analog monitor output 1 various Monitors Z phase signal VDFIL G1 11 Velocity detection Velocity monitor Position deviation monitor before filter CVFIL ACCC0 G5 00 G5 02 CVTH DECC0 G5 01 G5 03 High stabilizing control AFBK G1 16 AFBFIL G1 17 OBCHA OBLPF G2 30 G2 32 OBG OBNFIL G2 31 G2 33 Acceleration feedback Disturbance observer Enabled during position control mode velocity control mode Position...

Page 146: ...velocity control TLSEL G8 36 TCLM F G8 37 TCLM R G8 38 TCFIL1 G1 20 TUNMODE ATRES G0 00 G0 02 ATCHA ATSAVE G0 01 G0 03 PMOD G8 10 PCPP0L G8 11 PCPFIL G8 12 PCSMT G1 00 SUPFRQ1 G2 00 SUPLV G2 01 Position deviation counter Position deviation counter Position deviation monitor Torque command notch filter TCFIL1 G1 20 TCFILOR G1 21 Torque control TCNFILC G2 24 TCNFDC G2 25 TCNFILD G2 26 TCNFDD G2 27 T...

Page 147: ... ATSAVE G0 01 G0 03 PMOD G8 10 PCPP0L G8 11 PCPFIL G8 12 PCSMT G1 00 Position deviation counter Position deviation counter Position deviation monitor VCNFIL G2 10 VCFIL G1 10 Torque command notch filter Torque control TCNFILA G2 20 TCNFPA G2 21 TCNFILB G2 22 TCNFDB G2 23 OBCHA OBLPF G2 30 G2 32 OBG OBNFIL G2 31 G2 33 AFBK G1 16 AFBFIL G1 17 Velocity detection MON2 GA 12 MON1 GA 11 JRAT1 G1 14 ANRF...

Page 148: ...der voltage sag warning smaller than that of normal operation Even if the torque limit value of voltage sag is greater than that of normal operation it limits the torque at the set value when in voltage sag After power restoration the limiting value goes back to that of normal operation This function is supposed to limit motor torque when in power failure and does not support all the load or opera...

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Page 150: ...ults 6 10 6 3 Automatic tuning of notch filter 6 11 1 Operation method 6 11 2 Setting parameters 6 11 6 4 Automatic tuning of FF vibration suppression frequency 6 12 1 Operation method 6 12 2 Setting parameters 6 12 6 5 Using manual tuning 6 13 1 Servo system configuration and servo adjustment parameters 6 13 2 Basic manual tuning method for velocity control 6 15 3 Basic manual tuning method for p...

Page 151: ...moment ratio during operation and then automatically adjusts servo gain and filter frequency on a real time basis Automatic Tuning JRAT Manual Setting The driver does not estimate the Load inertia moment ratio Servo gain and filter frequency are adjusted automatically corresponding to the load inertia moment ratio and the responses that are already set This method is used when the Load inertia mom...

Page 152: ... following chart Depending on the combination of these functions use of more than two 2 methods jointly will invalidate the procedure Start tuning Tune the servo gain automatically Auto tuning Auto tuning functions Need to restrain external load disturbance on the machine Disturbance observer Tuning to suppress external servo motor disturbance Need to suppress machine resonance Automatic tuning of...

Page 153: ...xplanation for each parameter ID Contents 00 Tuning Mode TUNMODE Selection Meaning 00 AutoTun Automatic Tuning Driver estimates Load inertia moment ratio of the machine or equipment during real time and automatically tunes the servo gain Parameters for the driver to automatically tune vary depending on selected auto tuning characteristics Driver estimates the Load inertia moment ratio at the time ...

Page 154: ... motor to the target position from the present position while considering the trajectory between the positions Select this mode when the Position command corresponding trajectory control is needed such as in processing work Selection Meaning 00 Positioning 1 Positioning Control 1 General Purpose Select for general positioning purposes Parameters shown in table 2 cannot be adjusted manually Selecti...

Page 155: ...05 FFGN Feed Forward Gain Selection Meaning 05 Trajectory1 Trajectory Control 1 Select this mode for single axis use The response of each axis can be different Parameters shown in table 2 cannot be adjusted manually Selection Meaning 06 Trajectory2 Trajectory Control 2 KP FFGN Manual Setting Select this mode when you need equal responses from multiple axes respectively Adjust KP FFGN The following...

Page 156: ...Axis Limited FFGN Manual Setting Note 3 Manual setting is available on auto tuning JRAT manual setting 3 Adjustable parameters during auto tuning The following parameters are adjustable during auto tuning General parameters Group1 Basic control parameter settings ID Symbol Name 00 PCSMT Position Command Smoothing Constant 01 PCFIL Position Command Filter 06 FFFIL Feed Forward Filter 10 VCFIL Veloc...

Page 157: ...ompensation 4 Unstable functions during auto tuning The following functions CANNOT be used during auto tuning General parameters Group9 Function enabling condition settings ID Symbol Name 13 GC1 Gain Switching Condition 1 14 GC2 Gain Switching Condition 2 17 PLPCON Position Loop Proportional Control Switching Function 26 VLPCON Velocity Loop Proportional Control Switching Function General paramete...

Page 158: ...2 KP FFGN Manual Setting Set KP1 FFGN Change tuning mode to 02 _ManualTun Manual Tuning Please adjust servo gain manually No Yes Yes Yes Yes Yes Ye No No Yes No No No Yes No Yes Yes No Yes No Adjust FFGN manually Are there any problems with response or setting time Match the characteristics between the axes No Are there any problems with response or setting time Are there any problems with respons...

Page 159: ...uipment rigidity Set Auto Tuning Response at a low value initially and allow the machine to work few times or more by commanding higher rank equipment When response is low and the positioning setting time is slow after machine movement try to improve the response and positioning times by increasing Auto tuning gradually If increasing the response has caused the machine to develop vibration lower t...

Page 160: ... monitor Hz 23 MKP MON Model Control Gain monitor 1 s 8 Manual tuning method using auto tuning results Result of auto tuning can be stored in block and used to perform auto tuning Refer to Digital Operator 7 for use of Digital Operator For Software Setup use Auto tuning Auto tuning result saving Saving parameters General parameters Group1 Basic control parameter settings ID Symbol Name Unit 02 KP1...

Page 161: ...e frequency using the system analysis function and insert Notch filter B C D Manual setting to suppress each resonance If resonance is still not suppressed there is a possibility that auto tuning response or gain control is too high Lower the Auto Tuning Response or control gain 2 Setting parameters Torque command value for notch filter tuning Setting the Torque command value to the motor at the t...

Page 162: ...ic tuning of FF Vibration Suppression Frequency is executing Do not use as gravity axis 2 Setting parameters Torque command value of Auto FF vibration suppression frequency Sets torque command value to motor at the time of Automatic tuning of FF Vibration Suppression Frequency execution General parameters Group0 Auto tuning setup ID Symbol Name Unit Setting range 20 ASUPTC Automatic tuning of FF V...

Page 163: ...ts time constants The position command pulse will become smoother by setting this parameter when the electronic gear ratio is high or position command pulse is coarse Position Command Filter PCFIL When the position command resolution is low set this parameter to suppress the ripples contained in the position command A larger value of this parameter will cause a greater ripple suppressing effect ho...

Page 164: ...ty Loop Integral Time Constant TVI Set this to TVI ms 1000 KVP Hz Load inertia moment ratio JRAT Set this value to the calculation shown below Higher Tracking Control Velocity Compensation Gain TRCVGN Tracking effect can be improved by increasing compensation gain Adjust this to shorten the position setting time Set the value of JRAT properly to use this function Set 0 when you use Velocity Loop P...

Page 165: ...ency to suppress resonance try the procedure again 3 Basic manual tuning method for position control Set value of Velocity Loop Proportional Gain KVP1 as high as possible within the range that mechanical system can stably work without any vibration or oscillation If vibration increases lower the value Set value of Velocity Loop Integral Time Constant TVI1 by referring to TVI ms 1000 KVP Hz as a gu...

Page 166: ...lowing control can be used with auto tuning at the same time Follow the tuning procedure shown in Adjustment method for auto tuning Model Control Gain 1 is tuned in addition to tuning the parameter at Standard position control Automatically adjust parameters using Model following control auto tuning General parameters Group1 Basic control parameter settings ID Symbol Name Notes 02 KP1 Position Loo...

Page 167: ...alue approximately 1 1 to 1 2 times the value When the gain cannot rise because of mechanical vibration etc and the response time is insufficient use Torque notch filter and or FF Vibration suppression frequency to suppress resonance and attempt it again Adjustable parameters in Model following control In addition to the parameters in Standard position control the following parameters are also adj...

Page 168: ...this case lower the Control system gain Do not change the Setting value when the motor is running 2 Model following vibration suppression control When you use the motor to drive tables on a machine stand the stand itself may vibrate as a reciprocal reactor of the motor When the machine stand vibrates the vibration may cause a reaction with the Positioning stabilizing time of the table working on t...

Page 169: ...wer the set value Model Control Antiresonance Frequency 1 ANRFRQ1 This is to set the Anti resonance frequency of the machine using Model following vibration suppression control When the value is set higher than Model Control Resonance Frequency vibration suppression control will be invalid Model Control Resonance Frequency 1 RESFRQ1 This is to set the Resonance frequency of the machine model using...

Page 170: ...han the machine stand mass the anti resonance and resonance frequencies may not be measured in system analysis In this case obtain the vibration frequency Model anti resonance frequency by calculating the machine vibration period of the vibrating point at positioning and its reciprocal and set the model resonance frequency 1 05 1 2 times the anti resonance frequency Set value of Velocity Loop Prop...

Page 171: ...er Hz 1 to 4000 33 OBNFIL Observer Output Notch Filter Hz 100 to 4000 Explanation of the parameters using the Disturbance Observer There are three types of disturbance observer characteristics Select a proper type depending on disturbance frequency to be suppressed Frequency Type 10 to 40 Hz 00_Low Low frequency disturbance suppression 40 to 80 Hz 01_Middle Mid frequency disturbance suppression 80...

Page 172: ...How to check Information 1 Information 2 driver information and Information 3 Motor Code 7 6 8 How to set pass ward 7 7 9 How to cancel password 7 7 7 5 Editing parameters 7 8 1 Basic parameters editing system parameters 7 8 2 Editing general parameters 7 9 7 6 How to tune automatic notch frequency 7 11 7 7 How to tune automatic FF vibration suppression frequency 7 12 7 8 Velocity controlled JOG O...

Page 173: ...ond 7 segment LED Displays monitor value or parameter setting value in five digits 7 2 Modes It is possible to display the status to change or set the parameters to automatically set the notch filter to change motor and to confirm test operation alarm history and monitor display with the built in digital operator 1 Changing modes Change in the mode presses the MODE key The mode switches in order o...

Page 174: ...tching control damping frequency switching Group5 To set high setting control Group8 Settings of control system Group9 Settings of various functional effective conditions GroupA Setting of general output terminal output condition monitor output selection serial communication GroupB Setting related to sequence alarm GroupC Settings related to encoder Automatic adjustment Enables Adjustment for Torq...

Page 175: ...99 Plus Position of 1000 display 1000 to 9999 Minus Position of 1000 display 1000 to 9999 Left end expresses minus Data of 0 to 41999999999 Symbol Digital operator display Range of a digit display Plus Low position of 1 to 1000 display 0 to 9999 Plus Middle position of 10000 to 10000000 display 0 to 9999 Plus High position of 100000000 to 10000000000 display 0 to 419 Left end LED expresses low pos...

Page 176: ... established and Magnetic Pole Position Estimation Ready is on 9 Magnetic Pole Position Estimation Rotates after displaying the character O upper half 9 Operation setup completion signal established continuous Magnetic pole position estimation is completed and Operation setup completion signal is on 4 Servo is ON Rotates after displaying the character 8 8 2 Over travel status display Marking Descr...

Page 177: ...ay changes as the left 4 WR Push WR for more than 1 second 5 Display changes as the left for 2 seconds 6 When the cause of alarm is removed the state of driver is displayed 6 How to check the software version of driver The software version of driver can be checked from the digital operator Step Displayed Character number code Input button How to operate 1 Make the state of driver or the state wher...

Page 178: ... Push the subtraction button for more than 1 second 3 Display changes as the left 4 Push addition and subtraction button 5 Display changes as the left 6 WR Push WR for more than 1 second 7 The selected information is displayed 8 MODE Push MODE once 9 Returns to Process 5 10 MODE Push MODE once 11 Returns to Process 1 The contents of display information 1 information 2 and information 3 are describ...

Page 179: ...button 0000 and FFFF cannot be set up 7 WR Push WR for more than 1 second 8 Display blinks 3 times and setup will be completed if blink stops 9 MODE Push MODE once 10 Returns to Process 1 11 Password will become effective if power supply is turned on again 9 How to cancel password Step Displayed character number code Input button How to operate 3 Display switches as the left and the whole display ...

Page 180: ...arameter changed with addition and subtraction and the cursor button 4 WR Push WR for more than 1 second 5 The data set up is displayed 6 Display a value to set up with addition and subtraction and the cursor button 7 WR Push WR for more than 1 second 8 Setup is completion when blink stops after a display blinks 3 times When the set up value is outside a setting range setting of Process 5 is displ...

Page 181: ...ription of operating procedure 1 MODE Hold down MODE until the figure left is displayed 2 Display to be switched and then rightmost LED flashes 3 Display ID of parameter to be changed by addition subtraction cursor button 4 WR Hold down WR for over a second 5 Gr nu is displayed 6 MODE Hold down MODE for over a second to change the display to Gr dE nu stands for numerator dE stands for denominator ...

Page 182: ...completed If the set value is out of the setting range the set value in the step 13 is displayed without flashing 3 times 21 MODE Press MODE 22 Display to be switched to the display left There are three setting ranges of pulse frequency dividing 1 1 to 1 64 2 3 to 2 64 and 1 32768 to 32767 32768 If you set the figure out of the ranges the figure is not displayed the figure before the setting flash...

Page 183: ...he left and it performs 10 Changes to the display of the left after a normal end 11 MODE Push MODE 12 Servo is off and changes to the left display 13 MODE Push MODE 14 Completes and changes to the left display For stopping during operation please push the MODE button MODE is pushed in Process 2 Changes to the left display MODE is pushed in Process 5 Changes to the left display and return to Proces...

Page 184: ...isplay change as the left and it performs 10 Changes to the display of the left after a normal end 11 MODE Push MODE 12 Servo is off and changes to the left display 13 MODE Push MODE 14 Completes and changes to the left display For stopping during operation please push the MODE button MODE is pushed in Process 2 Changes to the left display MODE is pushed in Process 5 Changes to the left display an...

Page 185: ...otor shaft will rotate in the CW direction Will stop when a subtraction button is detached 10 MODE Push MODE 11 Servo is off and it changes to the left display 12 MODE Push MODE 13 Completes and changes to the left display For stopping during operation please push the MODE button MODE is pushed in Process 2 Changes to the left display and shifts to system parameter MODE is pushed in Process 5 Chan...

Page 186: ...hanges and right end LED blinks 3 Make as the left display with addition and subtraction and the cursor button 4 WR Push WR for more than 1 second 5 Changes to the left display 8 WR Push WR for more than 1 second 9 A display change as the left and it performs 10 Changes to the display of the left after a normal end 11 MODE Push MODE 12 Changes to the left display 13 MODE Push MODE 14 Changes to th...

Page 187: ...ses In alarm or servo on state Motor not applicable to auto setting function is connected Inappropriate combination of motor and driver motor size baud rate etc 7 11 Alarm history display Step Displayed Character number code Input button How to operate 1 MODE Push MODE until it displays the left 2 Display changes and right end LED blinks 3 Display the number of an alarm history to check with an ad...

Page 188: ...rms 9 Changes to the display of the left after a normal end 10 MODE Push MODE 11 Changes to the left display 7 13 Monitor display Step Displayed character number code Input button How to operate 1 MODE Push MODE until it displays the left 2 Display changes and right end LED blinks 3 Display ID of the monitor with addition and subtraction and the cursor button 4 WR Push WR for more than 1 second 5 ...

Page 189: ...fixed display In case of setting Group A ID30 Monitor Display Selection MONDISP from SETUP software with the digital operator in Status mode either reboot the hardware or push MODE button on the digital operator to show Status mode again 7 15 Motor code setting of motor used Step Displayed character number code Input button How to operate 1 MODE Push MODE until it displays the left 2 Display chang...

Page 190: ...ce 8 1 Trouble shooting 8 1 8 2 List of warning and alarm 8 3 1 Warning List 8 3 2 Alarm List 8 4 8 3 Trouble shooting when alarm activated 8 7 1 Alarm display 8 7 2 Corrective action for alarm 8 7 8 4 Inspection 8 27 ...

Page 191: ...erator s monitor Page07 Velocity command monitor VCMON Page09 Torque command monitor TCMON Page13 Position command pulse frequency monitor FMON1 If the value of a monitor is zero input a command Check the servo motor is locked or not Check that the power line of a motor is connected Check if torque limit is input Since torque restrictions are inputted a motor cannot output the torque beyond the lo...

Page 192: ...opping Assumed causes and corrective actions Adjust the auto tuning response Reduce the loop gain speed Increase the velocity integral time constant Simplify the acceleration and declaration command Set position command filter Abnormal sound occurs Investigation Assumed causes and corrective actions Operate at a low speed and check whether abnormal sound has periodicity Confirm that the wiring for...

Page 193: ...Warning Ambient temperature of the driver is out of range of the operation temperature Power supply system Main circuit is charging Voltage of main circuit is above DC 105 V Voltage sag warning Control power goes 152VAC or less External input system CW over travel While entering CW over travel CCW over travel While entering CCW over travel Control system Restricting torque command While restrictin...

Page 194: ...related to load 41 0 1 0 Overload 1 Excessive effective torque SB V 42 Overload 2 Stall over load DB V 43 Regenerative Overload Regeneration load ratio exorbitance DB V 44 Magnetic pole position estimation error Error during the search of magnetic pole position 45 Average continuous over speed Over speed in average rotational speed SB V 51 Driver Temperature Error Overheating detection of driver a...

Page 195: ...ain body A0 1 0 1 Serial Encoder Internal Error 0 Converter failure DB A2 Serial Encoder Internal Error 2 Accelerate error DB A3 Serial Encoder Internal Error 3 Over speed error DB A4 Serial Encoder Internal Error 4 Access error of converter internal EEPROM DB AA Serial Encoder Internal Error 10 Position Data Error DB AC Serial Encoder Internal Error 12 Converter initialization error DB AD Serial ...

Page 196: ...tem parameter is abnormal E7 Motor Parameter Error Setup of a motor parameter is abnormal E8 Abnormalities in CPU circumference circuit Access abnormality in CPU to ASIC E9 System Code Error Abnormalities of control circuit EE Motor Parameter Automatic Setting Error 1 Motor parameter automatic setting function cannot be performed EF Motor Parameter Automatic Setting Error 2 The result of motor par...

Page 197: ...ed ON Issued at input of servo ON Issued while starting and stopping the motor Issued after extended operating time Corrective actions Cause Investigation and corrective actions 1 U V W phase of driver is short circuited due to the wiring in driver and motor Also U V W phases are grounded in the earth Check the wiring conditions and restore if improper 2 Short circuit or fault in U V W phases on m...

Page 198: ...ed properly Confirm that the proper codes per the specified Motor Codes have been used for the motor if not replace the servo motor Alarm code 23 Current Detection Error 1 Alarm code 24 Current Detection Error 2 Status at the time of alarm Cause 1 2 Issued during operation Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of driver Replace the driver 2 Malf...

Page 199: ...ding or replace the capacity of the large motor 3 Defect in motor driver combination Check if the motor in use matches with the recommended type and replace if it is improper 4 Holding brake of motor does not release Check that the wiring and voltage of the holding brake are acceptable if not repair If the above are OK replace the motor 5 Wiring of U V W phase between driver and motor do not match...

Page 200: ...s load condition when motor stops operation condition at low velocity and load condition exceeds twice the rated torque review operation or load condition Or replace with larger sized motor 3 Defect in motor driver combination Check the motor type setting and the motor in use are matching If not correct them 4 Holding brake of motor does not release Check that wirings and voltage for holding brake...

Page 201: ...egeneration resistor 5 Resistance value of external regeneration resistor is excessive Replace the current resistance value with a value matching the specifications 6 Input power supply voltage exceeds the specified range Check the input power supply voltage level 7 Defect in internal circuit of driver Replace the driver 8 When external regenerative resistance is selected for system parameter ID02...

Page 202: ...e Confirm that the cooling method maintains the temperature of control board between 0 to 55 C 4 Regeneration energy during emergency stop exceeded Change the driver Check the loading condition Abnormalities are detected in the internal temperature of the driver regardless of its ambient temperature When a driver temperature warning is issued please be sure to check the cooling method of the contr...

Page 203: ...r Replace the driver 2 Regenerating power excessive Check the built in regenerative resistance absorption power Check the operating conditions so that regenerating power is within permitted absorption power Use an external regeneration resistor 3 Improper wiring of built in regeneration resistor Confirm improper condition and repair if necessary When using a regeneration resistance built in the dr...

Page 204: ...iver Replace the driver When thermal signal of the external regenerative resistor is connected Status at the time of alarm Cause 1 2 3 Issued when power supply control is turned ON Issued after operation for some time Corrective actions Cause Investigation and corrective actions 1 Improper wiring of external regenerative resistance Check wiring and replace if necessary 2 External regeneration resi...

Page 205: ... C If in excess of 55 C check the installation method of the driver and confirm that the cooling temperature of the control board is set to below 55 C Alarm Code 61 Over Voltage Status at the time of alarm Cause 1 2 3 4 Issued when power supply control is turned ON Issued when power supply of main circuit is turned ON Issued while starting and stopping the motor Corrective actions Cause Investigat...

Page 206: ... Issued when power supply control is turned ON Issued when power supply of main circuit is turned ON Issued during operation Alarm issued during single phase power input selection Corrective actions Cause Investigation and corrective actions 1 One out of 3 phases R S T is not inserted Check the wiring and repair if necessary 2 Defect in internal circuit of driver Replace the driver 3 driver is not...

Page 207: ...t the time of alarm Cause 1 2 Issued when power supply control is turned ON Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of driver Replace the driver 2 Defect in external circuit Restart the power supply after removing the connector if alarm is not issued check the external circuit Alarm Code 84 Serial Encoder Communication Error Status at the time of ...

Page 208: ...gation and corrective actions 1 Defect in internal circuit of converter Turn ON the power supplies again if not restored replace the converter 2 Malfunction due to noise Confirm proper grounding of the driver Add ferrite core or similar countermeasures against noise Alarm Code A2 Serial Encoder Internal Error 2 Status at the time of alarm Cause 1 2 3 Issued while stopping the motor Issued while ro...

Page 209: ...r countermeasures against noise 3 Number of motor rotations exceeds the permitted velocity Check the operation condition and reduce the maximum number of rotations Alarm Code A4 Serial Encoder Internal Error 4 Alarm Code AA Serial Encoder Internal Error 10 Alarm Code AC to AF Serial Encoder Internal Error 12 to 15 Status at the time of alarm Cause 1 2 Issued when power supply control is turned ON ...

Page 210: ...ol Error Status at the time of alarm Cause 1 2 3 Issued while due to input of Servo ON Issued if command is entered Issued while starting and stopping the motor Corrective actions Cause Investigation and corrective actions 1 Wiring of U V W phase between driver and motor do not match Check the wiring and repair any irregularities 3 The motor is vibrating oscillating Adjust the servo parameters so ...

Page 211: ...ervo parameter so that motor will not vibrate oscillate Alarm Code C5 Model Tracking Vibration Suppression Control Error Status at the time of alarm Cause 1 2 3 Issued after entering position command pulse Corrective actions Cause Investigation and corrective actions 1 Setup of model control gain is high Lower model control gain 2 The acceleration and deceleration time of a position command is sho...

Page 212: ... necessary 6 Motor is being rotated by an external force Gravity etc during stopping positioning completion Check the load and or increase the motor capacity 7 Valid torque limit command is entered by the controller and the torque limit setting is too much reduced Setting of a Velocity Limit Command is too little Increase the torque limit value or disable the torque limit Enlarge setting of a Velo...

Page 213: ...Cause Investigation and corrective actions 1 Normal operation Clear the alarm and restore operation After completion of test mode to confirm any deviation in the controller Alarm Code E1 EEPROM Error Status at the time of alarm Cause 1 Issued during display key operation or set up software operation Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of drive...

Page 214: ... Investigation and corrective actions 1 Selected value is outside the specified range for a system parameter Confirm the model number of the driver Turn ON the control power again and confirm that alarm is cleared 2 Defect in internal circuit of driver Replace the driver Alarm Code E6 System Parameter Error 2 Status at the time of alarm Cause 1 2 Issued when control power supply is turned ON Corre...

Page 215: ...er motor parameter automatic setting functional execution Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of converter Replace the converter Alarm Code EF Motor Parameter Automatic Setting Error 2 Status at the time of alarm Cause 1 2 Issued after motor parameter automatic setting functional execution Corrective actions Cause Investigation and corrective ...

Page 216: ...me of alarm Cause 1 2 Issued when control power supply is turned ON Corrective actions Cause Investigation and corrective actions 1 Defect in internal circuit of driver Replace the driver 2 Malfunction due to noise Confirm proper grounding of the driver Add ferrite core or similar countermeasures against noise ...

Page 217: ...e is no abnormal sound as compared to normal sound Periodic Cleanliness Check for dirt and dust Clean with cloth or air Note 1 Yearly Measure value of insulation resistance Contact dealer or sales office Driver Periodic Cleaning Check for dust accumulated in the accessories Clean with air Note 1 Yearly Loose screws Check for loose connections Fasten the screws properly Temperature Periodic Measure...

Page 218: ...n to achieve the EMC certification 9 4 3 Requirements for converter installation to achieve the EMC certification 9 5 9 3 Outline drawing 9 6 1 Motor 9 6 2 Driver 9 8 3 Converter 9 9 4 Motor cable 9 9 5 Converter Cable 9 10 9 4 Optional parts 9 11 1 Connectors 9 11 2 Mounting bracket 9 11 3 Setup software and serial communication 9 12 9 5 Regenerative resistor 9 13 9 6 Supplementary items for usag...

Page 219: ...C Electromagnetic Compatibility EN61000 6 2 EN61800 3 TÜV TÜV SÜD Japan Ltd KC standard Korea Certification KN22 EMI KN24 EMS National Radio Research Agency Korea Communications Commission Republic of Korea Converters Motors have not been tested and verified for conformity with any international standards Reference Number Applicable laws and Regulations Standard code Certificate authorities M ECC ...

Page 220: ...t exclude exposure to water oil carbon dust etc 3 Connection and installation Be careful of connection and installation as follows Always ground the protective earth terminals of the driver to the power supply earth When connecting grounding wire to the protective earth terminal always connect one wire in one terminal never connect jointly with multiple wires or terminals When connecting the leaka...

Page 221: ... Surge immunity EN61000 4 5 A1 2001 Voltage Dips Interruptions immunity EN61000 4 11 2004 Adjustable speed electrical power drive system EN61800 3 2004 Converters have been tested and verified for proper conformity with the standards listed below Directive classification Classification Test Test standard Low voltage Directive EN61800 5 1 2007 EMC Directive Emission Conducted emission EN55011 A11 2...

Page 222: ...rber Recommended prevention components LT C32G801WS SOSHIN ELECTRIC Co Ltd iii Clamp grounding iv Encoder cable Shielded cable v Servo motor power cable Shielded cable Use metallic materials for the door and main body of control panel Use EMI gasket so that there is zero clearance between the door and control panel Install EMI gasket uniformly to the contact points between door and main body of co...

Page 223: ...Name Remarks A Shield box B Driver C Converter D Motor i Noise filter Recommended replacement parts HF3030C UQA SOSHIN ELECTRIC Co Ltd Rated voltage Rated current Line Line 480V AC 30A ii Clamp installation iii Motor cable Shielded cable iv Converter cable Shielded cable v Resolver cable Shielded cable Ground the noise filter frame to the control panel For converter cable and motor cable use the s...

Page 224: ...olver connector Motor connector 6 M4 0 7 depth 6 PCD45 60 equal pitch Fixed part Material Steel Surface treatment Low temperature chrome plating Rotating part Resolver connector 6 M6 1 0 depth 9 PCD139 60 equal pitch 10 or more Range of Ø150h8 3 or more Range of Ø78h8 Motor connector 6 M6 1 0 depth 9 PCD69 60 equal pitch Fixed part Material Steel Surface treatment Low temperature chrome plating Ou...

Page 225: ...ce treatment Low temperature chrome plating Output shaft Rotating part Material Steel Surface treatment Electroless nickel plating 6 M6 1 0 depth 9 PCD130 60 equal pitch 10 or more Range of Ø150h8 Rotating part 4 or more Range of Ø78h8 Resolver connector Motor connector 6 M6 1 0 depth 9 PCD69 60 equal pitch Fixed part Material Steel Surface treatment Low temperature chrome plating Output shaft Rot...

Page 226: ...ain circuit power Control power Regenerative resister PC Communication Control signal I O Position sensor Motor Ground terminals Label Main circuit power Control power Regenerative resister PC Communication Control signal I O Position sensor Motor Ground terminals Label ...

Page 227: ...PBxxxxGA201 4 Motor cable Motor side Label Material Steel Surface treatment Nickel plating Driver side 4 Motor side Driver side Wiring table Connector motor side Pin number Signal Connector driver side Pin number Dimension L Round solderless terminal ...

Page 228: ...9 Appendix Outline drawing 9 10 5 Converter Cable Converter side Driver side Wiring table Converter side Pin number Signal Driver side Pin number Dimension L Shell Do not connect Shell ...

Page 229: ... FAE0001 MSTBT2 5 8 STF 5 08LUB Phoenix Contact K K Connectors available as closed stock Connector No Description Reference No CN1 CNA For control signal for connection to input power and regenerative resistor M FAE0007 2 Mounting bracket Mounting position Description Reference No Front face Mounting bracket One each for upper and bottom Tightening screws 4 pcs M FAE0003 The optionally available m...

Page 230: ... T Mfg Co Ltd Pin number Signal Pin number Signal 1 DCD 1 NC 2 RD 2 NC 3 TD 3 NC 4 DTR 4 NC 5 SG 5 RXD 6 DSR 6 NC 7 RS 7 TXD 8 CS 8 SG 9 RI Case Shield When connect to a PC connect the cable to CN2 of the driver Use shielded cable Connect shield line of the cable to the case of connector of driver side Do not connect to the case of connector of host PC side D Sub 9 pin Do not connect terminals of ...

Page 231: ...ed wire 0 5mm 44 0 4 20 1 4 3 0 0 3 26 122 0 4 100 132 Thermo start Black ２ White ２ 270 15 φ4 3 0 20 0 300 6 1 6 1 M FAE0005 220W 100Ω Silicon rubber glass braided wire 0 75mm 60 0 4 20 1 2 4 3 0 0 3 42 7 220 0 4 200 230 White Thermo start Silicon rubber glass braided wire 0 5mm Black ２２ 270 15 φ4 3 0 300 0 20 6 1 6 1 Thermo stat Thermo stat ...

Page 232: ... phase signal properly turn off point of home sensor must be adjusted at the middle point between Z phase signal described in below Adjust home sensor turn off position around 32767 pulse by monitoring motor position using Monitor_ID80 Resolver sensor electric angle RESANG Home sensor turn off position Start homing Motor motion Home sensor Z phase signal pulse Homing completion ON OFF ON OFF ON OF...

Page 233: ...n does not complete correctly Unbalanced load or external force is applied to the motor Rigidity of device mounting base load installation is low Load inertia moment exceeds the specification of allowable load inertia moment Gr B_ID01 Excitation Command Frequency setting EMPFREQ is close to the resonance point of the device Combination of motor and converter is not appropriate Procedures for setti...

Page 234: ...e position Implement estimation of magnetic pole position Change Excitation Command Frequency setting 50 initial value 60 Success Success Set Excitation Command Frequency setting to initial 30 50 initial value Change Acceleration threshold to the upper limit value corresponding to the load inertia moment 5 initial value Is the Acceleration threshold set to the upper limit value Check the rigidity ...

Page 235: ...6 1000 91 0 32 2000 50 0 48 3000 30 0 64 4000 16 0 80 5000 11 0 96 6000 11 1 12 7000 8 1 28 8000 8 負荷慣性モーメント kg m2 負荷慣性モーメント比加速度閾値上限値 rad s2 0 21 1000 100 0 42 2000 80 0 63 3000 54 0 84 4000 41 1 05 5000 24 1 26 6000 19 1 47 7000 16 1 68 8000 13 1 89 9000 10 2 10 10000 10 2 31 11000 9 2 52 12000 7 2 73 13000 7 2 94 14000 7 Load inertia moment Load inertia moment ratio Upper limit value of acceler...

Page 236: ...MEGATORQUE MOTOR SYSTEM Driver Model EGA User s Manual Document Number C20191 03 April 25 2014 1st Edition December 19 2014 2nd Edition March 16 2022 3rd Edition NSK Ltd ...

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